Mitsubishi Electric Robot Seminar Textbook 2D Vision Sensors for Robots Owner's Manual

Industrial Robot
Robot Seminar Textbook
2D Vision Sensors for Robots
BFP-A3659-A
MELFA robot seminar schedule
Day 1
Agenda
Seminar introduction
Orientation
■ Fundamentals of 2D vision sensors
System architecture
■ Fixed downward-facing camera
Communication settings
Lens adjustments
Break
Day 2
Time
Agenda
■ Fixed downward-facing camera
Automatic operation
Time
1 hr
20
min
■ Hand eye
Tool settings
1 hr
20
min
10
min
Break
10
min
■ Fixed downward-facing camera
Tool settings
Calibration
■ Hand eye
Calibration
1 hr
1 hr
Lunch
Lunch
■ Vision sensor commands
Status variables
■ Hand eye
Create identification jobs
Teaching
■ Fixed downward-facing camera
Create identification jobs
Teaching
Break
1 hr
50
min
10
min
Break
10
min
■ Hand eye
Manual operation
Automatic operation
■ Fixed downward-facing camera
Manual operation
1 hr
35
min
1 hr
55
min
End
1 hr
40
min
End
Teaching of the robot should only be performed by individuals who have undergone special
safety training.
same applies to maintenance work with the robot power ON.)
→ Conduct safety education.
Prepare work regulations indicating robot operation methods and procedures, and measures to
be taken when errors occur or when rebooting robots. Observe these rules at all times.
(The same applies to maintenance work with the robot power ON.)
→ Prepare work regulations.
Only teach the robot after first equipping the controller with a device capable of stopping
operation immediately.
(The same applies to maintenance work with the robot power ON.)
→ Equip the controller with an Emergency Stop button.
Notify others that the robot is being taught by affixing a sign to the Start switch.
(The same applies to maintenance work with the robot power ON.)
→ Indicate that the robot is being taught.
Install fences or enclosures around robots to prevent contact between robots and workers
during operation.
→ Install safety fences.
Stipulate a specific signaling method to be used among related workers when starting
operation.
→ Operation start signal
Shut off the power when maintaining the robot. Notify others that the robot is under
maintenance by affixing a sign to the Start switch.
→ Indicate that maintenance work is being performed.
Before starting operation, conduct an inspection of robots, Emergency Stop buttons, and any
other related devices to ensure that there are no abnormalities.
→ Inspection before starting operation
The following precautions are taken from the separate Safety Manual.
Refer to the Safety Manual for further details.
Design interlocks such as individual device operation rights when operating the robot
automatically with multiple control devices (GOTs, programmable controllers and push-button
switches).
Only use robots within environments stipulated in the specifications.
Failure to observe this may result in decreased reliability or breakdown.
(Temperature, humidity, atmosphere, noise environment, etc.)
Only transport robots in the manner stipulated.
Failure to observe this may result in bodily injury or breakdown if the robot is dropped.
Caution Install and use the robot on a secure and stable platform.
Positional displacement or vibrations may occur if the robot is unstable.
Ensure that cables are kept as far apart from noise sources as much as possible.
Positional displacement or malfunction may occur if cables are close to noise sources.
Do not apply excessive force to connectors, or bend cables too much.
Failure to observe this may result in contact failures or wire damage.
Ensure that the weight of the workpiece, including the hand, does not exceed the rated load
or permissible torque.
Failure to observe this may result in alarms or breakdown.
Ensure that hands and tools are attached properly, and that workpieces are gripped securely.
Failure to observe this may result in bodily injury or property damage if objects are sent flying
or released during operation.
Ground the robot and controller properly.
Failure to observe this may result in malfunction due to noise, or even electric shock.
Ensure that the robot's operation status is displayed during operation.
Failure to display the robot's operating status may result in operators approaching the robot,
potentially leading to incorrect operation.
If performing teaching work inside the robot operation range, always ensure complete control
over the robot beforehand. Failure to observe this may result in bodily injury or property
damage if the robot is able to start with external commands.
Jog the robot with the speed set as low as possible, and never take your eyes off the robot.
Failure to observe this may result in collision with workpieces or surrounding equipment.
Always check robot movement in step operation before commencing auto operation following
program editing.
Failure to observe this may result in collision with surrounding equipment due to programming
mistakes, etc.
Ensure that the door of the safety fence locks or that the robot automatically stops if
someone attempts to open it during auto operation.
Failure to observe this may result in bodily injury.
Do not perform unauthorized modifications or use maintenance parts other than those
stipulated.
Failure to observe this may result in breakdown or malfunction.
When moving the robot arm by hand, never insert hands or fingers into openings. Depending
on the posture of the robot, hands or fingers may become jammed.
Do not stop the robot or perform an emergency stop by turning OFF the main power of the
robot controller.
Robot accuracy may be adversely affected if the main power of the robot controller is turned
OFF during auto operation. Furthermore, the robot arm may collide with surrounding
equipment if it falls or moves under its own inertia.
When rewriting internal robot controller information such as programs or parameters, do not
turn OFF the main power of the robot controller.
If the main power of the robot controller is turned OFF while rewriting programs or
parameters during auto operation, internal robot controller information may be corrupted.
Do not connect a Handy GOT when using this product's GOT direct connection function. The
Handy GOT can operate the robot automatically regardless of whether the operation rights are
enabled or disabled. This could lead to property damage or bodily injury.
Do not connect a Handy GOT to a programmable controller when using iQ Platform
compatible products with CR800-R or CR800-Q controllers. The Handy GOT can operate the
robot automatically regardless of whether the operation rights are enabled or disabled.
This could lead to property damage or bodily injury.
Do not disconnect SSCNET III cables when either the multi CPU system or the servo
amplifier is ON. Do not look directly at light emitted from the end of SSCNET III connectors
or SSCNET III cables. Doing so may cause discomfort. (SSCNET III employs a Class 1 or
equivalent light source as specified in JISC6802 and IEC60825-1.)
Do not disconnect SSCNET III cables while the controller is ON. Do not look directly at light
emitted from the end of SSCNET III connectors or SSCNET III cables. Doing so may cause
discomfort.
(SSCNET III employs a Class 1 or equivalent light source as specified in JISC6802 and
IEC60825-1.)
Replace the caps of SSCNET III connectors after they have been disconnected to prevent
them from being adversely affected by dust and foreign matter.
Take care not to wire devices incorrectly. Incorrect wiring may cause malfunctions such as the
inability to terminate an emergency stop.
After wiring devices such as the teaching pendant Emergency Stop switch, door switch and
any emergency stop devices prepared by the customer, ensure that they are functioning
correctly to prevent accidents from occurring.
Not all commercial devices such as computers and network hubs will function correctly when
connected to the controller's USB port. They may also be affected by temperatures and
electronic noise found in FA environments.
When using commercial devices, protection against EMI (Electric-magnetic interference) and
the use of ferrite cores etc. may be required to ensure devices function correctly. Mitsubishi
Electric does not guarantee commercial devices will be compatible with our products. Neither
will we carry out maintenance on them.
If needed, create a way to keep the robot system safe from unauthorized access from
external devices connected to the network.
In addition, implement a firewall to keep the robot system safe from unauthorized access from
external devices connected to the Internet.
■ Revision history
Date
July 10, 2018
May 8, 2019
Document No.
BFP-A3659
BFP-A3659-A
Revision
First edition
Added new information and revised existing pages.
(Revised for In-Sight Explorer version 5.4.3 and RT ToolBox3
version 1.32J)
■ Important notices and disclaimers
・ Distribution of this document, in-part or whole, without prior authorization is strictly prohibited.
・ Information contained in this document is subject to change without notice.
・ Specifications are based on the results of in-house standardized tests.
・ This is an original Mitsubishi document.
・ All trademarks/registered trademarks of company and product names mentioned in this document
are the property of their respective owners.
・
R
and ™ marks have been omitted in this document.
Copyright(C) 2018 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED
Contents
■ Introduction................................................................................................................................................... 1
■ Terminology.................................................................................................................................................. 2
Chapter 1 - Fundamentals of 2D vision sensors ............................................................................................... 3
1.1 Specifications of 2D vision sensors ......................................................................................................... 3
1.2 Specifications of supported robot controllers ........................................................................................... 3
1.3 Introduction to In-Sight Explorer .............................................................................................................. 4
1.3.1 Installing In-Sight Explorer ................................................................................................................ 4
1.3.2 In-Sight Explorer window layout ........................................................................................................ 5
1.3.3 Application Steps ............................................................................................................................... 6
1.3.4 Frequently used operations ............................................................................................................... 6
1.4 System architecture ................................................................................................................................. 7
1.4.1 D Type controllers ............................................................................................................................. 7
1.4.2 R Type/Q Type controllers ................................................................................................................ 8
1.5 Types of vision sensors and their advantages and disadvantages ......................................................... 9
1.6 Steps required for automatic operation .................................................................................................. 12
1.6.1 Overview.......................................................................................................................................... 12
1.6.2 Communication settings overview ................................................................................................... 13
1.6.3 Overview of programs used for each camera ................................................................................. 13
Chapter 2 - Communication settings and lens adjustment .............................................................................. 15
■ Steps required to configure the communication settings ....................................................................... 15
2.1 Preparing the robot and vision sensor ................................................................................................... 16
2.2 Configuring computer network settings ................................................................................................. 16
2.3 Connecting the robot and camera (RT ToolBox3) ................................................................................. 18
2.3.1 Robot network settings .................................................................................................................... 18
2.3.2 comRobot and camera connection settings .................................................................................... 21
(1) Device parameter settings............................................................................................................... 21
(2) Parameter settings .......................................................................................................................... 23
2.4 Configuring camera communication settings (In-Sight Explorer) .......................................................... 24
2.4.1 Starting In-Sight Explorer ................................................................................................................ 24
2.4.2 Connecting cameras ....................................................................................................................... 25
2.4.2.1 At least one camera detected ............................................................................................... 25
2.4.2.2 If no cameras are detected ................................................................................................... 26
2.4.2.3 Configuring system options ................................................................................................... 29
2.5 Adjusting the lens (focus and aperture) ................................................................................................. 31
Chapter 3 - Fixed downward-facing camera ................................................................................................... 34
3.1 Principles behind the fixed downward-facing camera............................................................................ 34
3.1.1 Fundamentals of the fixed downward-facing camera ..................................................................... 34
3.1.2 Setting a control point for calibration ............................................................................................... 36
3.1.3 Control point used for calibrating the fixed downward-facing camera ............................................ 37
3.1.4 Calibration of the fixed downward-facing camera ........................................................................... 38
(1) What is calibration? ......................................................................................................................... 38
(2) Typical calibration method............................................................................................................... 38
(3) N point calibration ............................................................................................................................ 39
(4) Fixed downward-facing camera: N point calibration method .......................................................... 39
3.1.5 Fundamentals of the fixed downward-facing camera ..................................................................... 42
■ Process of adjusting the fixed downward-facing camera ....................................................................... 44
3.2 Setting a control point used for calibration (Fixed downward-facing camera) ....................................... 45
3.2.1 Program for setting a control point used for calibration .................................................................. 45
◇ Program UBP.prg ............................................................................................................................ 45
◇ Program TLUP.prg .......................................................................................................................... 48
3.2.2 Setting the control point used for calibration ................................................................................... 49
■ Process of setting the control point used for calibration ................................................................. 49
(1) Adding a user base program ........................................................................................................... 51
(2) Executing the program "TLUP". ...................................................................................................... 51
(3) Placing the calibration tool in the robot hand .................................................................................. 52
(4) Positioning the pointed object on the platform ................................................................................ 53
(5) Setting a control point used for calibration ...................................................................................... 53
(6) Checking the control point used for calibration ............................................................................... 54
3.3 Calibration (Fixed downward-facing camera) ........................................................................................ 55
3.3.1 Calibration method .......................................................................................................................... 55
■ Calibration process .......................................................................................................................... 55
(1) Creating a new job .......................................................................................................................... 56
(2) Positioning calibration workpieces and connecting the camera...................................................... 56
(3) Adjusting the lens ............................................................................................................................ 57
(4) Setting user-defined points.............................................................................................................. 58
(5) Create N points ............................................................................................................................... 60
(6) Carry out N point calibration. ........................................................................................................... 62
3.4 Creating an identification job.................................................................................................................. 65
■ Identification job creation process ................................................................................................... 65
(1) Creating a new job .......................................................................................................................... 65
(2) Configuring calibration file settings ................................................................................................. 66
(3) Setting the workpiece to be identified and the identification range ................................................. 66
(4) Setting threshold and rotation tolerance values .............................................................................. 68
(5) Configuring communication settings ............................................................................................... 69
(6) Selecting an identified pattern ......................................................................................................... 70
(7) Saving the job .................................................................................................................................. 71
(8) Checking calibration ........................................................................................................................ 73
3.5 Setting up the relative position between the workpiece and the robot .................................................. 75
3.5.1 Program for setting up the relative position between the workpiece and the robot ........................ 75
◇ Program UVS1.prg .......................................................................................................................... 75
◇ Program UVS2.prg .......................................................................................................................... 77
3.5.2 Setting up the relative position between the workpiece and the robot ............................................ 80
■ Procedure ........................................................................................................................................ 80
(1) Positioning the master workpiece used for adjustment ................................................................... 81
(2) Teaching the safe position (PHOME) and suction area on the master workpiece (PWK) .............. 81
(3) Running the robot program "UVS1" automatically .......................................................................... 82
(4) Teaching the destination position (PPUT)....................................................................................... 83
3.6 Checking the robot movement using step operation and automatic operation ..................................... 84
Chapter 4 - Setting up the hand eye................................................................................................................ 85
4.1 Overview of the hand eye ...................................................................................................................... 85
4.1.1 Setting a control point used for calibration ...................................................................................... 85
4.1.2 Control point for calibrating the hand eye ....................................................................................... 87
4.1.3 Calibrating the hand eye ................................................................................................................. 88
4.1.4 Principal of how the robot identifies the workpiece using the hand eye ......................................... 89
■ Process of setting up the hand eye ........................................................................................................ 90
4.2 Setting the control point used for calibration using the hand eye .......................................................... 91
4.2.1 Program for setting the control point used for calibration ............................................................... 91
◇ Program UBP.prg ............................................................................................................................ 91
◇ Program HND1.prg .......................................................................................................................... 91
4.2.2 Setting the control point used for calibration ................................................................................... 93
■ Process of setting the control point used for calibration ................................................................. 93
(1) Adding a user base program ........................................................................................................... 95
(2) Connecting a camera ...................................................................................................................... 95
(3) Positioning the workpiece used for calibration ................................................................................ 96
(4) Adjusting the lens ............................................................................................................................ 96
(5) Drawing two intersecting lines in In-Sight Explorer ......................................................................... 97
(6) Setting the control point used for calibration ................................................................................... 99
(7) Checking the control point used for calibration ............................................................................. 100
4.3 Calibration using the hand eye ............................................................................................................ 101
4.3.1 Calibration program ....................................................................................................................... 101
◇ Program HND2.prg ........................................................................................................................ 101
4.3.2 Calibration method ........................................................................................................................ 103
■ Calibration process ........................................................................................................................ 103
(1) Measuring the camera's FOV ........................................................................................................ 105
(2) Setting user-defined points............................................................................................................ 107
(3) Entering the size of the camera's FOV.......................................................................................... 109
(4) Fine-tuning user-defined points ..................................................................................................... 110
(5) Creating N points ........................................................................................................................... 111
(6) Carrying out N point calibration ..................................................................................................... 113
(7) Setting an offset from the workpiece suction point to the imaging point ....................................... 115
4.4 Creating an identification job................................................................................................................ 117
4.4.1 Program for creating an identification job...................................................................................... 117
◇ Program HND3.prg ........................................................................................................................ 117
4.4.2 Method of creating an identification job......................................................................................... 119
■ Process of creating the identification job....................................................................................... 119
(1) Adjusting the suction and identification points of the master workpiece ....................................... 119
(2) Creating a job ................................................................................................................................ 121
(3) Configuring calibration file settings ............................................................................................... 121
(4) Setting the workpiece to be identified and the identification range ............................................... 122
(5) Setting threshold and rotation tolerance values ............................................................................ 124
(6) Configuring communication settings ............................................................................................. 125
(7) Selecting an identified pattern ....................................................................................................... 126
(8) Saving the job ................................................................................................................................ 127
4.5 Setting up the relative position between the workpiece and the robot ................................................ 128
4.5.1 Program for setting up the relative position between the workpiece and the robot ...................... 128
◇ Program HND3.prg ........................................................................................................................ 128
4.5.2 Setting up the relative position between the workpiece and the robot .......................................... 128
4.6 Checking the robot movement using step operation and automatic operation ................................... 129
4.6.1 Program for checking robot movement ......................................................................................... 129
◇Program HND4.prg ......................................................................................................................... 129
4.6.2 Checking the movement of the robot ............................................................................................ 132
Appendix 1. Vectors and operations on vectors ............................................................................................ 135
Appendix 1.1 Robot position data and vectors .......................................................................................... 135
Appendix 1.2 Method of finding PH ........................................................................................................... 136
Appendix 2. Vision sensor commands and status variables ......................................................................... 137
Appendix 2.1 Vision sensor commands ..................................................................................................... 137
NVOpen (Open network vision sensor port) .......................................................................................... 138
NVClose (Disconnect network vision sensor) ........................................................................................ 141
NVLoad (Load network vision sensor) ................................................................................................... 142
NVRun (Run network vision sensor program) ........................................................................................ 144
NVTrg (Network vision sensor trigger) ................................................................................................... 146
EBRead (EasyBuilder read) ................................................................................................................... 148
EBWrite (EasyBuilder write) ................................................................................................................... 151
Appendix 2.2 Vision sensor status variables ............................................................................................. 153
M_NvOpen ............................................................................................................................................. 154
Appendix 3. 2D vision sensor parameters ..................................................................................................... 155
Appendix 4. Troubleshooting ......................................................................................................................... 157
Appendix 4.1 Error numbers ...................................................................................................................... 157
Appendix 4.2 2D vision sensor error code list ........................................................................................... 158
■ Introduction
In this seminar we will use Mitsubishi Electric VS80 series 2D
vision sensors and study the fundamentals of systems that
combine robots and vision sensors.
2D vision sensor (VS80 series)
Positioning is generally considered the most important thing when using robots.
First and foremost, we must understand that the pickup point and destination point are fixed. For robots,
specialized jigs are needed for positioning and jigs can be expensive if complex workpieces are used.
Frequent setup changes are a hassle and finding a place to store jigs is a problem. All of these things have
adverse effects on productivity.
One solution to positioning workpieces is to position them using image recognition. Typically, the vision
sensor decides whether the workpiece it has looked at matches the characteristics of a pre-registered jig.
If it does, a predetermined output position is sent to the robot and the robot adjusts the orientation of the
workpiece to match the jig.
Main applications
 Recognize and accurately pick randomly orientated workpieces from supply platforms and
roughly aligned workpieces on plastic trays.
 Confirm the point of assembly and accurately place or assemble the workpiece at that point.
 Adjust the position of the hand if the workpiece is not being held properly.
 Read 2D codes and pick the product related to that code from the production line.
 Detect abnormalities.
Robots alone cannot inspect parts. For inquires related to using vision sensors for flaw detection
(scratches etc.), contact your local sales representative.
Examples
Bin picking
■ Introduction 1
Assembly of parts
Code reading
■ Terminology
The following terms are used in this document.
Term
Definition
In-Sight Explorer
（In-Sight Explorer
for MELSENSOR）
Software used for setting up the vision sensor. (Created by Cognex Corp.)
In-Sight Explorer is required to configure vision sensor settings and setup
vision applications.
To operate this software, a camera needs to be connected to the
computer the software is installed on.
* In this document, In-Sight Explorer for MELSENSOR is expressed as
"In-Sight Explorer ".
EasyBuilder®
EasyBuilder helps users program their vision system. (Created by Cognex
Corp.)
PatMax®
A positioning tool which utilizes advanced geometric pattern verification
technology and algorithms developed in-house by Cognex (U.S. patent
granted). It is able to precisely identify the position of objects and is
unaffected by shadows and changes in the angle or size of an object.
Job
Contains the program data of the 2D vision project.
Jobs are needed to manage data and communications transmitted between
the robot and 2D vision sensor(s).
MELFA BASIC robot programs can control job access, imaging triggers and
data acquisition of jobs created in In-Sight Explorer.
Calibration
Calibration is work that involves converting the coordinates of the vision
sensor camera into robot coordinates.
Trigger
Captures images from the camera.
Hand eye
A camera attached to the end of the robot arm which is used for taking
measurements and recognizing workpieces.
Fixed camera
A camera attached to a frame which is used for taking measurements and
recognizing workpieces. Unlike the hand eye, fixed cameras cannot move.
* For further information on robot operations, robot programming, and vision sensors, refer to the PDF robot
manual. The latest PDF robot manual can be downloaded from the Mitsubishi Electric FA website.
(Mitsubishi Electric FA website: www.MitsubishiElectric.co.jp/fa)
Related manuals
Term
Definition
Detailed explanations of
functions and operations
Explanations of and how to use functions, MELFA BASIC
commands, external I/O devices, and parameters.
Troubleshooting
Reasons for errors and how to deal with them when they arise.
RT ToolBox3/RT ToolBox3 mini
Instruction manuals
Instruction manuals for comprehensive robot engineering
assistance software (RT ToolBox3, RT ToolBox3 mini,
RT ToolBox3 Pro.
■ Terminology 2
Chapter 1 - Fundamentals of 2D vision sensors
1.1 Specifications of 2D vision sensors
There are two Mitsubishi Electric 2D vision sensors (MELSENSORS): the compact, wire-saving,
stand-alone VS80 series, and the VS70 series which has in-built lights.
In this seminar we will use VS80 series vision sensors and learn the basics of systems that incorporate
robots and vision sensors.
VS80 series
VS70 series
(1) MELSENSOR VS80 series
Resolution (pixels)
Model:
640×480
1600×1200
Processing power *1
VS80M-100-E
●
×1
VS80M-200-E(ER)
●
× 1.5
VS80M-400-E(ER)
●
×2
VS80M-202-E(ER)
VS80M-402-E(ER)
*1 Compared to the VS80M-100-E
●
× 1.5
●
×2
(2) MELSENSOR VS70 series
Model:
Resolution (pixels)
800×600
VS70M-600-E(ER)
●
●
×1
VS70M-800-E(ER)
●
●
× 1.25
VS70M-802-E(ER)
*2 Compared to the VS70M-600-E
1600×1200
Processing power *2
640×480
●
× 1.25
1.2 Specifications of supported robot controllers
Item
Robot
Robot controller
No. of connectable robots and
vision sensors
Software
Robot program language
Specifications
FR series
F series
CR800-R, Q, and D series
CR750 series
No. of cameras that can be connected to one robot controller: up to 7
No. of robots that can be connected to one vision system: up to 3
RT ToolBox3: Ver.1.0 or above is recommended
MELFA BASIC. Contains dedicated vision sensor commands.
Chapter 1 - Fundamentals of 2D vision sensors 3
1.3 Introduction to In-Sight Explorer
In-Sight Explorer is software used for setting up vision sensors. (Cognex corp.)
In-Sight Explorer is required to configure VS series vision sensor settings and setup vision
applications. In-Sight Explorer needed to be installed on a Windows PC and cameras need to be
connected for it to operate.
1.3.1 Installing In-Sight Explorer
1. Download the In-Sight Explorer installer from the Mitsubishi Electric FA website.
（http://www.mitsubishielectric.co.jp/fa）
2. Execute the downloaded file.
3. Open In-Sight Explorer. The Start screen (shown below) will appear.
(Other options will become available once a vision sensor has been connected)
In-Sight Explorer Start screen
Chapter 1 - Fundamentals of 2D vision sensors 4
1.3.2 In-Sight Explorer window layout
The image below depicts the layout of In-Sight Explorer which is centered around an image.
1) Title bar
2) Menu bar
3) Toolbar
5) EasyBuilder View
6) Pallet
4) Application Steps
5) Status bar
7) Tools
8) Settings
1) Displays the name of the current job.
2) In-Sight Explorer menu bar
3) Three toolbars are available: the Standard toolbar, the Explorer toolbar, and the Job display toolbar.
4) Displays application steps in the order needed to make a job.
Clicking each step displays tools and settings in a pane below the
Application Steps window.
Refer to Application Steps (1.3.3 Application Steps) for information
on each step.
5) Displays the image from the vision sensor camera.
Pixels (coordinates) and the vision camera status (online/offline) are displayed
in the bottom right status bar.
6) Displays information such as user-defined points, user-defined lines, and calibration results.
7) Displays tools and settings for each application step.
8) Displays information such as setting fields.
Chapter 1 - Fundamentals of 2D vision sensors 5
1.3.3 Application Steps
This page explains the application steps found in In-Sight Explorer.
Clicking on each application step displays applicable tools and settings for that step in the pane below.
Application
Steps
Start
Set Up Tools
Configure
Results
Finish
Sub-steps
Description
Get Connected
Used to connect vision sensors that are on the network.
Set Up Image
Used to adjust image acquisition settings
(trigger/imaging).
The image acquisition method (trigger/live video etc.) and
calibration type can be selected.
Locate Part
Used to define a workpiece reference point (feature) and
set the area where the feature should be recognized.
Inspect Part
An assortment of tools required for the vision sensor can
be found here.
Used to create things such as user-defined points,
user-defined lines and carry out N point calibration.
Inputs/Outputs
Used to configure the connection settings of I/O modules
and input/output operations.
Communication
Used to configure communication to external devices and
configure the settings of the data output from an
identified pattern.
Filmstrip
Used to playback recorded images. Buffers job images
sequentially and displays them. The filmstrip is located
under EasyBuilder View.
Save Job
Used to save the job while the vision sensor is offline.
* Jobs are not automatically saved. Save your work
periodically. Saved jobs do not contain communication
and input/output settings.
Run Job
Used to run the job.
1.3.4 Frequently used operations
Operation
Description
Continuous trigger
Used to acquire images from the vision sensor. Periodically acquires
and displays images.
Intervals in which images are acquired can be specified.
Manual trigger
Used to acquire images from the vision sensor manually.
Live Video
Displays vision sensor images in real time.
(Some operations in In-Sight Explorer become unavailable when Live
Video mode is used.)
Load Images from PC
Used to load images from the computer.
Chapter 1 - Fundamentals of 2D vision sensors 6
1.4 System architecture
In order to use vision sensors, the devices in the diagram below are required.
The type of robot controller used affects what devices are needed and how they are connected to each
other. Refer to the System architecture diagrams for each controller before connecting a camera to the
robot controller.
1.4.1 D Type controllers
Software
In-Sight Explorer
RT ToolBox3
2D vision sensor
MELSENSOR VS80 series
Computer for
adjustments
PoE LAN cable
(Made by Cognex)
LAN cable
Power
supply
PoE hub
LAN cable
Warning: Do not connect to a PoE
port
Machine cable
Robot controller
Robot
Teaching pendant
(R32TB or R56TB)
Chapter 1 - Fundamentals of 2D vision sensors 7
1.4.2 R Type/Q Type controllers
Software
In-Sight Explorer
RT ToolBox3
Computer for
adjustments
2D vision sensor
MELSENSOR VS80 series
PoE LAN cable
(Made by Cognex)
LAN cable
Power
supply
PoE hub
LAN cable
Warning: Do not connect to a PoE
port
Programmable controller
MELSEC iQ-R series
MELSEC Q series
SSCNETIII cable
Machine cable
Robot controller
Robot
Teaching pendant
(R32TB or R56TB)
Chapter 1 - Fundamentals of 2D vision sensors 8
1.5 Types of vision sensors and their advantages and disadvantages
The example below shows three robot/vision sensor combinations.
1. Fixed downward-facing camera (set above the workpiece)
2. Hand eye (attached to the robot's hand)
3. Fixed upward-facing camera (set below the workpiece)
1. Fixed
downward-facing camera
Robot: RV-2FR-R
2. Hand eye
Robot hand
Workpiece
destination platform
3. Fixed upward-facing camera
2D vision sensor cell
Chapter 1 - Fundamentals of 2D vision sensors 9
Workpiece suction
platform
■ Advantages & disadvantages (○ = advantage / ▲ = disadvantage)
1. Fixed downward-facing camera
○ Using a fixed downward-facing camera is the standard application of a vision sensor. Combining a vision
sensor with a robots multi-task function allows the vision sensor to search for another workpiece while
the robot is outside its field of view (FOV), i.e., when the robot is transporting a workpiece. This helps
improve cycle time.
▲ However, because the camera's position and FOV are fixed a different camera with a narrow FOV and
a large resolution may be required for high-precision tasks. This leads to increased costs and limits to
the types of systems that can be constructed.
Loading/unloading of
processing machines
Pallet picking
Conveyor tracking
2. Hand eye
○ Unlike a fixed downward-facing camera, the hand eye's FOV can be narrowed.
○ This is because the hand eye's FOV is not restricted to the position where it picks up a workpiece and
includes the full operating range of the robot.
▲ The downside of a hand eye is that it has a longer cycle time than a fixed downward-facing camera as it
cannot do other things while processing identification data.
Pallet segmentation
Screw tightening
Workpiece positioning
Chapter 1 - Fundamentals of 2D vision sensors 10
3. Fixed upward-facing camera
○ A fixed upward-facing camera is generally used to help adjust the position of the workpiece the robot is
holding.
○ In theory, it could be used for high precision work if the camera has a good view of the workpiece.
○ The camera could also be used if it does not matter if the hand deviates from its position when it grasps
the workpiece.
▲ A fixed upward-facing camera, however, is rarely used on its own and it is assumed that it will be used
with either one or both of the two cameras mentioned above. This means that system costs and camera
processing times cannot be reduced.
Grasp position adjustment
Grasp position adjustment
Chapter 1 - Fundamentals of 2D vision sensors 11
Side camaera
1.6 Steps required for automatic operation
1.6.1 Overview
The following is an overview of the steps required to make automatic operation possible.
In this seminar we will learn about two types of camera; the fixed downward-facing camera and the hand
eye.
(1) Fixed downward-facing camera
(2) Hand eye (connected to the robot hand)
Steps 1 to 4 of the communication settings are used for both the hand eye and the
fixed downward-facing camera.
Steps 5 to 9 are the steps used to configure both cameras. Each camera is configured
differently
Communication settings
Chapter 2
1. Preparing the robot and vision sensor
2. Configuring computer network settings
3. Connecting the robot and camera (RT ToolBox3)
4. Configuring camera communication settings (In-Sight Explorer)
Fixed downward-facing camera
(Chapter 3)
Hand eye
(Chapter 4)
5. Setting a control point for
calibration
5. Setting a control point for
calibration (lens adjustment)
6. Calibration
(lens adjustment)
6. Calibration
7. Creating an identification job
8. Creating a relative position
9. Checking robot operation
7. Creating an identification job
8. Setting up the relative position
9. Checking robot operationecking
robot operation
Chapter 1 - Fundamentals of 2D vision sensors 12
1.6.2 Communication settings overview
Communication settings used in this seminar are shown below.
・ Common settings
Robot IP address
Subnet mask
Port No.
192.168.1.20
255.255.255.0
23
・ Camera specific settings
Camera type
Device
Camera IP
address (*1)
Assigned to
Camera host name
Fixed
downward-facing
camera
OPT13
192.168.1.3
COM3
Upper_VS80M-200-E
Hand eye
OPT14
192.168.1.4
COM4
Hand_VS80-202-E
Fixed upward-facing
camera
OPT15
192.168.1.5
COM5
Under_VS80-200-E
*1) The IP address of each camera needs to be set as the cameras will be connected to a network.
1.6.3 Overview of programs used for each camera
The programs used for each camera in this seminar are shown below.
Fixed downwardfacing camera
External variables defined by
the user
Creation of a control point
used for calibration
Hand eye
Fixed upward-facing
camera
UBP
TLUP
HND1
TLLW
Calibration
-
HND2
-
Identification job creation
-
HND3
DVS1
Relative position creation
(grasp position, position
adjustment)
UVS1
UVS2
HND3
-
Automatic operation
UVS2
HND4
DVS2
Chapter 1 - Fundamentals of 2D vision sensors 13
Fixed-downward facing
camera
Upper_VS80M-200-E
Hand eye
Hand_VS80-202-E
PoE hub
Programmable
controller
Fixed-upward facing
camera
Under_VS80M-200-E
Robot controller
Chapter 1 - Fundamentals of 2D vision sensors 14
Chapter 2 - Communication settings and lens adjustment
This chapter explains how to configure the communication settings.
■ Steps required to configure the communication settings
Communication settings
(Chapter 2)
1. Preparing the robot and vision sensor
2. Configuring computer network settings
3. Connecting the robot and camera
(RT ToolBox3)
・Robot network settings
・Robot/camera connection settings
・Parameter settings
4. Configuring camera communication settings
(In-Sight Explorer)
・Starting In-Sight Explorer
・Connecting a camera
・Configuring System Options
Calibrate each camera after configuring the
communication settings.
Fixed downward-facing camera (Chapter 3)
Hand eye (Chapter 4)
Chapter 2 - Communication settings and lens adjustment 15
2.1 Preparing the robot and vision sensor
Referring to the system architecture figure, prepare the required devices and wire them.
(Refer to the system architecture figure "1.4System architecture".)
2.2 Configuring computer network settings
Configure the network settings of the computer that is running RT ToolBox3 and In-Sight Explorer.
The settings for the computers used in this seminar have already been configured. Follow the steps below
when working outside of this seminar.
(1) Set the computer IP address (Procedure for Windows 7®.)
Set the IP address for the computer you are using.
1) Go to Control Panel → Network and Internet → Network and Sharing Center.
2) Click Local Area Connection under View your active networks.
3) Click Properties in the Local Area Connection Status window.
4) Select Internet Protocol Version 4 (TCP/IPv4), then click Properties.
5) Select Use the following IP address and input an IP address that matches the network that the robot
will connect to.
In the Subnet mask field enter 255.255.255.0, then click OK and close the window.
1)
Network and Internet
1)
Control Panel
Network and Sharing
Center
Local Area
Connection Status
2)
3)
Local Area Connection
Status properties
5)
4)
4)
IP address: the address the robot connects to
Subnet mask: 255.255.255.0
5)
Chapter 2 - Communication settings and lens adjustment 16
(1) Set the computer IP address (Procedure for Windows 10®.)
Set the IP address for the computer you are using.
1) Go to Start → Windows System → Control Panel.
2) In the Control Panel, click Network and Internet.
3) Then click Network and Sharing Center.
4) Double click Ethernet under View your active networks.
5) Click Properties in the Ethernet Status window.
6) Select Internet Protocol Version 4 (TCP/IPv4), then click Properties.
7) Select Use the following IP address and input an IP address that matches the network that the robot
will connect to.
In the Subnet mask field enter 255.255.255.0, then click OK and close the window.
Control Panel
Network and Internet
2)
3)
Network and Sharing Center
4)
Ethernet status
5)
Ethernet properties
IP address: the address the robot
connects to
Subnet mask: 255.255.255.0
6)
6)
7)
Internet Protocol Version 4 (TCP/IPv4)
properties
7)
Chapter 2 - Communication settings and lens adjustment 17
2.3 Connecting the robot and camera (RT ToolBox3)
Using RT ToolBox3, we will configure the communication settings to connect the robot and camera.
2.3.1 Robot network settings
(1) Create a workspace.
(1.1) Start RT ToolBox3 and create a new workspace.
1) Start RT ToolBox3.
RT ToolBox3 Start screen
RT ToolBox3
desktop icon
2) Click New in the menu bar on the Home tab. The New Workspace window will appear.
3) Specify a place to save the workspace, then enter a workspace name and click OK.
3)
2)
3)
3)
(2) Step 1: Outline (project name and comment)
(2.1) Enter a project name and comment
The project window will appear. Here we will configure the project settings.
1) Enter a project name.
The project name will be set as either RC1 or RC2 by default (this can be left as it is).
Feel free to write any notes in the comment section.
2) Click Next >.
Project settings window
1)
2)
Chapter 2 - Communication settings and lens adjustment 18
(3) Step 1: Outline (project name and comment)
(3.1) Select the robot and controller type.
1) Select the robot and controller that will be used for the project.
The series, type and maximum load of the robot and controller can be narrowed down using the
drop-down boxes.
2) Select the model from the list that appears below the drop-down boxes and click Next >.
The RV-2FR-R will be used in this seminar. Select the following from the drop-down boxes.
・ Series: FR-R series CR800-R
・ Type: RV Vertical type (6 axis)
・ Maximum load: 2 kg
・ Robot model: RV-2FR-R
1)
Selected model
2)
2)
Chapter 2 - Communication settings and lens adjustment 19
(4) Step 3: Communication settings
(4) Configure IP address and communication settings.
1) Enter the robot/controller IP address in the IP address field under Network of the robot.
* Set the robot IP address to 192.168.1.20 for the purposes of this seminar. (*1)
2) Enter 255.255.255.0 in the Subnet Mask field.
3) Select TCP/IP for the connection method.
* Settings
Robot IP address*1
192.168.1.20
Subnet mask
255.255.255.0
Connection method
TCP/IP
4) This completes the project settings used in this seminar.
Click Finish and change the operation mode to Online.
5) Once the robot and robot controller are connected, Online will appear in the project tree.
1)
2)
3)
Connection
method
4)
4)
5) Online
5) Online
*1 Regarding the robot/robot controller IP addresses:
・ The default IP addresses for Q/R Type robots are 192.168.100.1. The default IP address for the D
Type robot controller is 192.168.0.20.
・ Use the parameter "NETIP" to check the IP address of the robot or robot controller.
・ Reset the robot controller after changing an IP address.
Chapter 2 - Communication settings and lens adjustment 20
2.3.2 comRobot and camera connection settings
Configure COM port and parameter communication settings to connect the robot and vision sensors.
In this seminar, we will use the following settings for each vision sensor.
* Cameras used in this seminar and COM port communication settings
Camera type
Device
Camera IP
address*1
Assigned to
Camera host name
Fixed
downward-facing
camera
OPT13
192.168.1.3
COM3
Upper_VS80M-200-E
Hand eye
OPT14
192.168.1.4
COM4
Hand_VS80-202-E
Fixed upward-facing
camera
OPT15
192.168.1.5
COM5
Under_VS80-200-E
*1) Each camera requires its own IP address to connect to the network.
Prepare an IP address to assign to each camera in advanced.
(1) Device parameter settings
(1.1) Select a device.
(The settings for the fixed downward-facing camera are used as an example in this section.)
1) In the project tree go to Online → Parameter → Communication Parameter → Ethernet.
2) Click Device & Line in the Ethernet window.
3) In the device list, double click on each device from OPT13 to OPT19.
(The Set button can be used instead of double clicking.) (OPT13 is used as an example)
4) The Device Parameter Setting window will appear.
Do not use OPT11 or OPT12. RT ToolBox3 uses OPT11 so the operation mode will
switch to Offline if OPT11 is selected.
Project tree
Settings for the fixed downward-facing camera.
2)
OPT13
3)
1)
Device Parameter Setting
window
Chapter 2 - Communication settings and lens adjustment 21
(1.2) Configure device parameter settings
1) In the Device Parameter Setting window, select Network Vision Sensor (2D) from the drop-down box in
the Autoconfiguration field.
2) Enter the IP address which you would like to assign to the camera selected in the IP address field.
(E.g. 192.168.1.3)
3) The Port # is the same as what the camera port is set to. Make sure that Port # is set to 23 for this
seminar.
4) Select any COM port from COM1 to COM8 from the Allocation drop-down box, then click OK.
(COM3 is used as an example)
OPT13
1)
2)
Network vision sensor (2D)
settings
3)
*
For VS80 and VS70 series
cameras, selecting Network
vision sensor (2D) will
automatically assign settings for
fields other than IP address and
Allocation.
4)
4)
(1.3) Configure the settings of the remaining cameras.
1) Follow Steps 1.1 and 1.2, then configure the settings as shown below.
2) In the Ethernet window, click Write to write the settings to the robot controller.
3) A dialog box with the message "Are you sure want to restart the robot controller?" will appear. Click
Yes. The robot controller will restart.
The Ethernet window after settings
have been made (example).
Settings of COM3 to
COM5 complete
Settings of OPT13 to OPT15
complete
2)
Chapter 2 - Communication settings and lens adjustment 22
(2) Parameter settings
Parameters are set to call up imaging commands and acquire data after the camera has finished processing
an image.
(2.1) Set "1" in the parameter "NVTRGTMG".
1) Go to Online → Parameter → Parameter List in the project tree.
2) Search for the parameter "NVTRGTMG".
3) Set "1" in the parameter "NVTRGTMG". (The default value is 2)
4) Click Write to write the parameter to the robot controller.
5) A dialog box with the message "Are you sure want to restart the robot controller?" will appear. Click
Yes. The robot controller will restart.
Project tree
NVTRGTMG
2)
1)
3)
4)
* This completes the connection settings for the robot and camera.
Additional
Parameter NVTRGTMG
If parameter NVTRGTMG is set to the default value "2", the NVRun command*1 starts processing the
next command without waiting for image processing to finish. Therefore, the results of previous
identification data may be read if the EBRead command*2 is executed immediately.
*1 NvRun command: A command which specifies the job, which vision sensor to control and when to
activate a trigger.
*2 EBRead command: A command which reads data from the camera.
For information on NVTRGTMG, refer to "Appendix 3 2D Vision sensor parameters".
Chapter 2 - Communication settings and lens adjustment 23
2.4 Configuring camera communication settings (In-Sight Explorer)
In this step, we will configure the camera communication settings with In-Sight Explorer.
In order to configure vision sensor settings, In-Sight Explorer needs to be installed on the computer
connected to the cameras.
Refer to "1.3.1Installing In-Sight Explorer" for information on how to install In-Sight Explorer.
2.4.1 Starting In-Sight Explorer
(1) Start In-Sight Explorer
1) There will be times when In-Sight Explorer detects cameras on start up and times when it does not.
At least one camera detected → Go to 2.4.2.1.
Detected cameras will be
displayed here.
No cameras detected → Go to 2.4.2.2.
Nothing will be displayed if no
camera is detected.
Chapter 2 - Communication settings and lens adjustment 24
2.4.2 Connecting cameras
2.4.2.1
At least one camera detected
(1) Check the IP address.
1) Select Get Connected from the Application Steps window.
2) A list of detected cameras will appear under Select an In-Sight Sensor or Emulator. Choose a camera
from the list and click Connect.
* If no cameras appear here, follow the instructions in "2.4.2.2 If no cameras are detected".
3) Go to Sensor on the menu bar and select Network Settings.
Ensure that the IP Address, Subnet Mask, and Telnet Port (Port No.) are the same as the settings that
are stated in "2.3.2Robot and camera connection settings".
If there are any differences, adjust the settings as necessary, then click OK.
* Continue to Step 2.4.2.3 Configuring system options.
1)
2)
2)
Select an In-Sight
Sensor or Emulator
An image will be displayed once a camera is connected.
3)
If the settings differ from the
settings in "2.3.2 Robot and
camera connection settings", adjust
the settings to match the selected
camera.
Chapter 2 - Communication settings and lens adjustment 25
2)
2.4.2.2
If no cameras are detected
If no cameras appear under Select an In-Sight Sensor or Emulator, they need to be found
and recognized.
(1.1) Find the cameras.
1) Go to System on the menu bar and select Add Sensor/Device To Network.
2) The Add Sensor/Device To Network window will pop up and the cameras will soon be detected.
(The cameras will be detected, but not recognized by the robot at this point.)
1)
1)
2) List of cameras
Add Sensor/Device To Network window
Chapter 2 - Communication settings and lens adjustment 26
(1.2) Configure the network settings so that the cameras are recognized by the robot.
1) Select the camera to configure its network settings.
The cameras can be identified by their Mac address.
2) A name can be set in the Host Name field to distinguish each camera. (Host names are optional.)
The following names are used in this seminar as examples.
Fixed downward-facing camera
Upper_VS80M-200-E
Hand eye
Hand_VS80-202-E
Fixed upward-facing camera
Under_VS80-200-E
3) Enter an IP address and Subnet mask.
Enter the same settings that are stated in "2.3.2 Robot and camera connection settings".
4) Click Apply.
2)
3)
3)
1) MAC address
These fields become
active once a camera is
selected.
4)
(1.3) Configure additional camera network settings.
1) Complete Step 1.2 for the other cameras to configure the network settings.
2) After configuring the settings, click Close.
The Add Sensor/Device To Network window will close, and then the cameras will restart.
2)
Chapter 2 - Communication settings and lens adjustment 27
(1.4) Connect the cameras.
1) After the cameras have restarted, the names of the cameras will appear under Select an In-Sight Sensor
or Emulator.
2) Select the camera you want to use and click Connect to connect the camera.
3) Select Set Up Image from the Application Steps window.
4) Click Trigger under Acquire/Load Image to display the image of the selected camera.
* If a camera cannot be connected, ensure that the IP address, Subnet Mask, and Telnet Port (Port No.)
are the same as the settings that are stated in "2.3.2 Robot and camera connection settings".
How to check
Go to Sensor on the menu bar and select Network Settings.
If the IP Address, Subnet Mask, and Telnet Port (Port No.) are not the same as the settings that are
stated in "2.3.2 Robot and camera connection settings", change them and click OK.
Reselect the camera, then click Connect and check that the camera is connected.
2)
2) Select the camera
The camera will display an image.
3)
4)
Chapter 2 - Communication settings and lens adjustment 28
2.4.2.3
Configuring system options
(1) Configure system options
1) Go to System on the menu bar and select Options. The Options window will appear.
2) Select User Interface from the menu on the left.
3) Select the Use English Symbolic Tags for EasyBuilder check box. Click Apply then OK.
1) System → Options
3)
2)
3)
If the Use English Symbolic Tags for EasyBuilder check box is not selected, data
communication will become unstable when a program is executed.
* This completes the configuration of camera communication settings.
Additional
Common methods of acquiring
The following methods are the main methods used for acquiring images.
(1) Trigger
The camera acquires one image when the Trigger button is pressed.
When the trigger control is set to Manual, images can be acquired by pressing the F5 button.
Image acquisition settings can be configured in the Edit Acquisition Settings window, accessible by
clicking on Set Up Image in the Application steps window.
Main trigger control methods
・ Camera: Images are acquired upon the detection of a rising edge signal on the hardware input
port of the vision system.
・ Continuous: Images are acquired continuously using the intervals set in Trigger Intervals.
・ External: Images are acquired on the command of an external device.
・ Manual: Images are acquired when the function key (F5) is pressed.
(2) Live Video
Camera images are displayed in real time. Live view is also used when adjusting the lens.
Chapter 2 - Communication settings and lens adjustment 29
Notes
Chapter 2 - Communication settings and lens adjustment 30
2.5 Adjusting the lens (focus and aperture)
This section explains how to adjust the focus and aperture (brightness) of the lens.
・ Position the surface of the workpieces you want the camera to identify at a height that is within its field of
view. Then adjust the focus and aperture.
・ When adjusting the lens, ensure that the edges of the workpieces are clearly in focus.
・ Lens adjustment methods and lens adjustment times differ depending on the camera type.
(1) Position the workpieces within the camera's FOV.
Fixed downward-facing camera
Place the workpieces in a position
that fills most of the camera's FOV.
Identification
range
Workpiece suction
platform
Hand eye
1) Move the robot arm so that the
hand camera is above where the
workpiece is to be picked. Move
the robot to a height which does
not change the required FOV.
Height
workpiece is
identified
Identification
range
Fixed upward-facing camera
Pick up the workpiece with the
robot hand.
Move the robot to the height and
position that is required for the
camera to identify the workpiece.
Workpiece
held by
robot hand
Chapter 2 - Communication settings and lens adjustment 31
(2) Adjust the focus and aperture.
VS80 series (example)
Aperture adjustment ring locking screw
Focus adjustment ring locking screw
Make adjustments by loosening
the locking screws and turning
the rings.
Tighten the locking screws after
making adjustments.
Aperture adjustment ring
Focus adjustment ring
* Lens adjustment methods differ depending on the camera type.
Read the manual thoroughly before using the product.
Example of adjusting the lens of fixed downward-facing camera
1) Select Set Up Image from the Application Steps window.
2) Click Live Video under Acquire/Load Image to switch to Live Video mode. Or select Repeating
Trigger mode. (The icon is in the toolbar.)
4) Adjust the camera's focus and aperture while looking at EasyBuilder View so that the workpiece
is clearly visible.
Live Video mode window
1)
Check the focus and aperture
2)
Live (Live Video mode)
Continuous trigger
(toolbar)
Chapter 2 - Communication settings and lens adjustment 32
To adjust the focus and aperture, zoom in as much as possible in
EasyBuilder View to see if the edges of the workpiece are clearly visible.
Zoomed in section of the
workpiece
○ Edges of the workpiece
Good
× Too dark
(aperture)
× Too bright
(aperture)
Bad
Chapter 2 - Communication settings and lens adjustment 33
× Out of focus
(focus)
Chapter 3 - Fixed downward-facing camera
This chapter explains how to adjust the fixed downward-facing camera.
3.1 Principles behind the fixed downward-facing camera
3.1.1 Fundamentals of the fixed downward-facing camera
Fig. 3.1 shows the operations of a typical vision system.
Vision sensor finds workpiece
Hand grips workpiece
Workpiece picked up
Fig. 3.1: Typical vision system
Fig. 3.1 shows that in a typical vision system, the robot needs a lot of information in advance to complete
the operations (imaging/picking). The robot needs the following two pieces of information to perform the
operations shown above.
1) Where is the position of the workpiece recognized by the vision sensor?
2) How should the robot approach the workpiece found by the vision sensor?
However, in regards to question 1, the robot does not know where the vision sensor is installed or where it is
looking at.
Origin
+X
+Y
Fig 3.2: EasyBuilder View
The vision sensor uses In-Sight Explorer to identify the position of the workpiece within the FOV. However,
the vision sensor does not know where the workpiece is in relation to the robot's origin.
Chapter 3 - Fixed downward-facing camera 34
Due to the following factors, the robot will not be able to operate even if the robot and vision sensor try
work together*1.
*1 The vision sensor identifies the workpiece and the robot picks it up.
・ The robot does not have any information other than its control point.
・ The robot can only move using robot coordinates based on its own origin.
Information from
the vision sensor
The position of
the workpiece is
equal to:
X: ### pixels
Y: ### pixels
C: ### degrees
Vision sensor looks for workpiece
Robot does not know where
Robot cannot move
The following things need to be done in order to answer questions 1 and 2 on the previous page.
・ Convert the position of the workpiece recognized by the vision sensor into robot coordinates.
・ Teach the robot the approach position for the master workpiece which has been converted into robot
coordinates.
Figure out the relative position of the workpiece in respect to the robot.
* Converting the position of the workpiece recognized by the vision sensor into robot coordinates is called
"calibration".
Chapter 3 - Fixed downward-facing camera 35
3.1.2 Setting a control point for calibration
Fig. 3.3 shows a typical work environment.
As the robot does not know where the control point is, a pointed object (calibration tool) is put into the robot
hand (Fig. 3.4) and the tip of the calibration tool is set as the control point. The teaching pendant will use
the coordinates of the tip of the calibration tool to perform calibration accurately.
Fig. 3.3: Typical work environment
Fig. 3.4: Calibration tool
We will use the program "TLUP" to set a control point that is used for calibration.
(Refer to 3.2.1Program for setting a control point used for calibration.)
Fig. 3.5 and Fig. 3.6 depict the teaching of P0 and P90 using TLUP.
A pointed object is also placed on the platform. When the robot is taught to rotate the tool's C axis
90°around the tip of the object on the platform, it calculates where that point is within its own tool
coordinates. It then sets the coordinates as tool points even though they are only XY components.
Fig. 3.5: Teaching of P0
Fig. 3.6: Teaching of P90
Executing TLUP (control point setting program) sets the tip of the calibration tool in the robot hand as
the control point. This control point is then used for calibration.
Chapter 3 - Fixed downward-facing camera 36
3.1.3 Control point used for calibrating the fixed downward-facing camera
Flange center
X
Control point used for
calibration
P_TLUP = (X, Y, 0,0,0,0)
Y
Position of the tip of the calibration tool
from the center of the flange (X, Y).
Object used for setting
the control point that is
used for calibration
(held in the robots hand)
Fig. 3.7: Control point calculated using the fixed downward-facing
Chapter 3 - Fixed downward-facing camera 37
3.1.4 Calibration of the fixed downward-facing camera
(1) What is calibration?
Calibration is determining where the origin of vision sensor coordinates will be within the robot coordinates,
which direction it is facing and what scale it is.
Vision sensor
Origin
XV
YV
XR
Robot center
YR
Fig. 3.8: Calibration of the fixed downward-facing camera
(2) Typical calibration method
As shown in Fig. 3.9, the positions of features within the vision sensors FOV are correlated with the
positions of the features within the robot coordinate system. By correlating more than three points, we can
determine where the vision sensor's origin point is within the robot coordinate system, which direction the
camera is facing, and how many millimeters one pixel is equal to in the robot coordinate system.
This is the fundamentals of calibration. (Fig. 3.9)
If the robot and vision sensor
identify the positions of multiple
features...
...then the robot can figure out
the position, direction and
scale of the vision sensor's
origin in respect to its origin.
Robot coordinates
Robot coordinates
Fig. 3.9: Fundamentals of calibration
Chapter 3 - Fixed downward-facing camera 38
(3) N point calibration
In this seminar, we will perform calibration using the method of calibration called "N point calibration".
N point calibration is a way of creating calibration data using multiple points which match in both the
robot and screen coordinate systems.
Camera
Camera coordinates
Calibration sheet
Calibration
points
(more than 4)
4
1. (XXX.XX YYY.YY) -
(XXX.XX ,YYY.YY)
2. (XXX.XX YYY.YY) -
(XXX.XX ,YYY.YY)
3. (XXX.XX YYY.YY) -
(XXX.XX ,YYY.YY)
4. (XXX.XX YYY.YY) -
(XXX.XX ,YYY.YY)
5. (XXX.XX YYY.YY) -
(XXX.XX ,YYY.YY)
N point calibration is...
1
2
Robot coordinates
5
3
a way of creating calibration data using
multiple points which match in both the
robot and screen coordinate systems.
Camera's FOV
N point calibration.
Fig. 3.10: N point calibration
(4) Fixed downward-facing camera: N point calibration method
1) Place workpieces with clearly distinguishable features within the camera's FOV at the height at which
the workpiece is to be identified.
For example, the apex of the isosceles triangles shown in Fig. 3.11 is used as a feature which is checked
against the vision sensor coordinate system.
2) When the workpieces (shown in Fig. 3.11A) are identified by the vision sensor, they will be displayed
in EasyBuilder View as shown in Fig. 3.11B.
3) The coordinates of the feature are as shown in Fig. 3.11C. (Example: 324, 187)
Feature
Feature
Feature
324
187
A: Workpieces
B: Workpieces identified by
the vision sensor
C: Vision sensor
coordinates of the feature
Fig. 3.11: Coordinates of the feature used for N point calibration
Chapter 3 - Fixed downward-facing camera 39
In case 1, the positions of the features match in both the robot and vision sensor coordinate systems so
calibration can be performed correctly. However in case 2, calibration cannot be performed correctly
because the positions of the features do not match. Therefore, the positions of the features within the
vision sensor and robot coordinate systems need to match in order for calibration to be performed.
Vision sensor feature coordinates (image coordinates)
Robot feature coordinates (robot coordinates)
Fig. 3.12: Position of features does not match in robot and vision
In order to check the robot coordinates, move the robot arm to the position of the feature. Then read the
robot’s current position using the teaching pendent or RT ToolBox3. The current position will then become
the position of the feature.
Fig. 3.13 shows a workpiece that has been placed within the camera's FOV and the robot arm being moved
to the position of the feature (XY coordinates).
The center of the flange (control point) is aligned with the feature.
The values of the X and Y
coordinates are then read
by the teaching pendant.
The center of the flange (control
point) is aligned with the feature.
Fig. 3.13: Alignment of the control point with the workpiece feature
It is likely that you will question where the robot control point is during this step. As there is no marking on
the center of the flange, it is very difficult to align the center of the flange with the feature on the workpiece
while using the robot in JOG mode.
Chapter 3 - Fixed downward-facing camera 40
Place the calibration tool (which is pointed) in the robot hand to find out and visualize where the robot
control point is. Set the tip of the calibration tool as the control point. (Fig. 3.14: Step 1)
If the control point is set correctly, the coordinates of the tip of the calibration tool will be the same as the
position data displayed on the teaching pendant.
Move the tip of the calibration tool to the feature of the workpiece (Fig. 3.14: Step 2), then set the position
where the feature and control point meet to the position of the feature in the robot coordinates system (Fig.
3.14: Step 3).
* Do not worry if you cannot align the points perfectly by eye. Align them as best as you possible can.
Step 1: Place the calibration tool in the robot
hand to find out and visualize where the
robot control point is. Set the tip of the
calibration tool as the control point.
Step 2: Move the robot arm in JOG mode to the position of the feature.
Step 3: Set the position where the feature and control point meet to the
position of the feature in the robot coordinates system. Check the
position data with the teaching pendant/RT ToolBox3.
Fig. 3.14: Alignment of the position of the feature with the robot
Chapter 3 - Fixed downward-facing camera 41
3.1.5 Fundamentals of the fixed downward-facing camera
Once calibration is complete, the robot can now be told where the workpiece that the vision sensor has
identified is.
* At this point in time, the robot knows where the workpiece is, but does not know how to approach it.
Fig. 3.15 shows the relative position of the robot and workpiece at the robot's pick up point.
The position of the workpiece and the workpiece pickup point are only positions with respect to the robot
origin.
Workpiece pick
up point
+Z
+X
Workpiece position
+Y
Robot origin
Fig. 3.15: shows the relative position of the robot's pick up point and the position of the workpiece.
Typically, the same picking method is used to pick workpieces of the same type.
The workpiece pick up point, which the robot considers to be the origin of the workpiece, is at a fixed point
in space relative to the actual position of the workpiece.
The workpiece pickup point (PTRG) can be thought of as the point that the robot considers to be the position
of the workpiece (PVS). That is, at what coordinates in the workpiece coordinate system (A, B, C, X, Y, Z)
should the robot pick up the workpiece.
Workpiece pick up point
(PTRG)
The workpiece pick up point is a place (fixed
value) within the workpiece coordinate system,
which is considered by the robot to be the
actual position of the workpiece.
・This fixed value is called "PH".
・PVS is the position of the workpiece.
PH: The workpiece
pick up point
relative to the
workpiece
coordinate system.
PH
Workpiece position
(PVS)
・PTRG is the workpiece pick up point.
In the program, the equation used to find
PTRG is written as:
PTRG = PVS × PH
Workpiece
coordinates
Fig. 3.16: Workpiece pick up point and workpiece position
Chapter 3 - Fixed downward-facing camera 42
◇ How to fin d th e d istan ce b etw een th e w orkp iece pick up point and the actual position of
the workpiece (PH)
* Miscalibration or improper setting of the control point will result in an incorrect pick up point. Due to
this, it is imperative that PH is calculated correctly.
・ Workpiece position: The position of the workpiece identified by the vision sensor is registered in
the robot coordinate system during calibration.
・ Workpiece pick up point: The pick up point taught to the robot. Each point is a position that is
measured from the robot origin. (Fig. 3.17)
PH is the distance from position of the workpiece (set as the origin in the workpiece coordinate
system) to the workpiece pick up point. PH is expressed as PH = Inv (PVS) × PWK in the robot
coordinate system.
PH=Inv(PVS)*PWK
When working with multiple workpieces of the same type, select one of the workpieces to be the
master workpiece and teach the robot PWK and PVS. After PH has been calculated, it is possible
for the robot to pick other workpieces in different positions accurately using PH (the calculation of
the relationship between the position of the workpiece and the workpiece pick up point). This is
only possible if the calculated PH from the master workpiece can be applied to the other pieces.
Master workpiece pick up point
(PWK)
PWK
PH
Position of the master workpiece
(PVS)
PVS
Robot origin
Fig. 3.17: Master workpiece pick up point (PWK) and master workpiece
Chapter 3 - Fixed downward-facing camera 43
■ Process of adjusting the fixed downward-facing camera
The following is an overview of the steps required to make automatic operation possible using the fixed
downward-facing camera. The Steps 1 to 4 in the following table are the same as those described in
Chapter 2, "Communication settings".*1
Therefore, only Steps 5 to 11 will be explained in this chapter.
Step
Description
Remarks
1
Preparing the robot and vision sensor
2
Configuring computer network settings
3
Connecting the robot and camera (RT ToolBox3)
*1
4
Configuring camera communication settings
(In-Sight Explorer)
Chapter 2 - Communication settin
gs and lens adjustment
*1) The COM port communication settings used in this seminar differ depending on the camera.
Refer to "* Cameras used in this seminar and COM port communication settings".
Step
5
Description
Setting the control point used for calibration
Main tasks
Add a user base program.
Place the calibration tool in the
robot hand.
Position the calibration tool.
Set the control point used for
calibration.
Position the workpiece used for
calibration.
6
Calibration
Connect a camera and adjust the
lens.
Create user-defined points.
Carry out N point calibration.
7
Create an identification job.
Set the workpiece to be identified
and the identification range.
Select an identified pattern.
Save the job.
8
Setting up the relative position between the
robot and the workpiece
Position the master workpiece
used for adjustment.
Teach the safe position and
suction area on the workpiece.
Teach the destination position.
9
Checking the robot movement using step
operation and automatic operation
-
Chapter 3 - Fixed downward-facing camera 44
3.2 Setting a control point used for calibration (Fixed downward-facing camera)
We will set a control point that will be used for robot calibration using the robot and a robot program.
3.2.1 Program for setting a control point used for calibration
The programs used in this chapter are UBP.prg and TLUP.prg.
・UBP.prg: Used for defining user external variables. This program is used for each camera.
・TLUP.prg: Used for setting a control point which is used for calibration. Align the tip of the calibration tool
held in the robot’s hand with the tip of the pointed object on the platform.
◇ Program UBP.prg
1 '--------------------------------------------------2 ' User external variable definition program UBP.prg
3 '--------------------------------------------------4 Def Pos P_TLUP ' Fixed downward-facing camera: Control point data used for calibration
5 Def Pos P_TLLW ' Fixed upward-facing camera: Control point data used for calibration
6 Def Pos P_CMTL ' Hand camera: Camera center position data for calibration
7 '
8 Def Pos P_PH01 ' Fixed downward-facing camera: Coefficient for calculating the handling position
from the position of the identified workpiece
9 Def Pos P_PH02 ' Fixed upward-facing camera: Coefficient for calculating the handling position from
the position of the identified workpiece
10 Def Pos P_PH03 ' Hand camera: Coefficient for calculating the handling position from the position of
the identified workpiece
11 '
12 Def Pos P_WRK01 ' Fixed downward-facing camera: Master workpiece grasp position
13 Def Pos P_WRK02 ' Fixed upward-facing camera: Master workpiece grasp position
14 Def Pos P_WRK03 ' Hand camera: Master workpiece grasp position
15 '
16 Def Pos P_PVS01 ' Fixed downward-facing camera: Master workpiece identification point
17 Def Pos P_PVS02 ' Fixed upward-facing camera: Master workpiece identification point
18 Def Pos P_PVS03 ' Hand camera: Master workpiece identification point
19 '
20 Def Pos P_PHome ' Safe position
21 Def Pos P_CLPos ' Hand camera: Reference point to start calibration
22 Def Pos P_CMH ' Hand camera: Offset from the surface of the identified workpiece to the imaging
point
23 Def Pos P_HVSP1 ' Hand camera: Default imaging point
24 Def Pos P_LVSP1 ' Fixed upward-facing camera: Default imaging point
25 Def Pos P_MPUT1 ' Fixed upward-facing camera: Master workpiece destination position
26 '
27 Def Char C_C01 ' Fixed downward-facing camera: COM name
28 Def Char C_C02 ' Fixed upward-facing camera: COM name
29 Def Char C_C03 ' Hand camera: COM name
30 '
31 Def Char C_J01 ' Fixed downward-facing camera: Job name
32 Def Char C_J02 ' Fixed upward-facing camera: Job name
(continued on the next page)
Chapter 3 - Fixed downward-facing camera 45
33 Def Char C_J03 ' Hand camera: Job name
34 '
35 '----- Dummy ----36 ' Completion: 100%
37 '
38 '
39 '##### User base program #####
40 '
41 ' NTOOL: Starts the user base program during automatic operation.
42 '
43 '
44 ' Position variable
45 '****prg1010**** Return to origin
46 Def Pos PNow
47 '
48 '****prg2001****Automatic operation (release workpiece from grasp)
49 Def Pos P_Home
50 Def Pos P_Whaji_vis_b
51 Def Pos P_Whaji_b
52 Def Pos P_ura_b
53 Def Pos P_Wkaiho1_b
54 Def Pos P_Wkaiho2_b
55 Def Pos P_Wkaiho3_b
56 Def Pos P_Wkaiho4_b
57 Def Pos P_Whaji_vis_e
58 Def Pos P_Whaji_e
59 Def Pos P_ura_e
60 Def Pos P_Wkaiho1_e
61 Def Pos P_Wkaiho2_e
62 Def Pos P_Wkaiho3_e
63 Def Pos P_Wkaiho4_e
64 Def Pos P_Wkaiho_vis_b
65 Def Pos P_Wkaiho_vis_e
66 Def Pos P_vision1syutoku
67 '
68 'Numeric variable
69 Def Inte M_Sim
70 Def Inte M_suuti
71 Def Inte M_suuti2
72 '
73 End
P_TLUP=(+0.62,-0.61,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_TLLW=(+0.41,-91.10,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_CMTL=(-97.85,-5.06,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_PH01=(-10.22,+90.64,+253.74,-180.00,+0.00,+178.70,+0.00,+0.00)(7,0)
P_PH02=(-90.33,+3.45,+368.35,-180.00,+0.00,-89.68,+0.00,+0.00)(7,0)
P_PH03=(-0.84,+90.90,+140.90,+0.00,+0.00,-0.01,+0.00,+0.00)(7,0)
(continued on the next page)
Chapter 3 - Fixed downward-facing camera 46
P_WRK01=(+253.62,+299.22,+253.74,-180.00,+0.00,+180.00,+0.00,+0.00)(7,0)
P_WRK02=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_WRK03=(+251.47,+297.44,+254.63,+179.96,-0.04,-178.78,+0.00,+0.00)(7,0)
P_PVS01=(+265.90,+208.84,+0.00,+0.00,+0.00,+1.30,+0.00,+0.00)(7,0)
P_PVS02=(+325.48,-4.01,+0.00,+0.00,+0.00,-358.49,+0.00,+0.00)(7,0)
P_PVS03=(+10.33,+4.63,+0.00,+0.00,+0.00,+0.01,+0.00,+0.00)(0,0)
P_PHome=(+187.48,-13.81,+320.67,-180.00,+0.00,+180.00,+0.00,+0.00)(7,0)
P_CLPos=(+184.47,-178.00,+376.40,-180.00,+0.00,-178.77,+0.00,+0.00)(7,0)
P_CMH=(+88.38,-90.49,-140.90,+0.00,+0.00,+0.00,+0.00,+0.00)(7,0)
P_HVSP1=(+165.14,+205.01,+395.53,+179.96,-0.04,-178.78,+0.00,+0.00)(7,0)
P_LVSP1=(+235.10,-2.95,+368.35,-180.00,+0.00,-88.17,+0.00,+0.00)(7,0)
P_MPUT1=(+282.76,-87.11,+245.01,-180.00,+0.00,-180.00)(7,0)
PNow=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Home=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Whaji_vis_b=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Whaji_b=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_ura_b=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Wkaiho1_b=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Wkaiho2_b=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Wkaiho3_b=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Wkaiho4_b=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Whaji_vis_e=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Whaji_e=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_ura_e=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Wkaiho1_e=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Wkaiho2_e=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Wkaiho3_e=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Wkaiho4_e=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Wkaiho_vis_b=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_Wkaiho_vis_e=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
P_vision1syutoku=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
(End of UBP.prg)
Chapter 3 - Fixed downward-facing camera 47
◇ Program TLUP.prg
1 '---------------------------------------------------------------------------2 ' MELFA Sample Program, "XY-tool setting program" TLUP.prg
3 '---------------------------------------------------------------------------4 Def Pos P_TLUP ' Fixed downward-facing camera: Control point data used for calibration
5 Loadset 1,1
6 OAdl On
7 Servo On
8 Wait M_Svo=1
9 '----- HAND INIT ----10 '---- Wait M_Svo=1
11 '---- If M_EHOrg=0 Then
12 '---- EHOrg 1
13 '---- Wait M_EHOrg=1
14 '---- EndIf
15 '---- EHOpen 1,100,100
16 '---- Wait M_EHBusy=0
' If hand has not returned to origin:
' returns Hand 1 to origin.
' waits for Hand 1 to return to origin.
' Opens Hand 1 (speed = 100%, Force = 20%)
' Checks if operation is complete
17 '--------------------18 PTool=P_Tool
19 '---- Align hand. Align the tip of the calibration tool held in the hand with the tip of the object on the
platform.
20 '
21 P0=P_Fbc
22 P91=P0*(+0.00,+0.00,+0.00,+0.00,+0.00,+90.00)
23 Mvs P91
24 ' Moving the hand in only the X and Y axes, use the teaching pendant's XYZ jog mode to align the tip
of the calibration tool held in the robot hand with the tip of the object on the platform.
25 P90=P_Fbc
26 PTL=P_Zero
27 PT=Inv(P90)*P0
28 PTL.X=(PT.X+PT.Y)/2
29 PTL.Y=(-PT.X+PT.Y)/2
30 P_TLUP=PTool*PTL
31 Tool P_TLUP
32 Hlt
33 End
P_TLUP=(+0.62,-0.61,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PTool=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P0=(+248.75,+204.28,+293.04,+180.00,+0.00,-137.58,+0.00,+0.00)(7,0)
P91=(+248.75,+204.28,+293.04,+180.00,+0.00,+132.42,+0.00,+0.00)(7,0)
P90=(+249.58,+203.36,+293.04,+180.00,+0.00,+132.42,+0.00,+0.00)(7,0)
PTL=(+0.62,-0.61,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PT=(+1.23,+0.01,+0.00,+0.00,+0.00,-90.00,+0.00,+0.00)(7,0)
PTL2=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
(End of TLUP.prg)
Chapter 3 - Fixed downward-facing camera 48
3.2.2 Setting the control point used for calibration
■ Process of setting the control point used for calibration
Step
Description
(1)
Add a user base program.
(2)
Execute the program "TLUP".
(3)
Place the calibration tool in the robot hand.
(4)
Position a pointed object on the platform.
(5)
Set a control point which is used for calibration.
(6)
Check the control point used for calibration.
(4) Pointed object
(3) Calibration tool placed
(5 ) Setting of control point used for calibration
P0
P91
Align tips
The hand rotates 90°.
Tips misaligned (P91)
(6) Check the control point
used for calibration.
Chapter 3 - Fixed downward-facing camera 49
Align tips
(hand rotated 90°)
About the program that is used for setting a control point which is used for calibration
The following part of the program is used to calculate a control point which is used for calibration.
After setting an object with a sharp point on the platform, this program is run using step operation to find a
control point which is used for calibration.
◇ Program TLUP.prg
......
18 PTool=P_Tool
19 ' Align hand. Align the tip of the needle in the hand with the
tip of the needle on the platform.
20 '
21 P0=P_Fbc
22 P91=P0*(+0.00,+0.00,+0.00,+0.00,+0.00,+90.00)
23 Mov P91 ' Rotates the hand 90° (tips misaligned).
24 ' Move the robot using the teaching pendant's XYZ jog
mode in the X and Y axes only to realign the tip of the
calibration tool held in the robot hand with the tip of the
object on the platform.
25 P90=P_Fbc
26 PTL=P_Zero
27 PT=Inv(P90)*P0
28 PTL.X=(PT.X+PT.Y)/2
29 PTL.Y=(-PT.X+PT.Y)/2
30 P_TLUP=PTool*PTL
31 Tool P_TLUP
Chapter 3 - Fixed downward-facing camera 50
(1) Adding a user base program
(1.1) Add a user base program (UBP).
Add a user base program in RT ToolBox3. This will set up variables which can be used in other programs.
1) Go to Online → Parameter → Parameter List in the project tree.
2) Read (search for) parameter "PRGUSR". Then double click PRGUSR and enter UBP in the field shown
below.
3) Click Write to write the parameter to the robot controller.
4) Restart the robot controller.
PRGUSR
2)
3)
(2) Executing the program "TLUP".
(2.1) Run TLUP.prg.
1) Open TLUP.prg.
2) Run TLUP.prg up to line 19 using step operation.
◇ When executing line 12, press and hold the F1 key until the hand operation completes.
(Initialization of the electric hand)
◇ When executing line 18 "PTool = P_Tool", the current robot control point is assigned to PTool.
(Command editing screen)
Servo ON
Chapter 3 - Fixed downward-facing camera 51
F1
(FWD)
(3) Placing the calibration tool in the robot hand
Place the pointed calibration tool in the hand of the robot.
(3.1) Align the hand.
1) Press the HAND button on the teaching pendant.
2) Press the FUNCTION button on the teaching pendant.
3) Press F3 (which corresponds to NORMAL on the screen) to change from the Electric Hand Operation
screen to the Hand screen.
Electric Hand
Operation
screen
2) FUNCTION
F3
1) HAND
Hand
screen
Teaching pendant
4) Press the ALIGN button to align the hand
On the screen, select ALIGN by long pressing F2. The hand will align itself while the button is being
pressed.
Check that all the ABC components in the Tool jog and XYZ screens are all multiples of 90 then release
F2.
F2
(3.2) Place the calibration tool in the robot hand.
1) Press the HAND button on the teaching pendant to select the Electric Hand Operation screen.
2) Place the calibration tool in the center of the robot hand. Use F1 and F2 (which correspond to HOPEN
and HCLOSE on the screen) to open and close the hand.
* Move the robot hand in the Z axis so that the tip of the calibration tool is parallel with the tip of the
pointed object on the platform. (Refer to "B" in the images of Step 4.)
Electric Hand
Operation
screen
1) HAND
F1 and F2
Teaching pendant
Chapter 3 - Fixed downward-facing camera 52
(4) Positioning the pointed object on the platform
A pointed object is used to visualize the current position of the robot.
(4.1) Place the object on the platform.
1) Place the pointed object on the platform parallel to the surface the robot is on.
B
B
A
A
(Enlarged view)
(5) Setting a control point used for calibration
(5.1) Align the calibration tool in the robot hand with the sharp object on the platform.
1) With the teaching pendant in either XYZ jog mode or Tool jog mode, align the calibration tool in the
robot hand with the sharp object placed on the platform in Step 4.1.
Tips aligned
Chapter 3 - Fixed downward-facing camera 53
(5.2) Run TLUP.prg.
1) Run TLUP.prg up to line 23 using step operation.
2) When executing "Mvs P91" in line 23, the hand will rotate 90°and the tips of both the calibration tool
and the pointed object on the platform will no longer be aligned.
3) With the teaching pendant in JOG mode move the robot in the XY axes to realign the tips of the
calibration tool and the pointed object on the platform.
2) The hand rotates 90°.
Tips misaligned (P91)
3) Align tips
(6) Checking the control point used for calibration
(6.1) Check the robot movement.
1) Run TLUP.prg up to line 32 (Hlt) using step operation.
◇ When executing lines 25 to 30, the control point data in P_TLUP which is used for calibration will
be set.
2) After those lines have been executed, rotate the C axis in Tool jog mode to make sure that the robot
hand is revolving around the center of the calibration tool.
* If the tip of the calibration tool is not rotating perfectly around its center point, repeat the steps starting
from "(5) Setting a control point used for calibration ".
Tool jog
The calibration tool should rotate
around its center point.
The tip should not wobble about.
The calibration tool is required for calibration so do not remove it from the
robot hand. Make sure not to accidentally knock, dislodge, or interfere with
the calibration tool.
Chapter 3 - Fixed downward-facing camera 54
3.3 Calibration (Fixed downward-facing camera)
3.3.1 Calibration method
■ Calibration process
Step
Description
(1)
Create a new job.
(2)
Position calibration workpieces and connect the camera.
(3)
Adjust the lens.
(4)
Set user-defined points.
(5)
Create N points.
(6)
Carry out N point calibration.
(2) Position calibration workpieces
(4) Set user-defined points.
Point 2
Point 1
Point 3
Point 5
Point 4
(5) Create N points.
Point 1
Point 0
Camera
coordinates
Point 0 (x, y)
Point 1 (x, y)
Point 2 (x, y)
Point 2
Points are named in the order
they are selected.
Point 0 (first selected point),
point 1 (second selected
point)......
Point 3 (x, y)
Point 4
Point 4 (x, y)
Point 3
Enter the teaching pendant
value (robot coordinates)
into x and y.
(World X, world Y)
(6) Carry out N point calibration.
(X, Y)
Camera coordinates →
Robot coordinates
Point 0 (x, y) → Point 0 (X, Y)
Point 1 (x, y) → Point 1 (X, Y)
Point 2 (x, y) → Point 2 (X, Y)
(X, Y)
Point 3 (x, y) → Point 3 (X, Y)
Robot Jog operation
Chapter 3 - Fixed downward-facing camera 55
Point 4 (x, y) → Point 4 (X, Y)
(1) Creating a new job
(1.1) Create a new job.
1) Go to File then New Job.
2) The dialog "Are you sure you want to clear all data from the current job?" will appear. Click Yes.
1)
2)
(2) Positioning calibration workpieces and connecting the camera
(2.1) Position the calibration workpieces and connect the camera.
1) Position the calibration workpieces.
2) Select Get Connected from the Application Steps window. Select the fixed downward-facing camera
and click Connect.
1)
2)
Chapter 3 - Fixed downward-facing camera 56
(2.2) Acquire an image.
1) Select Set Up Image from the Application Steps window.
2) Select Live Video from Acquire/Load Image. Or, click the Repeating trigger button on the tool bar.
3) Ensure that all the calibration workpieces are visible in EasyBuilder View.
1)
Repeating trigger
2)
Check all workpieces are visible
3)
(3) Adjusting the lens
(3.1) Adjust the focus and aperture of the camera.
1) Select Live Video from Acquire/Load Image, or click the Repeating trigger button on the tool bar.
2) Adjust the focus and aperture to get a clear image of the workpiece suction point.
Refer to 2.5Adjusting the lens (focus and aperture) for information on how to adjust the lens.
Chapter 3 - Fixed downward-facing camera 57
(4) Setting user-defined points
(4.1) Create user-defined points.
1) Select Inspect Part from the Application Steps window.
2) Select User-Defined Point from Geometry Tools in the bottom left Add Tool window.
3) Clicking Add will create a pink point on the camera image.
4) Clicking OK will add the user-defined point (Point_1) to the Palette on the right.
The pink point will turn green. (Relocate the point later.)
1)
3)
2)
3)
Pink point on the camera image
The point turns
green.
4)
4)
Created user-defined
points are displayed.
User-defined point properties
Chapter 3 - Fixed downward-facing camera 58
(4.2) Create an equal number of user-defined points and calibration marks.
Create an equal number of user-defined points and calibration marks. Five points will be used in this
seminar.
1) Create the five points using steps 3 and 4 in section 4.1.
The created user-defined points will highlight in green on the camera image and added to the Palette.
(In the Palette, the user-defined points will be listed in the order they were created.)
Created user-defined points
(4.3) Align the user-defined points with the workpieces.
Place the five points in easily recognizable positions on the workpieces. (at the apex of each triangle)
* It is helpful to remember where each point (1 to 5) has been placed.
1) Select Point_1 from the Palette. The corresponding point will highlight in green on the camera image.
2) Drag the highlighted point with the mouse to an easily identifiable point on a workpiece (the apex of the
triangle or a point where two lines intersect). * With the image enlarged, align the highlighted point with
the feature as accurately as possible.
3) Repeat the same process for points 2 to 4.
1) Select the user-defined point
2) Drag the highlighted point with the mouse to an easily identifiable point.
With the enlarged image, align the highlighted point
with the feature as accurately as possible.
(This improves the accuracy of the calibration.)
Chapter 3 - Fixed downward-facing camera 59
Features that are easy to
identify
(5) Create N points
In the process of creating N points, we will move the robot arm to each
user-defined point.
However, calibration will not complete if the user-defined points and the robot
(5.1) Create N points.
1) Select Inspect Part from the Application Steps window.
2) Select N Point from Calibration Tools in the bottom left Add Tool window.
3) Click Add. All the user-defined points created in Step 4 will highlight in green.
4) Select all of the highlighted user-defined points. (Refer to the following image for how to select
user-defined points.)
Selected user-defined points will turn pink.
* It is helpful to remember what order the user-defined points have been selected.
5) After all the user-defined points have been selected, click OK.
1)
Hovering the cursor over a
user-defined point will highlight
it. After highlighting the point,
click on it.
3)
Click Add.
2)
Selected user-defined
points will turn pink.
Select all points then click OK.
5)
Note: Clicking the user-defined points will create N points.
If anything other than a user-defined points is clicked, or a user-defined point does not turn
pink when selected, click Cancel and repeat the process from Step 3 in section 5.1.
Chapter 3 - Fixed downward-facing camera 60
(5.2) N point calibration data will be created.
1) The selected N points will be listed in the bottom right of the window.
2) The calibration name will be displayed in the Palette to the right of the image. (Example: Calib_1)
N points are named in the order in which the points were selected in Step 5.1. For example, the point
selected first is "Point 0", the point selected second is "Point 1", and so on.
2) Calibration name
1) Created N points
Note:
If the number of listed N points differs from the number of N points you want to create...
Something else other than the user-defined points may have been selected in Step 5.1.
(Click user-defined points to create N points.)
In this case, recreate N points in the following steps.
3) Select the calibration name from Palette, then right-click and select Delete to delete the data.
4) Create N points by repeating the process from Step 3 in section 5.1 onwards.
The number of listed N points is 6, but
the number of N points you want to
create is 5.
↓
In this case, delete the calibration
data and repeat the steps in section
5.1.
Chapter 3 - Fixed downward-facing camera 61
(6) Carry out N point calibration.
In this step we will calibrate the 5 points.
The vision sensor feature points (image coordinates) will be associated with the corresponding robot
feature points (robot coordinates). (Refer to 3.1.4Calibration of the fixed downward-facing camera.)
(6.1) Use the teaching pendant to acquire position data of the calibration points.
1) Move the calibration tool in the robot hand to the position that corresponds with the on-screen
position of Point 0.
2) Once the robot has moved to the position of Point 0, move the selector in the bottom right of In-Sight
Explorer to Point 0.
3) Enter the X and Y robot coordinates displayed on the teaching pendant in the World X and World Y
fields.
4) Repeat the process for points 1 to 4. (Five points in total)
1) Point 0
1) Point 0
Enlarged view
2) Select a point number.
Points 0 to 4
Five points in
total
3) World X & World Y
Clicking a point number will
display the corresponding values in the World X and World Y fields.
You can overwrite the values.
Chapter 3 - Fixed downward-facing camera 62
(6.2) Export calibration data.
1) Select the Settings tab under Edit Tool in the bottom center of In-Sight Explorer.
2) If the Repeating trigger is enabled, disable it.
3) Enter a file name and press Export.
4) Pass: Export Complete will be shown in the Results tab of the Palette if the data has been exported
successfully.
3) Pass: Export Complete
Edit Tool
Settings
3)
Export button
Additional
Reason for exporting data
This vision sensor operates using vision programs known as "jobs".
Calibration usually has to be performed with each Job. However, exporting the data saves the formula
for converting the camera pixel data into robot coordinates.
This means that calibration does not have to be performed again if this conversion formula is imported
when creating a different job.
Chapter 3 - Fixed downward-facing camera 63
Additional information
If the camera cannot read/write data
If calibration data cannot be exported, the job cannot be read, or a network error occurs
when data is accessed from the camera, change the settings of Windows Firewall.
(1) Go to Control Panel → System and Security → Allow a Program through Windows
Firewall and click Change settings.
(2) From the Allowed programs and features list, select the name of the camera.
(3) Select Domain, Home/Work (private), and Public.
(4) Select RT ToolBox3, then select the same rules mentioned above and click OK.
(Procedure for
Windows 7®)
1)
Control Panel
System and Security
Allowed programs
2) Change settings
3) Change the settings
for the camera and
RT ToolBox3.
4) Change the settings for
the camera and RT ToolBox3.
Select Domain, Home/Work (private), and Public, then click OK.
Chapter 3 - Fixed downward-facing camera 64
3.4 Creating an identification job
■ Identification job creation process
Step
Description
(1)
Create a new job.
(2)
Configure calibration file settings.
(3)
Set the workpiece to be identified and the identification range.
(4)
Set threshold and rotation tolerance values.
(5)
Configure communication settings.
(6)
Select an identified pattern.
(7)
Save the job.
(8)
Check calibration.
A job contains the program data of the 2D vision project.
Jobs are needed to manage data and communications transmitted between the robot and 2D vision
sensor(s).
MELFA BASIC robot programs can control job access, imaging triggers and data acquisition of jobs created in
In-Sight Explorer.
(1) Creating a new job
(1.1) Create a new job.
1) Go to File then New Job.
2) The dialog "Are you sure you want to clear all data from the current job?" will appear. Click Yes.
* Even if Yes is clicked, the calibration data will still be displayed.
1)
2)
Chapter 3 - Fixed downward-facing camera 65
(2) Configuring calibration file settings
(2-1) Select how to acquire an image and set a calibration file.
1) Select Set Up Image from the Application Steps window.
2) Select Manual or External from the Trigger drop-down box under Edit Acquisition Settings.
* Select Manual in this seminar. (In actual operation, select an appropriate mode.)
3) Select Import from the Calibration Type drop-down box under Calibrate Image to Real World Units.
4) In the File Name field, select the calibration file exported in 3.3.2 Calibration method (Step 4.2).
* Image data will be converted into robot coordinates from now on.
1)
2) Trigger: Manual
4) Calibration file name
3) Calibration Type: Import
(3) Setting the workpiece to be identified and the identification range
(3.1) Select a location tool.
1) Select Locate Part from the Application Steps window.
2) Select PatMax® Patterns (1-10) from Location Tools in the bottom left.
3) Click Add.
4) Two boxes, the Model region box and the Search region, box will appear on the image.
4) Model region
1)
3)
2) PatMax® Patterns (1-10)
4) Search region
Chapter 3 - Fixed downward-facing camera 66
(3.2) Set the feature of the workpiece to be identified.
Use the Model region box to identify a feature of the workpiece.
1) Click inside the Model region box. The frame of the Model region box will turn pink.
(The frame of the Search region box will turn green.)
2) Place the cursor inside the frame of the Model region box, press and hold down the left mouse
button, then drag the Model region box over the workpiece.
3) Adjust the frame so that the workpiece fits within the Model region box.
1) Move the frame with the mouse.
Model
Workpiece
Feature to be identified
2) Adjust the frame so that the feature fits within it.
(3.3) Set the region to be identified.
Set the region to be identified using the Search region box.
1) To select the Search region box, click inside its frame. The frame of the Search region box will turn
pink. (The frame of the Model region box will turn green.)
2) Move and adjust the frame in the same manner as Step 3.2 to set the area to be identified.
Search
2) Adjust the area
to be identified.
1) Move the frame with the mouse.
(3.4) Set the Model region and Search region.
1) After setting the Model region and Search region, click OK.
1)
Chapter 3 - Fixed downward-facing camera 67
2) The registered image of the workpiece to be identified (Model region) will be displayed in the bottom
right.
Registered Model region
(workpiece)
(4) Setting threshold and rotation tolerance values
(4.1) Set threshold and rotation tolerance values.
1) Select Locate Part from the Application Steps window.
2) Click the Settings tab and set the Accept Threshold and Rotation Tolerance values.
* Set the Accept Threshold value to 70 or more and the Rotation Tolerance value to 180.
* Changing horizontal and vertical offsets will enable the tool center point (TCP) to be changed freely.
3) To perform the next calibration check, move the TCP to the apex of the center triangle.
1)
2) Settings
Accept Threshold value: 70 or more
Rotation Tolerance value: 180
Accept Threshold value: The amount (%) in which the identified workpiece matches the
registered image.
・ A rotation tolerance value is an angle at which the actual workpiece can be identified
even if the workpiece is rotated (±deg).
Chapter 3 - Fixed downward-facing camera 68
(5) Configuring communication settings
(5) Configure the communication settings.
1) Select Communication from the Application Steps window.
2) Click Add Device.
3) The Device Setup window will appear on the right. Configure the settings in the following order: (1)
Device, (2) Manufacturer, (3) Protocol. (Selecting an item will display the corresponding drop-down list
below.)
* Select Robot for Device, Mitsubishi for Manufacturer, and Ethernet Native String for Protocol.
4) Click OK.
1)
2)
Communication settings
3)
Field
Device
Manufacturer
Protocol
Setting value
Robot
Mitsubishi
Ethernet
Native String
After a field has been set,
the next field will appear below.
5) Ethernet Native String will be added to Communications in the bottom left.
The Format Output String window, Edit Device button, and Remove Device button will also appear. To
revise device settings (Step 3), click Edit Device.
Format Output String window
5)
Chapter 3 - Fixed downward-facing camera 69
(6) Selecting an identified pattern
Select the output data of an identified pattern in the order that the data is output to the robot.
* By setting the order of the output string of the identified pattern to X, Y, Angle, position variables can be
input as they are when using the robot command "EBREAD".
Select the data in the following order. (The order can be changed later.)
Number of identified patterns
Pattern_1.Number_Found
First X of the matching result
Pattern_1.Fixture.X
First Y of the matching result
Pattern_1.Fixture.Y
First rotational angle C of the matching result
Pattern_1.Fixture.Angle
(6.1) Select the output data of an identified pattern.
1) Select Communication from the Application Steps window.
2) Select Ethernet Native String under Communications in the bottom left to display the Format Output
String window.
3) Click Add under Format Output String to display the Select Output Data window.
4) Click the blue arrow next to Pattern_1 in the Select Output Data window to display the Pattern_1 list.
5) Select data in the following order while holding down the Ctrl key. (1) Pattern_1.Number_Found, (2)
Pattern_1.Fixture.X, (3) Pattern_1.Fixture.Y, (4) Pattern_1.Fixture.Angle. (The order can be changed
later.)
Caution: Be careful when selecting output data because the names are similar to each other.
6) Click OK. The data will be displayed in the Format Output String window in the order selected.
1)
2)
3)
4) Click the blue arrow
of Pattern_1.
Select Output Data window
5) Select each piece of data in order
while holding down the Ctrl key.
Pattern_1.Number_Found
Pattern_1.Fixture.X
Pattern_1.Fixture.Y
Pattern_1.Fixture.Angle
Format Output String
6)
Be careful when selecting data
because the names are similar to each other.
Each piece of data is displayed in the
order it is selected in
The order can be changed.
Chapter 3 - Fixed downward-facing camera 70
(7) Saving the job
(7.1) Save the Job.
1) Select Save Job from the Application Steps window.
2) Click Save As and enter "Sample" in the File name field.
* This file name will be used in UVS1.prg.
The job file can be named freely, but the file name must be used in UVS1.prg.
1)
2)
(7.2) Change the operation mode to Online.
1) Click the Online button on the tool bar to change the operation mode to Online.
Online
Online
Chapter 3 - Fixed downward-facing camera 71
Notes
Chapter 3 - Fixed downward-facing camera 72
(8) Checking calibration
Once calibration is complete, the XY coordinates output by the vision senor will become the robot
coordinates after the calibration file is imported.
The method below explains how to check if calibration has been performed correctly or not.
(8.1) Checking calibration without moving the workpiece (master workpiece check)
Complete the following steps without moving the workpiece that is used for calibration.
Create a new job and identify the workpiece. Move the robot arm in Jog mode to the coordinates displayed
on the teaching pendant, then move robot arm up and down in the Z axis.
Calibration has been successful if the point of the calibration tool (control point) lines up with the TCP on
the image in In-Sight Explorer.
First of all, check the position that calibration
was carried out. (Check the master workpiece.)
Fig. 3.5: Calibration check using the TCP
(8.2) Checking calibration by moving the workpiece adjacent to itself
After checking that the control point lines up with the TCP in In-Sight Explorer, position the workpiece
adjacent to itself. Then check to see if the control point still lines up with the TCP and that the workpiece
can be identified.
If the control point does not line up with the TCP on the image in In-Sight Explorer, the XY coordinates
output by the vision sensor do not match the control point. The reason for this happening could be due to
the following points:
(1) The workpiece has not been identified properly. (Check that the TCP is in the same place on the
image as the position of the control point.)
(2) There is too much glare from the sides of the workpiece. (Register a workpiece which does not have
as much glare coming from it.)
(3) Calibration was not carried out at the same height of the workpiece. (Carry out calibration at the same
height of the workpiece.)
(4) Points were selected incorrectly (Check the positions of the robot and vision sensor during
calibration.)
Position the calibration
workpiece adjacent to itself
and check calibration.
Fig. 3.6: Calibration check movin
Chapter 3 - Fixed downward-facing camera 73
(8.3) Checking calibration by rotating the workpiece
After checking calibration by moving the workpiece adjacent to itself, check that the TCP and control point
match up when the workpiece is rotated.
If calibration has been successful, the TCP and control point will match when the workpiece has been
rotated like the workpiece in Fig. 3.7.
The following reasons may account for why the TCP and control points line up when the workpiece is
moved adjacent to itself but not when it is rotated.
(1) The control point (tool point) is not set correctly.
(2) Calibration was carried out without aligning the hand.
Redo the calibration steps from TLUP.prg.
Fig. 3.7: Calibration check by rotating the workpiece
Check that the control point still
lines up with the TCP even
when workpiece is rotated.
Chapter 3 - Fixed downward-facing camera 74
3.5 Setting up the relative position between the workpiece and the robot
3.5.1 Program for setting up the relative position between the workpiece and the robot
The programs used in this chapter are UVS1.prg and UVS2.prg.
UVS1.prg: Fixed downward-facing camera adjustment program. Corrects the workpiece grasp position.
UVS2.prg: Fixed downward-facing camera operation execution program. Calculates the workpiece picking
position based on the value output from the vision sensor, allowing the robot to pick and place
workpieces automatically.
◇ Program UVS1.prg
1 '---------------------------------2 ' UVS1.prg: Fixed downward-facing camera adjustment program
3 '---------------------------------4 Def Pos P_WRK01 ' Fixed downward-facing camera: Master workpiece grasp position
5 Def Pos P_PH01 ' Fixed downward-facing camera: Coefficient for calculating the handling position
from the position of the identified workpiece
6 Def Pos P_TLUP ' Fixed downward-facing camera: Control point data used for calibration
7 Def Pos P_PVS01 ' Fixed downward-facing camera: Master workpiece identification point
8 Def Char C_J01 ' Fixed downward-facing camera: Job name
9 Def Char C_C01 ' Fixed downward-facing camera: COM name
10 '
11 Loadset 1,1
12 OAdl On
13 Ovrd M_NOvrd
14 Spd M_NSpd
15 Tool P_TLUP
16 Servo On
17 Wait M_Svo=1
18 CCOM$="COM3:"
' COM port
19 CPRG$="sample.job" ' Vision sensor job name
20 '----- HAND INIT ----21 Wait M_Svo=1
22 If M_EHOrg=0 Then
' If hand has not returned to origin:
23
EHOrg 1
' returns Hand 1 to origin.
24
Wait M_EHOrg=1
' waits for Hand 1 to return to origin.
25 EndIf
26 EHOpen 1,100,100
' Opens Hand 1 (speed = 100%, Force = 20%)
27 Wait M_EHBusy=0
' Checks if operation is complete
28 '--------------------29 ' 1. Teach safe position "PHOME".
30 ' 2. Set "1" in the robot parameter NVTRGTMG and restart the robot.
31 ' 3. Close Hand 1 with the teaching pendant and lower the suction pad.
32 ' 4. Teach the robot the place on the workpiece it should pick it up by in PWK and then send the
robot arm to the safe position.
33 ' 5. With the teaching pendant, change OVRD to 3% and start automatic operation.
34 Hlt
35 ' ----- Automatic operation ----36 Mov PHOME
37 Dly 0.5
38 If M_NvOpen(1)<>1 Then
(continued on the next page)
Chapter 3 - Fixed downward-facing camera 75
39
NVOpen CCOM$ As #1
40 EndIf
41 NVRun #1,CPRG$
42 EBRead #1,,MNUM,PVS
43 If MNUM=0 Then *ELOOP
44 PVS.FL1=PWK.FL1
45 PVS.FL2=PWK.FL2
46 PH=Inv(PVS)*PWK
‘---- Calculation for correcting the workpiece grasp position ---47 '-------------------48 P_PH01=PH
49 P_PHome=PHOME
50 P_WRK01=PWK
51 P_PVS01=PVS
52 C_C01$=CCOM$
53 C_J01$=CPRG$
54 '-------------------55 Hlt
56 End
57 '***** Error occurrence *****
58 *ELOOP
59 Error 9000
60 Hlt
61 GoTo *ELOOP
62 End
P_WRK01=(+253.62,+299.22,+253.74,-180.00,+0.00,+180.00,+0.00,+0.00)(7,0)
P_PH01=(-10.22,+90.64,+253.74,-180.00,+0.00,+178.70,+0.00,+0.00)(7,0)
P_TLUP=(+0.62,-0.61,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_PVS01=(+265.90,+208.84,+0.00,+0.00,+0.00,+1.30,+0.00,+0.00)(7,0)
PHOME=(+187.48,-13.81,+320.67,-180.00,+0.00,+180.00,+0.00,+0.00)(7,0)
PVS=(+265.90,+208.84,+0.00,+0.00,+0.00,+1.30,+0.00,+0.00)(7,0)
PWK=(+253.62,+299.22,+254.74,-180.00,+0.00,+180.00,+0.00,+0.00)(7,0)
PH=(-10.22,+90.64,+254.74,-180.00,+0.00,+178.70,+0.00,+0.00)(7,0)
P_PHome=(+187.48,-13.81,+320.67,-180.00,+0.00,+180.00,+0.00,+0.00)(7,0)
(End of UVS1.prg)
Chapter 3 - Fixed downward-facing camera 76
◇ Program UVS2.prg
1 '---------------------------------------------2 ' UVS2.prg: Fixed downward-facing camera operation execution program
3 '---------------------------------------------4 '
5 GoSub *INIT
6 '
7 Mov PHOME
8 Dly 0.5
9 If M_NvOpen(1) <> 1 Then
10
NVOpen CCOM$ As #1
11 EndIf
12 *VSCHK
13 NVRun #1,CPRG$
14 EBRead #1,,MNUM,PVS
15 If MNUM>=1 Then *VSOK
16 GoTo *VSCHK
17 *VSOK
18 PVS.FL1=PWK.FL1
19 PVS.FL2=PWK.FL2
20 PTRG=PVS*PH
‘--- Calculation of the workpiece grasp position ---21 Mov PTRG,-50 ' (RH series: +100) *1
22 Dly 0.2
23 HClose 1
24 Fine 0.1,P
25 Mvs PTRG
26 Cnt 0
27 Dly 0.2
28 M_Out(10129)=1
29 Dly 0.2
30 Mvs PTRG,-50 ' (RH series: +100) *1
31 Hlt
32 '
33 ' Teach the destination position "PPUT" here.
34 '
35 Mov PPUT,-50 ' (RH series: +100) *1
36 Fine 0.1,P
37 Mvs PPUT
38 Fine 0
39 Dly 0.2
40 M_Out(10129)=0
41 M_Out(10128)=1 Dly 0.1
42 Dly 0.2
43 HOpen 1
44 Dly 0.2
45 Mvs PPUT,-50 ' (RH series: +100) *1
46 ' ***** Return to safe position *****
47 Mov PHOME
48 Hlt
49 End
(continued on the next page)
Chapter 3 - Fixed downward-facing camera 77
50 '---------------------51 *INIT
52 Def Pos P_WRK01 ' Fixed downward-facing camera: Master workpiece grasp position
53 Def Pos P_PH01 ' Fixed downward-facing camera: Coefficient for calculating the handling position
from the position of the identified workpiece
54 Def Pos P_TLUP ' Fixed downward-facing camera: Control point data used for calibration
55 Def Pos P_PVS01 ' Fixed downward-facing camera: Master workpiece identification point
56 Def Char C_J01 ' Fixed downward-facing camera: Job name
57 Def Char C_C01 ' Fixed downward-facing camera: COM name
58 Loadset 1,1
59 OAdl On
60 Ovrd M_NOvrd
61 Spd M_NSpd
62 Tool P_TLUP
63 Servo On
64 Wait M_Svo=1
65 Cnt 0
66 M_Out(10129)=0
67 M_Out(10128)=1 Dly 0.1
68 PH=P_PH01
69 PHOME=P_PHome
70 PWK=P_WRK01
71 CCOM$=C_C01$
72 CPRG$=C_J01$
73 HOpen 1
74 M_Out(10128)=0
75 Dly 0.2
76 If P_Fbc.Z < PHOME.Z Then
77 PNow=P_Fbc
78 PNow.Z=PHOME.Z
79 Mvs PNow
80 Dly 0.2
81 EndIf
82 '----- HAND INIT ----83 Wait M_Svo=1
84 If M_EHOrg=0 Then
' If hand has not returned to origin:
85
EHOrg 1
' returns Hand 1 to origin.
86
Wait M_EHOrg=1
' waits for Hand 1 to return to origin.
87 EndIf
88 EHOpen 1,100,100
' Opens Hand 1 (speed = 100%, Force = 20%)
89 Wait M_EHBusy=0
' Checks if operation is complete
90 '--------------------91 Dly 0.2
92 Return
PHOME=(+187.48,-13.81,+320.67,-180.00,+0.00,+180.00,+0.00,+0.00)(7,0)
PVS=(+255.79,+223.38,+0.00,+0.00,+0.00,-323.73,+0.00,+0.00)(7,0)
PWK=(+253.62,+299.22,+253.74,-180.00,+0.00,+180.00,+0.00,+0.00)(7,0)
PTRG=(+193.93,+290.41,+253.74,+180.00,+0.00,-145.03,+0.00,+0.00)(7,0)
PH=(-10.22,+90.64,+253.74,-180.00,+0.00,+178.70,+0.00,+0.00)(7,0)
PPUT=(+280.35,-87.22,+248.68,+180.00,+0.00,-180.00,+0.00,+0.00)(7,0)
(continued on the next page)
Chapter 3 - Fixed downward-facing camera 78
P_WRK01=(+253.62,+299.22,+253.74,-180.00,+0.00,+180.00,+0.00,+0.00)(7,0)
P_PH01=(-10.22,+90.64,+253.74,-180.00,+0.00,+178.70,+0.00,+0.00)(7,0)
P_TLUP=(+0.62,-0.61,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_PVS01=(+265.90,+208.84,+0.00,+0.00,+0.00,+1.30,+0.00,+0.00)(7,0)
P_PHome=(+187.48,-13.81,+320.67,-180.00,+0.00,+180.00,+0.00,+0.00)(7,0)
PNow=(+280.35,-87.22,+320.67,+180.00,+0.00,-180.00)(7,0)
(End of UVS2.prg)
Chapter 3 - Fixed downward-facing camera 79
3.5.2 Setting up the relative position between the workpiece and the robot
■ Procedure
Step
Description
(1)
Positioning the master workpiece used for adjustment
(2)
Teaching the safe position (PHOME) and suction area on the master workpiece (PWK)
(3)
Running the robot program "UVS1" automatically
(4)
Teaching the destination position "PPUT"
(5)
Checking the robot movement using step operation and automatic operation (robot program
"UVS2")
(1) Position the master workpiece used for adjustment.
Use the workpiece used for calibration and
identification job creation as a master workpiece.
(2) Teach the suction area on the master
workpiece (PWK).
(5) Check the robot movement using
step operation and automatic operation.
Workpiece destination
position (PPUT)
(4) Teach the destination position
(PPUT).
Safe position (PHOME)
Workpiece suction point
(PTRG)
Chapter 3 - Fixed downward-facing camera 80
(1) Positioning the master workpiece used for adjustment
(1) Position the master workpiece used for adjustment and check the parameter.
1) Remove the calibration workpiece and pointed object, then place a workpiece on the platform.
This workpiece will now be used as the master workpiece for adjustment.
2) Check that the robot parameter "NVTRGTMG" is set to "1". If not, set "1" and restart the robot
controller.
(2) Teaching the safe position (PHOME) and suction area on the master workpiece (PWK)
(2.1) Run the robot program "UVS1".
1) Run the program up to line 28 using step operation.
◇Specify a job file in line 19 (CPRG$="sample.job").
(The file is the one saved in Step 7 of Section 3.4.)
◇ In line 23, press and hold the F1 key until the hand operation completes. (Initialization of the
electric hand)
◇ Program UVS1.prg
......
18 CCOM$="COM3:" 'COM port
19 CPRG$="sample.job" ' Vision sensor job
name
Specify an identification job file.
(2.2) Teach the safe position (PHOME) and suction area on the master workpiece (PWK).
1) Teach the safe position (PHOME). PHOME: Safe position or position during imaging.
2) Close Hand 1 with the teaching pendant and lower the suction pad.
In the pneumatic hand (standard hand) window, press -C.
3) Move the robot to a place where it can apply suction to the master workpiece used for adjustment
(set in Step 1), and teach the position as PWK. PWK: The suction area on the master workpiece.
Used for finding PH (correction value for workpiece suction).
4) Move the robot arm to a place where it will not interfere with anything.
Make sure the workpiece does not move after teaching PWK.
*If the workpiece moves at this point, its position will deviate when
suction is applied to it.
Operation after the suction
pad has been lowered
PWK
Master
Teach the suction area on the master
workpiece (PWK).
Chapter 3 - Fixed downward-facing camera 81
Master workpiece
(3) Running the robot program "UVS1" automatically
(3.1) Run the program automatically.
1) Move the robot to the safe position "PHOME" using Jog operation.
2) Set Ovrd to 3%.
3) Check that Ovrd is set to 3% and run UVS1.prg automatically.
4) The program will stop at line 34. Run the program again until it stops at line 55.
5) Check the variable values of PVS in the Variables monitor of RT ToolBox3. Check that the X, Y,
and C components of PVS are the same as the X, Y, and C components of the vision sensor.
The component values of the vision sensor can be checked in In-sight Explorer in the following
area: the window on the right of the Format Output String window in Communications settings.
◇ Program UVS1.prg
......
44 PVS.FL1=PWK.FL1
45 PVS.FL2=PWK.FL2
46 PH=Inv(PVS)*PWK
'---- Calculation for correcting the
workpiece grasp position ---47 '-------------------48 P_PH01=PH
PWK
(master workpiece picking position)
49 P_PHome=PHOME
50 P_WRK01=PWK
51 P_PVS01=PVS
52 C_C01$=CCOM$
53 C_J01$=CPRG$
PWK
54 '-------------------55 Hlt
Robot origin
PH
Master workpiece
PVS
(Position of the master workpiece
output from the vision sensor)
Formula for correcting the workpiece grasp
position: PH = Inv(PVS) × PWK
PVS: Position of the master workpiece output from the vision sensor
PWK: Corrected position of the master workpiece
Communication
5) Component values of
the vision sensor
Chapter 3 - Fixed downward-facing camera 82
(4) Teaching the destination position (PPUT)
(4.1) Run the robot program "UVS2" automatically.
1) Run the program automatically.
2) The robot will stop operation at line 31 "Hlt". Put the robot in manual mode and teach the
destination position (PPUT).
3) After teaching PPUT, raise the robot arm to keep it away from the destination position.
4) Rerun UVS2.prg automatically.
◇ Program UVS2.prg
5 GoSub *INIT
6 '
7 Mov PHOME
8 Dly 0.5
9 If M_NvOpen(1) <> 1 Then
10 NVOpen CCOM$ As #1
11 EndIf
12 *VSCHK
13 NVRun #1,CPRG$
Vision sensor
14 EBRead #1,,MNUM,PVS
operating
15 If MNUM>=1 Then *VSOK
16 GoTo *VSCHK......
17 *VSOK
18 PVS.FL1=PWK.FL1
19 PVS.FL2=PWK.FL2
20 PTRG=PVS*PH '--- Calculation of the workpiec
e grasp position ---21 Mov PTRG,-50 ' (RH series: +100)
22 Dly 0.2
23 HClose 1
24 Fine 0.1,P
25 Mvs PTRG
......
30 Mvs PTRG,-50 ' (RH series: +100) *1
31 Hlt
32 '
33 ' Teach the destination position
"PPUT" here.
......
PH
Workpiece
Teach the destination position
"PPUT".
◇ Program UVS2.prg
......
51 *INIT
......
62 Tool P_TLUP
......
68 PH=P_PH01
69 PHOME=P_PHome
70 PWK=P_WRK01
71 CCOM$=C_C01$
72 CPRG$=C_J01$
PH and other data
in the UVS1.prg
are set.
......
76 If P_Fbc.Z < PHOME.Z Then
77 PNow=P_Fbc
78 PNow.Z=PHOME.Z
79 Mvs PNow
......
Workpiece picking
position (PTRG)
PTRG
Robot origin
PVS
(Position of the workpiece
output from the vision sensor)
Formula for calculating the workpiece picking
position: PTRG = PVS × PH
PVS: Position of the workpiece output from the vision sensor
PH: Correction value for workpiece grasp position calculated in UVS1.prg
Chapter 3 - Fixed downward-facing camera 83
3.6 Checking the robot movement using step operation and automatic operation
1) In the program edit window, change HLT (line 31) of UVS2.prg to a comment line and save the program.
2) Check that Ovrd is set to 3%, and run UVS2.prg automatically.
Robot program "UVS2"
1) Change HLT (line 31)
to a comment line.
2) Run the program automatically with Ovrd set to 3%.
Vision sensor
Safe position
(PHOME)
Workpiece suction point
(PTRG)
Workpiece destination
position (PPUT)
Chapter 3 - Fixed downward-facing camera 84
Chapter 4 - Setting up the hand eye
This chapter explains the process of setting up the hand eye.
4.1 Overview of the hand eye
4.1.1 Setting a control point used for calibration
Fig. 4.1 shows a standard application of the hand eye.
The robot recognizes how far the workpiece is away from the robot's origin and determines how to move
toward the workpiece in the same manner as when a fixed downward-facing camera is used.
Fig. 4.1: Standard application
Fig. 4.1a: Workpiece seen from the hand
eye shown in Fig. 4.1
However, calibration cannot be accomplished in the same manner as when a fixed downward-facing
camera is used.
This is because the vision sensor is attached to the flange of the robot. If the robot moves, the vision
sensor's FOV changes accordingly. Therefore, it is not easy to get coordinates of the robot's origin from the
vision sensor's FOV.
The images taken by the vision sensor shown in Fig. 4.1, Fig. 4.2, and Fig. 4.3 are those shown in Fig. 4.1a,
Fig. 4.2a, and Fig. 4.3a respectively. This makes it difficult to find where the workpiece is.
Fig. 4.2: Imaging position 1
Fig. 4.2a: Workpiece seen from the hand eye
shown in Fig. 4.2
Fig. 4.3: Imaging position 2
Fig. 4.3a: Workpiece seen from the hand eye
shown in Fig. 4.3
Chapter 4 - Setting up the hand eye 85
Therefore, when the hand eye is used, the position of the workpiece can be calculated in the following way.
Workpiece position 4 = imaging position 1 × vision sensor center 2 seen from flange center ×
output position 3 seen from vision sensor center
・ The robot always knows where the center of the flange is. (1 in Fig. 4.4)
・ The vision sensor is attached to the flange. Therefore, even if the robot moves, the distance between
the flange center and the vision sensor center is always the same. In the tool coordinates, the coordinate
values of the vision sensor center change according to those of the flange center. (2 in Fig. 4.4)
・ The robot can find workpieces only when they are within the vision sensor's FOV. The position of the
workpieces can be calculated with reference to the center of the vision sensor. (3 in Fig. 4.4)
Flange center
2
1
3
Robot center
4
Fig. 4.4: Principle of how the position of the workpiece can be calculated using the hand eye
Chapter 4 - Setting up the hand eye 86
4.1.2 Control point for calibrating the hand eye
Camera center position data used for calibration
(control point used for calibration)
(P_CMTL)
Hand eye camera
Flange center
Y
Camera center
Fig. 4.5: Control point for calibrating the hand eye
Chapter 4 - Setting up the hand eye 87
4.1.3 Calibrating the hand eye
Hand eye calibration is carried out in tool coordinates instead of XYZ coordinates.
Draw two red intersecting lines in the center of the screen as shown in Fig. 4.7 to identify the center of the
vision sensor. Use the center for the control point.
Move the robot so that the TCP(yellow lines) and crosshairs overlap each other. For the first calibration, the
coordinates where they cross are (0, 0).
Crosshairs
Fig. 4.6: Calibration 1
In In-Sight Explorer
Fig. 4.7: Calibration screen 1
Tool center point
Then, move the robot in the direction of the X axis in the tool coordinates from (0, 0) as shown in Fig. 4.8,
and take an image again. (The robot is moved only in direction of the X axis, and therefore the Y
component is always 0.)
After the robot has moved, the TCP is located as shown in Fig. 4.9.
A second calibration is made using the reciprocal of the point in the tool coordinates and the tool center
point in the pixel coordinates of the vision sensor.
In In-Sight Explorer
Crosshairs
Fig. 4.8: Calibration 2
Fig. 4.9: Calibration screen 2
Tool center point
When the robot is moved in the +X, -X, +Y, and -Y directions, the pixel coordinates of the vision sensor will
be converted into the tool coordinates.
Chapter 4 - Setting up the hand eye 88
4.1.4 Principal of how the robot identifies the workpiece using the hand eye
Distance from the flange center to the
camera center
(P_CMTL)
PVSP
Workpiece position
(PVSP*P_CMTL*PVS)
Robot origin
Workpiece position
(PVS)
Center of FOV
Vision sensor's FOV
Fig. 4.10: Workpiece identification using the hand eye
PWK
PH
Robot origin
PVSP*P_CMTL*PVS
Fig. 4.11: Suction area on the master workpiece (PWK)
and master workpiece position (PVS)
Chapter 4 - Setting up the hand eye 89
■ Process of setting up the hand eye
Below is the procedure of how to setup the hand eye. It covers everything from device connection to the
automatic operation of a robot using 2D vision sensors. The Steps 1 to 4 in the following table are the
same as those described in Chapter 2, "Communication settings". (*1)
Therefore, only Steps 5 to 11 will be explained in this chapter.
Step
Description
1
Preparing the robot and vision sensor
2
Configuring computer network settings
3
Connecting the robot and camera
(RT ToolBox3) *1
4
Configuring camera communication settings
(In-Sight Explorer)
Remarks
Chapter 2 - Communication settings
and lens adjustment
*1) The COM port communication settings used in this seminar differ depending on the camera.
Refer to "* Cameras used in this seminar and COM port communication settings".
Step
Description
Main tasks
Adding a user base program
Checking the camera image
5
Setting the control point used for calibration
Positioning the workpiece used for
calibration
Adjusting the lens
Creating the workpiece feature point
Setting the control point used for
calibration
Measuring the camera's FOV
Creating user-defined points
Entering the size of the camera's
FOV
6
Calibration
Fine-tuning user-defined points
Carrying out N point calibration
Setting the height between the
workpiece identification point and the
camera
Positioning the master workpiece
7
Creating an identification job
Setting the workpiece to be identified
and the identification range
Selecting an identified pattern
Saving the job
8
Setting up the relative position between the
robot and the workpiece
-
9
Checking the robot movement using step
operation and automatic operation
-
Chapter 4 - Setting up the hand eye 90
4.2 Setting the control point used for calibration using the hand eye
Set the center of the camera as the control point for calibration using the camera and robot programs.
4.2.1 Program for setting the control point used for calibration
The programs used in this chapter are UBP.prg and HND1.prg.
・UBP.prg: Used for defining user external variables.
・HND1.prg: Used for aligning the crosshairs in the center of the screen with the feature of the
workpiece to set the control point for robot calibration.
Calculate the distance between the center of the camera and the center of the robot.
◇ Program UBP.prg
For details on the program, refer to 3.2.1Program for setting a control point used for calibration.
◇ Program HND1.prg
1 '------------------------------------2 ' Step 1. Program to adjust the hand camera
3 ' Camera center calculation program
4 '------------------------------------5 Def Pos P_CMTL ' Hand camera: Camera center position data used for calibration
6 Def Pos P_CLPos ' Hand camera: Reference point to start calibration
7 Loadset 1,1
8 OAdl On
9 Servo On
10 Wait M_Svo=1
11 '----- HAND INIT ----12 Wait M_Svo=1
13 If M_EHOrg=0 Then
' If hand has not returned to origin:
14
EHOrg 1
' returns Hand 1 to origin.
15
Wait M_EHOrg=1
16 EndIf
17 EHOpen 1,100,100
18 Wait M_EHBusy=0
' waits for Hand 1 to return to origin.
' Opens Hand 1 (speed = 100%, force = 20%).
' Checks if operation is complete.
19 '--------------------20 PTool=P_Tool
21 ' Align the hand. Place the crosshairs drawn in the center of the screen over
22 ' the feature while checking the screen.
23 P0=P_Fbc
24 P91=P0*(+0.00,+0.00,+0.00,+0.00,+0.00,+90.00)
25 Mov P91
26 ' Align the crosshairs using the XYZ jog mode in the X and Y axes only.
27 P90=P_Fbc
28 PTL=P_Zero
29 PT=Inv(P90)*P0
30 PTL.X=(PT.X+PT.Y)/2
31 PTL.Y=(-PT.X+PT.Y)/2
32 P_CMTL=PTool*PTL
33 Tool P_CMTL
(continued on the next page→)
Chapter 4 - Setting up the hand eye 91
34 Hlt
35 Tool PTool
36 Mov P0
37 Dly 0.5
38 Tool P_NTool
39 P_CLPos=P_Fbc
40 End
P_CMTL=(-97.85,-5.06,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_CLPos=(+184.47,-178.00,+376.40,-180.00,+0.00,-178.77,+0.00,+0.00)(7,0)
PTool=(+0.62,-0.61,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P0=(+183.87,-178.62,+376.40,-180.00,+0.00,-178.77,+0.00,+0.00)(7,0)
P91=(+183.87,-178.62,+376.40,+180.00,+0.00,+91.23,+0.00,+0.00)(7,0)
P90=(+284.75,-82.43,+376.40,+180.00,+0.00,+91.23,+0.00,+0.00)(7,0)
PTL=(-98.47,-4.45,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
PT=(-94.02,-102.91,+0.00,+0.00,+0.00,-90.00,+0.00,+0.00)(7,0)
(End of HND1.prg)
Chapter 4 - Setting up the hand eye 92
4.2.2 Setting the control point used for calibration
■ Process of setting the control point used for calibration
Step
Description
(1)
Adding a user base program (Not required if the program has already been added.)
(2)
Connecting a camera
(3)
Positioning the workpiece used for calibration
(4)
Adjusting the lens
(5)
Drawing two intersecting lines in In-Sight Explorer
(6)
Setting a control point used for calibration
(7)
Checking the control point used for calibration
(3) Position the workpiece used for calibration.
(5) Draw two intersecting lines.
In-Sight Explorer
On the workpiece destination platform or
workpiece suction platform
(6) Set a control point used for calibration.
Move the robot to align the
crosshairs with the feature.
If the crosshairs align with the feature in
EasyBuilder View, this means that the center
of the camera is aligned with the feature.
Chapter 4 - Setting up the hand eye 93
(6) Set the control point used for calibration.
Align the crosshairs
with the feature.
P91
P91
P0
Rotate the hand 90°.
Misaligned (P91)
Align tips
(hand rotated 90°).
(7) Check the control point
used for calibration.
Program for setting the control point used for calibration
To calculate the control point used for calibration, draw intersecting lines in the center of EasyBuilder View,
and then run the following lines of HND1.prg using step operation.
◇ Program HND1.prg
Crosshairs
......
20 PTool=P_Tool
21 ' Align the hand. Place the crosshairs drawn in the center
of EasyBuilder View over
22 ' the feature while checking EasyBuilder View.
23 P0=P_Fbc
24 P91=P0*(+0.00,+0.00,+0.00,+0.00,+0.00,+90.00)
Feature
25 Mov P91 ' Rotate the hand 90° (misaligned).
26 ' Align the crosshairs using the XYZ jog mode in the
X and Y axes only.
27 P90=P_Fbc
28 PTL=P_Zero
29 PT=Inv(P90)*P0
30 PTL.X=(PT.X+PT.Y)/2
31 PTL.Y=(-PT.X+PT.Y)/2
32 P_CMTL=PTool*PTL
33 Tool P_CMTL
34 Hlt
Align the feature with the crosshairs when the hand is positioned at 0° and 90°.
Chapter 4 - Setting up the hand eye 94
(1) Adding a user base program
(1.1) Add a user base program (UBP). (Not required if the program has already been added.)
Add a user base program in RT ToolBox3. This will set up variables which can be used in other programs.
1) Go to Online → Parameter → Parameter List in the project tree.
2) Read (search for) parameter "PRGUSR". Then double click PRGUSR and enter UBP in the field shown
below.
3) Click Write to write the parameter to the robot controller.
4) Restart the robot controller.
PRGUSR
3)
4)
(2) Connecting a camera
(2.1) Connect a camera.
1) Select Get Connected from the Application Steps window. Select the hand eye camera and click
Connect.
1)
1)
(2.2) Acquire an image.
1) Select Set Up Image from the Application Steps window.
2) Select Live Video from Acquire/Load Image. Or, click the Repeating trigger button on the tool bar.
Check that the image can be seen in EasyBuilder View.
1)
Repeating trigger
2)
Chapter 4 - Setting up the hand eye 95
(3) Positioning the workpiece used for calibration
(3.1) Position the workpiece used for calibration.
1) Place a workpiece on a surface parallel to the surface the robot is on.
Workpiece destination
platform
Workpiece suction
platform
(3.2) Locate the hand camera above where the workpiece is picked.
1) Align the hand.
2) Move the robot using Jog operation so that the workpiece shown in Step 3.1 can be located near the
center of the camera's FOV.
The height of the camera should be appropriate for your purpose.
Workpiec
Workpiec
(4) Adjusting the lens
(4.1) Adjust the focus and aperture of the camera.
1) Select Live Video from Acquire/Load Image, or click the Repeating trigger button on the tool bar.
2) Adjust the focus and aperture to get a clear image of the workpiece suction point.
Refer to 2.5Adjusting the lens (focus and aperture) for information on how to adjust the lens.
Chapter 4 - Setting up the hand eye 96
(5) Drawing two intersecting lines in In-Sight Explorer
To configure tool settings and carry out calibration, draw two intersecting lines in the center of the screen in
In-Sight Explorer.
* The center of the image shown below is for the camera with a resolution of 640×480 pixels.
Camera image in In-Sight Explorer
Origin in image coordinates
Pixel column
Pixel row
480 px
Center of the
image
The center of the camera image
with a resolution of 640 × 480 px
(Pixel column, pixel row) = (320, 240)
640 px
(5.1) Draw two intersecting lines in the center of EasyBuilder View.
* Select Manual from the Trigger drop-down box under Edit Acquisition Settings.
1) Select Inspect Part from the Application Steps window.
2) If the Repeating trigger is enabled, disable it.
3) Select User-Defined Line from Geometry Tools in the bottom left Add Tool window.
4) Click Add.
5) A pink line will appear on the image.
1)
4)
3)
4) Click Add.
Additional
5) A pink line appears.
Drawing lines
Selecting Line from Plot Tools also allows you to draw lines on EasyBuilder View.
1) Select Inspect Part from the Application Steps window.
2) Select Line from Plot Tools in the bottom left Add Tool window.
Chapter 4 - Setting up the hand eye 97
6) Move both end points of the pink line with the mouse and draw a vertical (or horizontal) line in the
center of the screen.
* Clicking an end point of the user-defined line and pressing an arrow key on the key board will move the
end point one pixel at a time.
Move the end point one pixel at
a time with the arrow keys.
Drag and move the end
point with the mouse.
Pink line
7) Click OK. The line will turn green, and be added to the Palette shown on the right.
7)
The line highlights in green.
Created user-defined line
8) To make crosshairs, draw a horizontal (or vertical) line by using Steps 3 to 6.
A pink line appears.
The user-defined line created
in Step 7
will not appear on the image.
Click Add.
8)
9) Click OK to create user-defined lines (green crosshairs).
The user-defined lines created in
Steps 7 and 8
9) Green crosshairs
Chapter 4 - Setting up the hand eye 98
(6) Setting the control point used for calibration
(6.1) Move the robot to align the crosshairs created in Step 2 with the feature of the workpiece.
* Select Continuous from the Trigger drop-down box under Edit Acquisition Settings.
1) Determine which part the feature of the workpiece is.
2) Open HND1.prg.
3) Run the program up to line 20 using step operation.
◇ In line 14, press and hold the F1 key until the hand operation completes. (Initialization of the
electric hand)
◇ In line 20 "PTool = P_Tool", the current robot tool data is assigned to PTool.
4) Move the robot in the X, Y, and C axes in XYZ jog mode while checking EasyBuilder View to align the
crosshairs with the feature.
* With the enlarged image, move the robot so that the crosshairs can be aligned with the feature as
accurately as possible.
Moving the robot
shifts the image.
1) Features should be easily identifiable.
Align the feature with the crosshairs.
5) After the alignment, run HND1.prg up to line 26 using step operation.
◇ In line 25 "Mov P91", the hand rotates 90°.
6) In EasyBuilder View, after the workpiece has rotated 90°, the crosshairs will be misaligned with the
feature.
7) Move the robot using the XYZ jog mode in the X and Y axes only to align the crosshairs with the
feature again as shown in Step 3.
5) The hand
rotates 90°.
4) Align the crosshairs with the
feature.
6) Misaligned (P91)
7) Align the crosshairs with
the feature
(after the hand rotated 90°).
Chapter 4 - Setting up the hand eye 99
(7) Checking the control point used for calibration
(7.1) Check the robot movement.
1) Run HND1.prg up to line 34 using step operation.
◇ In lines 29 to 32, the control point used for calibration is set at the center of the camera.
◇ In line 33 "Tooll = P_CMTL", the robot tool is set at the calibration control point.
2) Rotate the C axis in Tool jog mode to check that the crosshairs are aligned with the feature at all times
in EasyBuilder View.
* The control point used for calibration is set at the center of the camera as long as the crosshairs align
with the feature while the C axis rotates.
* If a misalignment occurs, perform Step 6 again.
2) Revolve the hand around the
center of the camera.
Tool jog
In EasyBuilder View, the workpiece
seems to spin around the center
of the crosshairs.
The crosshairs should align with the feature at all times in EasyBuilder View while the C axis rotates.
3) After checking that the alignment is correct, run the program up to line 40 using step operation.
◇ In line 35 "Tool PTool", the robot tool is reset.
◇ In line 36 "Mov P0", the robot returns to the original position.
Chapter 4 - Setting up the hand eye 100
4.3 Calibration using the hand eye
4.3.1 Calibration program
Use the camera and robot program to carry out calibration.
The program used in this chapter is HND2.prg.
HND2.prg： HND2.prg: Used for calibration by entering the size of the camera's FOV and aligning
user-defined points with crosshairs on the workpiece after the robot has moved.
◇ Program HND2.prg
1 '--------------------------------------------------------2 ' Step 2. Program to adjust the hand camera
3 ' Calibration assistance program HND2.prg
4 '--------------------------------------------------------5 Def Pos P_CMTL ' Hand camera: Camera center position data used for calibration
6 Def Pos P_CLPos ' Hand camera: Reference point to start calibration
7 Def Pos P_CMH ' Hand camera: Offset from the workpiece suction point to the imaging point
8 Loadset 1,1
9 OAdl On
10 Servo On
11 Wait M_Svo=1
12 '----- HAND INIT ----13 Wait M_Svo=1
14 If M_EHOrg=0 Then
' If hand has not returned to origin:
15
EHOrg 1
' returns Hand 1 to origin.
16
Wait M_EHOrg=1
' waits for Hand 1 to return to origin.
17 EndIf
18 EHOpen 1,100,100
19 Wait M_EHBusy=0
' Opens Hand 1 (speed = 100%, Force = 20%).
' Checks if operation is complete.
20 '--------------------21 PTool=P_CMTL
22 Tool P_NTool
23 P0=P_CLPos
24 Mov P0
25 ' Place the crosshair in the center of the camera over the crosshair on the jig within the camera's
FOV.
26 ' Align the user-defined points with the crosshairs.
27 ' Put the camera in "Live mode". Then after moving the robot in Tool jog mode,
28 ' find the points in the +X, -X, +Y, and -Y axes where the tool can move to without the crosshair on
the jig leaving the camera's FOV.
29 ' Set these points in the fields for travel amount below. Set the first point as the center of the image
and set the XY world coordinates to 0.
30 ' Enter the reciprocal of the points as world coordinates into the camera calibration tool.
31 ' (*Convert the camera coordinates into tool coordinates)
32 Mov P0*(-30.00,+0.00,+0.00,+0.00,+0.00,+0.00)
(continued on the next page→)
Chapter 4 - Setting up the hand eye 101
33 ' Align the feature of the workpiece with the center of the user-defined point to which the workpiece
moved.
34 Mov P0
35 Mov P0*(+30.00,+0.00,+0.00,+0.00,+0.00,+0.00)
36 ' Align the feature of the workpiece with the center of the user-defined point to which the workpiece
moved.
37 Mov P0
38 Mov P0*(+0.00,-40.00,+0.00,+0.00,+0.00,+0.00)
39 ' Align the feature of the workpiece with the center of the user-defined point to which the workpiece
moved.
40 Mov P0
41 Mov P0*(+0.00,+40.00,+0.00,+0.00,+0.00,+0.00)
42 ' Align the feature of the workpiece with the center of the user-defined point to which the workpiece
moved.
43 ' Carry out calibration with the calibration tool.
44 Mov P0
45 Hlt
46 ' Touch the hand onto the surface of the workpiece.
47 PSur=P_Fbc
48 P_CMH=Inv(PSur)*P0
49 '
50 End
P_CMTL=(-97.85,-5.06,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_CLPos=(+184.47,-178.00,+376.40,-180.00,+0.00,-178.77,+0.00,+0.00)(7,0)
P_CMH=(+88.38,-90.49,-140.90,+0.00,+0.00,+0.00,+0.00,+0.00)(7,0)
PTool=(-97.85,-5.06,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P0=(+184.47,-178.00,+376.40,-180.00,+0.00,-178.77,+0.00,+0.00)(7,0)
PSur=(+270.89,-85.64,+235.50,-180.00,+0.00,-178.77)(7,0)
P101=(+186.55,-174.60,+376.40,-180.00,+0.00,-178.77)(7,0)
(End of HND2.prg)
Chapter 4 - Setting up the hand eye 102
4.3.2 Calibration method
■ Calibration process
Step
Description
(1)
Measuring the camera's FOV
(2)
Setting user-defined points
(3)
Entering the size of the camera's FOV
(4)
Fine-tuning user-defined points
(5)
Creating N points
(6)
Carrying out N point calibration
(7)
Setting the height between the surface of the workpiece to be identified and the camera
center
(1) Measure the camera's FOV (Move the robot
in the XY axes in Tool jog mode.).
(* The measured values in the
figures are examples.)
Feature
Ruler
Measure the FOV with
a ruler.
Example)
Direction: +X
Distance: 30 mm
Direction: -Y
Distance: 45 mm
(2) Set user-defined points.
(3) Enter the size of the camera's FOV.
Point2
Mov P0(＋30,0,0,0,0,0,0)
Mov P0(-30,0,0,0,0,0,0)
Mov P0(0,+45,0,0,0,0,0)
Mov P0(0,-45,0,0,0,0,0)
Point 1
Point3
Point 5
Point 4
Chapter 4 - Setting up the hand eye 103
Enter the values into the
program.
(4) Fine-tune user-defined points.
Align the feature with
the user-defined point.
Mov P0(＋30,0,0,0,0,0,0)
Mov P0(-30,0,0,0,0,0,0)
Mov P0(0,+45,0,0,0,0,0)
Mov P0(0,-45,0,0,0,0,0)
Run the program using step
operation one point at a time.
Mov P0(+30,0,0,0,0,0,0)
(5) Create N
Point 1
Point 0
Camera
coordinates
Point 0 (x, y)
Point 1 (x, y)
Point 2
Point 4
Point 3
Points are named in the order
they are selected.
Point 0 (first selected point),
point 1 (second selected
point)......
Point 2 (x, y)
Point 3 (x, y)
Point 4 (x, y)
N points matched up with the
camera coordinates
(6) Carry out N point calibration.
Camera coordinates → robot
coordinates
Point 0 (x, y) → Point 0 (X, Y)
Enter the size of the camera's FOV
into x and y
(World X, world Y)
Point 1 (x, y) → Point 1 (X, Y)
Point 2 (x, y) → Point 2 (X, Y)
Point 3 (x, y) → Point 3 (X, Y)
Point 4 (x, y) → Point 4 (X, Y)
Chapter 4 - Setting up the hand eye 104
(1) Measuring the camera's FOV
1) Measure the distances in the +X, -X, +Y, and -Y axes in which the arm can move without the crosshairs on
the jig leaving the camera's FOV.
* Move the robot in Tool jog mode.
(1.1) Locate the hand camera above the workpiece pick up point.
1) Locate the hand camera above the workpiece pick up point.
Camera
Workpiece
(1.2) Measure the distances in the X or Y axis in which the arm can move without the feature leaving the
camera's FOV.
* Select Continuous from the Trigger drop-down box under Edit Acquisition Settings.
1) Put the ruler in the direction of the X or Y axis of the robot tool coordinates beside the feature set in
Step 4.2.2 (6).
2) Move the robot in Tool jog mode along the ruler in the +X or +Y direction.
The hand and camera move together, and thereby the camera image in In-Sight Explorer changes
according to the movement.
3) Stop the robot at a point where the feature placed in the center of the crosshairs does not leave the
camera's FOV by checking EasyBuilder View.
4) Write down the distance and in which direction the feature has moved in EasyBuilder View.
5) Move the robot in Tool jog mode in the opposite direction and write down the distance in which the
feature does not leave the camera's FOV.
Workpiece
Tool coordinates
Ruler
(* The measured values in the
figures are examples.)
Feature
Feature
Ruler
2) When the robot is moved in the arrow
direction
Example)
Direction: +X
Distance: 30 mm
Chapter 4 - Setting up the hand eye 105
Example)
Direction: -X
Distance: 30 mm
(1.3) Measure the distance in the other direction (Y or X direction) in which the arm can move without the
feature leaving the camera's FOV.
1) Put the ruler in the opposite direction. Repeat Step 1.2 and write down the distance in the Y direction
(X direction) in which the arm can move without the feature leaving the camera's FOV. Steps 1.2 and
1.3 allow you to measure four distances (+X, -X, +Y, -Y).
Feature
Tool coordinates
Ruler
Example)
Direction: +Y
(* The measured values in the
figures are examples.)
Example)
Direction: -Y
Distance: 45 mm
Distance: 45 mm
Chapter 4 - Setting up the hand eye 106
(2) Setting user-defined points
(2.1) Create user-defined points.
1) Select Inspect Part from the Application Steps window.
2) Select User-Defined Point from Geometry Tools in the bottom left Add Tool window.
3) Clicking Add will create a pink point on the camera image.
4) Clicking OK will add the user-defined point (Point_1) to the Palette on the right.
The pink point will turn green. (Relocate the point later.)
1)
3)
2)
3)
Pink point
on the camera image
4)
4)
The point turns green.
Created userdefined points
are displayed.
User-defined
point properties
Chapter 4 - Setting up the hand eye 107
(2.2) Create five user-defined points.
1) Create the five points using Steps 3 and 4 in section 2.1.
The created user-defined points will highlight in green on the camera image and added to the Palette.
(In the Palette, the user-defined points will be listed in the order they were created.)
Created user-defined points
(2.3) Relocate user-defined points.
Move the created five user-defined points to the following positions on the crosshairs: center
crosshair, +X axis, -X axis, +Y axis, and -Y axis.
* To fine-tune the positions of the user-defined points, perform step 4 "Fine-tune user-defined points".
1) Select Point_1 from the Palette. The corresponding point will highlight in green on the camera image.
2) Drag the highlighted point with the mouse to the center of the screen.
3) Move the other user-defined points "Point_2" to "Point_5" to the following positions on the crosshairs:
+X axis, -X axis, +Y axis, and -Y axis.
* It is helpful to remember where Point 1 to Point 5 have been located.
Move the user-defined points.
Select the user-defined point you
want to move.
With the enlarged image, align the highlighted point with the
feature as accurately as possible.
(This improves the accuracy of the calibration.)
Chapter 4 - Setting up the hand eye 108
(3) Entering the size of the camera's FOV
(3.1) Enter the values into the program to carry out calibration.
1) Open HND2.prg.
2) Enter the -X value measured in "(1) Find the camera's FOV" in the X component of line 32.
3) Do the same for +X of line 35, -Y of line 38, and +Y of line 41.
4) Save HND2.prg in the robot.
Line 32 (when the -X value is 30)
Mov P0(-30,0,0,0,0,0,0)
Line 35 (when the +X value is 30)
Mov P0(+30,0,0,0,0,0,0)
Tool coordinates
In the program
+X
+Y
Line 32
Mov P0(-30,0,0,0,0,0,0)
Line 41
Mov P0(0,+45,0,0,0,0,0)
-X direction
30 mm
+Y direction
45 mm
Distances measured in
Steps 1.2 and 1.3
(example)
Line 35
Mov P0(+30,0,0,0,0,0,0)
Chapter 4 - Setting up the hand eye 109
-Y direction
45 mm
+X direction
30 mm
Line 38
Mov P0(0,-45,0,0,0,0,0)
(4) Fine-tuning user-defined points
(4.1) Run HND2.prg.
1) Run the program up to line 31 using step operation.
◇ In line 15, press and hold the F1 key until the hand operation completes. (Initialization of the
electric hand)
◇ In line 24, move the robot to the reference point to start calibration (set in the program HND1.prg).
(4.2) Take an image of the jig and fine-tune the positions of the user-defined points.
1) In In-Sight Explorer, press the F5 key (trigger) on the keyboard to take an image. The camera image
will be updated.
2) Align the user-defined point near the crosshairs with the feature of the workpiece. (Fine-tune the
position of the points with the mouse or arrow keys.)
Align the user-defined point with
the feature of the workpiece.
Line 31
Mov P0
Image when the robot moves to P0
3) Run the program up to lines 33, 36, 39, and 42 using step operation, and perform Steps 1 and 2 in
each line. Align the user-defined points with the feature (five points in total).
Align the user-defined point with the
feature of the workpiece.
Line 33
Example) Mov P0*(-30,0,0,0,0,0)
Example) Image when the robot moves to P0*(-30,0,0,0,0,0)
Line 36
Example) Mov P0*(+30,0,0,0,0,0)
Line 39
Example) Mov P0*(0,-45,0,0,0,0)
Line 42
Example) Mov P0*(0,+45,0,0,0,0)
Chapter 4 - Setting up the hand eye 110
(5) Creating N points
In the process of creating N points, we will move the robot arm to each
user-defined point.
However, calibration will not complete if the user-defined points and the robot
(5.1) Create N points.
* Select Manual from the Trigger drop-down box under Edit Acquisition Settings.
1) Select Inspect Part from the Application Steps window.
2) Select N Point from Calibration Tools in the bottom left Add Tool window.
3) Click Add. All the user-defined points on the camera image will highlight in green.
* Clicking Add may highlight some parts in blue. Ignore them. (Blue circles may appear depending on
the image.)
4) Left-click the five user-defined points.
Selected user-defined points will turn pink. (Refer to the following image for how to select user-defined
points.)
* It is helpful to remember in what order the user-defined points have been selected.
5) After all the user-defined points have been selected, click OK. N points will be listed in the bottom right
window.
1)
4) Select five green
user-defined points.
3)
2)
Hovering the cursor over a
user-defined point will highlight it.
Then, click it.
Selected user-defined points will turn pink.
Blue circles may
appear. (Ignore them.)
Select all the points then click OK.
5)
NoteClick user-defined points to create N points.
If something else other than the user-defined points is clicked, or a user-defined point does
not turn pink when selected, click Cancel and repeat from Step 3 onwards.
Chapter 4 - Setting up the hand eye 111
(5.2) N point calibration data will be created.
1) The selected N points will be listed in the bottom right of the window.
2) The calibration name will be displayed in the Palette to the right of the image. (Example: Calib_1)
N points are named in the order in which the points were selected in Step 5.1. For example, the point
selected first is "Point 0", the point selected second is "Point 1", and so on.
2) Calibration name
1) Created N
i
Note
If the number of listed N points differs from the number of N points you want to create...
Something else other than the user-defined points may have been clicked in Step 5.1.
(Click user-defined points to create N points.)
In this case, recreate N points in the following steps.
3) Select the calibration name from Palette, then right-click and select Delete to delete the data.
4) Create N points by repeating the process from Step 3 in Section 5.1 onwards.
The number of listed N points is 6, but
the number of N points you want to create is 5.
↓
In this case, delete the calibration data and
repeat the steps in Section 5.1.
Chapter 4 - Setting up the hand eye 112
(6) Carrying out N point calibration
In this step we will calibrate the 5 points.
(6.1) Set N points.
1) Enter the world X and world Y values for the user-defined points in the list displayed in the bottom right.
Use the amount the robot was moved during calibration in inverted values for the world X and world Y
values.
The following is an example using the position the robot moved (point 1) to when line 32 (Mov
P0*(-30,0,0,0,0,0)) of HND2.prg was executed.
For point 1, enter "+30" in the World X field and "0" in the World Y field. Repeat this for the
remaining four points.
Selecting "Calib_" will display
the following window.
User-defined points
2) Select a point number.
Points 0 to 4
Five points in total
3) World X & World Y
Clicking a point number will
display the corresponding values in the World X and World Y fields.
You can overwrite the values.
Point 1
Input example
Tool coordinates
The right figure shows the
N points created in Step
5.1 as an example.
The following table shows
the values entered into t
he program in Step 3.1.
Point 4
Point 0
+Y
Point 2
+X
Point 3
N point
Direction in tool
coordinates
Measured value
Point 0
-
0
Point 1
-X
Point 2
World X
World Y
P0*(0,0,0,0,0,0)
0
0
30
P0*(-30,0,0,0,0,0)
30
0
+Y
45
P0*(+45,0,0,0,0,0)
0
-45
Point 3
+X
30
P0*(+30,0,0,0,0,0)
-30
0
Point 4
-Y
45
P0*(0,-45,0,0,0,0)
0
+45
Chapter 4 - Setting up the hand eye 113
Program
(6.2) Export calibration data.
1) Select the Settings tab from the Edit Tool in the bottom center.
2) Enter a file name and press Export.
3) Pass: Export Complete will be shown in the Results tab of the Palette if the data has been exported
successfully.
Settings
3) Pass: Export Complete
2)
(6.3) Save the Job.
1) Select Save Job from the Application Steps window.
2) Click Save As and enter a file name to save the file.
1)
2)
Chapter 4 - Setting up the hand eye 114
(7) Setting an offset from the workpiece suction point to the imaging point
(8.1) Run HND2.prg.
1) Run the program up to line 45 using step operation.
2) Close Hand 1 with the teaching pendant and lower the suction pad.
(8.2) Move the robot and make the hand touch the surface of the identified workpiece.
1) Move the robot using jog operation and make the suction pad touch the surface of the identified
workpiece.
2) Once the robot has touched the surface, run the program to END using step operation.
◇ In lines 47 and 48, an offset from the workpiece suction point to the imaging point is set to P_CMH.
3) After the program goes to END, move up the robot to the area where no interference occurs.
◇ Program HND2.prg
Workpiece
identification point
(P0)
......
21 PTool=P_CMTL
22 Tool P_Ntool ...Reset the position of the tool.
......
46 ' Touch the hand onto the surface of th
e workpiece to be identified.
47 PSur=P_Fbc
48 P_CMH=Inv(PSur)*P0
Camera center seen from flange center
(P_CMTL)
Workpiece identification point seen
from the workpiece suction point
(P_CMH)
Workpiece suction point
(PSur)
Chapter 4 - Setting up the hand eye 115
Notes
Chapter 4 - Setting up the hand eye 116
4.4 Creating an identification job
4.4.1 Program for creating an identification job
The program used in this chapter is HND3.prg up to line 35.
HND3.prg: Used for setting the reference workpiece grasp position, identification point, and relative
position.
◇ Program HND3.prg
1 '------------------------------------------------2 ' Step 3. Program to adjust the hand camera
3 ' Calibration assistance program HND3.prg
4 '------------------------------------------------5 Def Pos P_CMTL ' Hand camera: Camera center position data
6 Def Pos P_CLPos ' Hand camera: Reference point to start calibration
7 Def Pos P_CMH ' Hand camera: Offset from the workpiece suction surface to the imaging point
8 Def Pos P_HVSP1 ' Hand camera: Default imaging point
9 Def Pos P_WRK03 ' Hand camera: Master workpiece grasp position
10 Def Pos P_PVS03 ' Hand camera: Master workpiece identification point
11 Def Pos P_PH03 ' Hand camera: Calculated coefficient of the handling position from the position of
the identified workpiece
12 Def Char C_C03 ' Hand camera: COM name
13 Def Char C_J03 ' Hand camera: Job name
14 Loadset 1,1
15 OAdl On
16 Servo On
17 Wait M_Svo=1
18 '----- HAND INIT ----19 Wait M_Svo=1
20 If M_EHOrg=0 Then
' If hand has not returned to origin:
21
EHOrg 1
' Returns Hand 1 to origin.
22
Wait M_EHOrg=1
' Waits for Hand 1 to return to origin.
23 EndIf
24 EHOpen 1,100,100
25 Wait M_EHBusy=0
' Opens Hand 1 (speed = 100%, Force = 20%)
' Checks if operation is complete
26 '--------------------27 Tool P_NTool
28 ' Move the robot to the grasp/suction position.
29 ' Open and close the hand several times and check to see if the workpiece deviates from its position.
30 If M_Mode=1 Then P_WRK03=P_Fbc ' The grasp position of the workpiece to be registered.
31 ' Touches the hand on the surface of the workpiece.
32 If M_Mode=1 Then PWork=P_Fbc ' Job position data
33 If M_Mode=1 Then P_HVSP1=PWork*P_CMH ' The position in which the touched workpiece will be
identified. (Fine adjustments can be made in the XY axes using the Jog mode.)
34 Mov P_HVSP1
35 ' Create an identification job.
(continued on the next page→)
Chapter 4 - Setting up the hand eye 117
36 ' Configure communication settings and turn the operation mode to Online.
37 ' Execute automatic operation.
38 If M_NvOpen(3) <> 1 Then
39
NVOpen "COM4:" As #3
40
Wait M_NvOpen(3)=1
41 EndIf
42 Dly 0.5
43 NVRun #3,"sample.job"
44 EBRead #3,,MNUM,PVS
45 Dly 0.1
46 If MNUM=0 Then *ELOOP
47 PTRG0=P_HVSP1*P_CMTL*PVS
48 P_PH03=Inv(PTRG0)*P_WRK03
49 P_PVS03=PVS
50 C_C03$="COM4:"
51 C_J03$="sample.job"
52 Hlt
53 End
54 *ELOOP
55 Error 9000
56 GoTo *ELOOP
57 Hlt
58 End
P_CMTL=(-97.85,-5.06,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_CLPos=(+184.47,-178.00,+376.40,-180.00,+0.00,-178.77,+0.00,+0.00)(7,0)
P_CMH=(+88.38,-90.49,-140.90,+0.00,+0.00,+0.00,+0.00,+0.00)(7,0)
P_HVSP1=(+165.14,+205.01,+395.53,+179.96,-0.04,-178.78,+0.00,+0.00)(7,0)
P_WRK03=(+251.47,+297.44,+254.63,+179.96,-0.04,-178.78,+0.00,+0.00)(7,0)
P_PVS03=(+10.33,+4.63,+0.00,+0.00,+0.00,+0.01,+0.00,+0.00)(0,0)
P_PH03=(-0.84,+90.90,+140.90,+0.00,+0.00,-0.01,+0.00,+0.00)(7,0)
PWork=(+251.47,+297.44,+254.63,+179.96,-0.04,-178.78)(7,0)
PVS=(+10.33,+4.63,+0.00,+0.00,+0.00,+0.01,+0.00,+0.00)(0,0)
PTRG0=(+252.65,+206.45,+395.47,+179.96,-0.04,-178.79,+0.00,+0.00)(7,0)
PH=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
PHEIGHT=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
PVSP1=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
PWK=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
(End of HND3.prg)
Chapter 4 - Setting up the hand eye 118
4.4.2 Method of creating an identification job
■ Process of creating the identification job
Step
Description
(1)
Adjusting the suction and identification points of the master workpiece
(2)
Creating a job
(3)
Configuring calibration file settings
(4)
Setting the workpiece to be identified and the identification range
(5)
Setting threshold and rotation tolerance values
(6)
Configuring communication settings
(7)
Selecting an identified pattern
(8)
Saving the job
(1) Adjusting the suction and identification points of the master workpiece
(1.1) Place the workpiece to be sucked.
1) Place the workpiece on the platform. (This workpiece is handled as the master workpiece.)
1) Master workpiece
1) Master workpiece
(1.2) Run HND3.prg.
1) Run the program up to line 28 using step operation.
◇ In line 21, press and hold the F1 key until the hand operation completes. (Initialization of the
electric hand)
◇ In line 27 "PTool = P_NTool", the current robot tool data is assigned to PTool.
◇ Program HND3.prg
......
27 Tool P_NTool
28 ' Move the robot to the grasp/suction position.
Tool P_NTool
Tool (0,0,0,0,0,0,0,0) (0,0)
The tool position is set back to the
flange position.
(1.3) Move the robot to a place where it sucks the master workpiece.
1) Move the robot using jog operation to a place where it sucks the
master workpiece.
* If grasping the workpiece, adjust the opening and closing
mechanism of the tool to ensure the workpiece
does not deviate from its position.
* If sucking the workpiece, close Hand 1 with the teaching pendant
and lower the suction pad.
In the pneumatic hand (standard hand) window, press -C.
Chapter 4 - Setting up the hand eye 119
(1.4) Run HND3.prg.
1) Run the program up to line 31 using step operation.
◇ In line 31 "P_WRK03=P_Fbc", assign the current position data to P_WRK03.
This is the reference point where the workpiece is sucked.
Executing this command will set the suction point. Therefore, do not
move the master workpiece until the job is created.
2) Move the robot using jog operation and make it touch the surface of the workpiece.
(If the hand is already on the workpiece, go to Step 3.)
3) Run HND3.prg up to line 33 using step operation.
◇ In lines 32 and 33, the workpiece detection point (P_HVSP1) is set.
4) Move up the robot hand slightly to prevent the workpiece from shifting.
5) Run HND3.prg up to line 35 using step operation.
The robot will move to the workpiece detection point.
◇ Program HND3.prg
......
30 If M_Mode=1 Then P_WRK03=P_Fbc ' The grasp position of the workpiece to be registered.
31 ' Touches the hand on the surface of the workpiece.
32 If M_Mode=1 Then PWork=P_Fbc ' Job position data
33 If M_Mode=1 Then P_HVSP1=PWork*P_CMH ' The position in which the touched workpiece will be
identified. (Fine adjustments can be made in the XY axes
using the Jog mode.)
34 Mov P_HVSP1
35 ' Create an identification job.
Flange center for the workpiece
id ifi i
i
P_HVSP1
P_CMH
Pwork
Flange center for
the workpiece
suction point
The formula for calculating the position in which the touched workpiece will be identified:
P_HVSP1=PWork*P_CMH
Chapter 4 - Setting up the hand eye 120
(2) Creating a job
(2.1) Create a new job.
1) Go to File then New Job.
2) The message "Are you sure you want to clear all data from the current job?" will appear. Click Yes.
* Even if Yes is clicked, the calibration data will still be displayed.
3) Press the F5 key to acquire an image.
1)
2)
(3) Configuring calibration file settings
(3.1) Select how to acquire an image and set a calibration file.
1) Select Set Up Image from the Application Steps window.
2) Select Manual or External from the Trigger drop-down box under Edit Acquisition Settings.
* Select Manual in this seminar. (In actual operation, select an appropriate mode.)
3) Select Import from the Calibration Type drop-down box under Calibrate Image to Real World Units.
4) In the File Name field, select the calibration file exported in 4.3.2 Calibration method (Step 6.2).
* Image data will be converted into robot coordinates from now on.
1)
2) Trigger: Manual
4) Calibration file name
3) Calibration Type: Import
Chapter 4 - Setting up the hand eye 121
(4) Setting the workpiece to be identified and the identification range
(4.1) Select a location tool.
1) Select Locate Part from the Application Steps window.
2) Select PatMax® Patterns (1-10) from Location Tools in the bottom left.
3) Click Add.
4) Two boxes, the Model region box and the Search region, box will appear on the image.
1)
4) Model region
3)
2) PatMax® Patterns (1-10)
4) Search region
(4.2) Set the feature of the workpiece to be identified.
Use the Model region box to identify a feature of the workpiece.
1) Left-click inside the Model region box. The frame of the Model region box will turn pink.
(The frame of the Model region box will turn pink, and the frame of the Search region box will turn
green.)
2) Place the cursor inside the frame of the Model region box, press and hold down the left mouse
button, then drag the Model region box over the workpiece.
3) Adjust the frame so that the workpiece fits within the Model region box.
1) Move the frame with the mouse.
Workpiece
Model
Workpiece to be identified
2) Adjust the frame so that the
workpiece fits within it.
Chapter 4 - Setting up the hand eye 122
(4.3) Set the region to be identified.
Set the region to be identified using the Search region box.
1) To select the search region, left-click in the Search region outside the Model region. (The frame of the
Search region will turn pink, and the frame of the Model region will turn green.)
2) Move and adjust the frame in the same manner as Step 4.2 to set the area to be identified.
Search
2) Adjust the area
to be identified.
1) Move the frame
with the mouse.
(4.4) Set the Model region and Search region.
1) After setting the Model region and Search region, click OK.
1)
2) The registered image of the workpiece to be identified (Model region) will be displayed in the bottom
right.
Registered Model region
(workpiece)
Chapter 4 - Setting up the hand eye 123
(5) Setting threshold and rotation tolerance values
(5.1) Set threshold and rotation tolerance values.
1) Select Locate Part from the Application Steps window.
2) Click the Settings tab and set the Accept Threshold and Rotation Tolerance values.
* Set the Accept Threshold value to 70 or more and the Rotation Tolerance value to 180.
* Changing horizontal and vertical offsets will enable the tool center point to be changed freely.
1)
Settings
Accept Threshold value: 70 or more
Rotation Tolerance value: 180
Accept Threshold value: The amount (%) in which the identified workpiece matches the
registered image.
・ A rotation tolerance value is an angle at which the actual workpiece can be identified
even if the workpiece is rotated (±deg).
Chapter 4 - Setting up the hand eye 124
(6) Configuring communication settings
(6.1) Configure the communication settings.
1) Select Communication from the Application Steps window.
2) Click Add Device.
3) The Device Setup window will appear on the right. Configure the settings in the following order: (1)
Device, (2) Manufacturer, (3) Protocol. (Selecting an item will display the corresponding drop-down list
below.)
* Select Robot for Device, Mitsubishi for Manufacturer, and Ethernet Native String for Protocol.
4) Click OK.
1)
2)
Communication settings
Field
3)
Setting value
Device
Manufacturer
Protocol
Robot
Mitsubishi Electric
Ethernet
Native String
After a field has been set,
the next field will appear below.
5) Ethernet Native String will be added to Communications in the bottom left.
The Format Output String window, Edit Device button, and Remove Device button will also appear. To
revise device settings (Step 3), click Edit Device.
Format Output String window
5)
Chapter 4 - Setting up the hand eye 125
(7) Selecting an identified pattern
Select the output data of an identified pattern in the order that the data is output to the robot.
* By setting the order of the output string of the identified pattern to X, Y, Angle, position variables can be
input as they are when using the robot command "EBREAD".
Select the data in the following order.
Number of identified patterns
Pattern_1.Number_Found
First X of the matching result
Pattern_1.Fixture.X
First Y of the matching result
Pattern_1.Fixture.Y
First rotational angle C of the matching result
Pattern_1.Fixture.Angle
(7.1) Select the output data of an identified pattern.
1) Select Communication from the Application Steps window.
2) Select Ethernet Native String under Communications in the bottom left to display the Format Output
String window.
3) Click Add under Format Output String to display the Select Output Data window.
4) Click the blue arrow next to Pattern_1 in the Select Output Data window to display the Pattern_1 list.
5) Select data in the following order while holding down the Ctrl key. (1) Pattern_1.Number_Found, (2)
Pattern_1.Fixture.X, (3) Pattern_1.Fixture.Y, (4) Pattern_1.Fixture.Angle. (The order can be changed
later.)
Caution: Be careful when selecting output data because the names are similar to each other.
6) Click OK. The data will be displayed in the Format Output String window in the order selected.
1)
2)
3)
4) Click the blue arrow of
Pattern_1.
5) Select each piece of data in
order while holding down the Ctrl
key.
Select Output Data window
Pattern_1.Number_Found
Pattern_1.Fixture.X
Pattern_1.Fixture.Y
Pattern_1.Fixture.Angle
Format Output String
6)
Be careful when selecting data
because the names are similar to each other.
Each piece of data is displayed in the order it is selected in
The order can be changed.
Chapter 4 - Setting up the hand eye 126
(8) Saving the job
(8.1) Save the job.
1) Select Save Job from the Application Steps window.
2) Click Save As and enter "Sample" in the File name field.
* The file name is used in HND3.prg.
The job file can be named freely, but the file name must be used in HND3.prg.
1)
2)
(8.2) Change the operation mode to Online.
1) Click the Online button on the tool bar to change the operation mode to Online.
Online
Online
Chapter 4 - Setting up the hand eye 127
4.5 Setting up the relative position between the workpiece and the robot
4.5.1 Program for setting up the relative position between the workpiece and the robot
The program used in this chapter is HND3.prg.
HND3.prg: Used for setting up the relative position between the workpiece and the picking point.
◇ Program HND3.prg
For details on the program, refer to 4.4.1Program for creating an identification job.
4.5.2 Setting up the relative position between the workpiece and the robot
(1) Running HND3.prg automatically
1) Change the robot's speed to 3%. (* Set the robot's speed to 3% during automatic operation.)
2) Switch the operation mode from "Manual" to "Automatic" with the key switch.
Caution If the operation mode is set to "Manual", automatic operation will not run.
2) Check that Ovrd is set to 3% and run HND3.prg automatically.
3) Wait for the program to stop at line 52.
45 Dly 0.1
◇ Program HND3.prg
46 If MNUM=0 Then *ELOOP
......
38 If M_NvOpen(3) <> 1 Then
39 NVOpen "COM4:" As #3
47 PTRG0=P_HVSP1*P_CMTL*PVS
‘-- Workpiece position
48 P_PH03=Inv(PTRG0)*P_WRK03
49 P_PVS03=PVS
40 Wait M_NvOpen(3)=1
50 C_C03$="COM4:"
41 EndIf
51 C_J03$="sample.job"
42 Dly 0.5
52 Hlt
43 NVRun #3,"sample.job"
53 End
44 EBRead #3,,MNUM,PVS
Flange center for the workpiece
identification point
P_CMTL
P_HVSP1
Flange center for
the workpiece suction point
P_WRK03
PTRG0
P_PH03
PVS
Workpiece position: PTRG0=P_HVSP1*P_CMTL*PVS
Chapter 4 - Setting up the hand eye 128
4.6 Checking the robot movement using step operation and automatic operation
4.6.1 Program for checking robot movement
The program used in this chapter is HND4.prg.
HND4.prg: Used for calculating the workpiece picking position based on the workpiece output position
information from the vision sensor to make the robot pick and place the workpiece.
◇Program HND4.prg
1 '------------------------------------2 ' Step 3. Program to adjust the hand camera
3 ' Calibration assistance program HND4.prg
4 '------------------------------------5 Def Pos P_CMTL ' Hand camera: Camera center position data
6 Def Pos P_CLPos ' Hand camera: Reference point to start calibration
7 Def Pos P_CMH ' Hand camera: Offset from the surface of the identified workpiece to the imaging
point
8 Def Pos P_HVSP1 ' Hand camera: Default imaging point
9 Def Pos P_WRK03 ' Hand camera: Master workpiece grasp position
10 Def Pos P_PVS03 ' Hand camera: Master workpiece identification point
11 Def Pos P_PH03 ' Hand camera: Coefficient for calculating the handling position from the position of
the identified workpiece
12 Def Char C_C03 ' Hand camera: COM name
13 Def Char C_J03 ' Hand camera: Job name
14 Def Pos P_PHome ' Safe position
15 Loadset 1,1
16 OAdl On
17 Servo On
18 Wait M_Svo=1
19 '----- HAND INIT ----20 Wait M_Svo=1
21 If M_EHOrg=0 Then
22
EHOrg 1
23
Wait M_EHOrg=1
' If hand has not returned to origin:
' returns Hand 1 to origin.
' waits for Hand 1 to return to origin.
24 EndIf
25 EHOpen 1,100,100
26 Wait M_EHBusy=0
' Opens Hand 1 (speed = 100%, Force = 20%)
' Checks if operation is complete.
27 '--------------------28 Tool P_NTool
29 MCNT=1
30 Mov P_PHome
31 HOpen 1
32 M_Out(10129)=0
33 M_Out(10128)=1 Dly 0.1
34 Dly 0.5
(continued on the next page→)
Chapter 4 - Setting up the hand eye 129
35 If M_NvOpen(3)<>1 Then
36
NVOpen C_C03$ As #3
37
Wait M_NvOpen(3)=1
38 EndIf
39 Mov P_HVSP1
40 Dly 1
41 *RETRY
42 NVRun #3,C_J03$
43 EBRead #3,,MNUM,PVS
44 Dly 0.1
45 If MNUM>=1 Then *OK
46 MCNT=MCNT+1
47 If MCNT>3 Then *ELOOP
48 Dly 0.2
49 GoTo *RETRY
50 *OK
51 MCNT=1
52 PTRG=P_HVSP1*P_CMTL*PVS*P_PH03
53 MJUDGH=PosCq(PTRG)
54 If MJUDGH<>1 Then
55
*CNMV
56
Error 9001 'Can Not Move'
57
Hlt
58
GoTo *CNMV
59 EndIf
60 Mov PTRG,-100
61 HClose 1
62 Dly 0.1
63 Mvs PTRG
64 Dly 0.2
65 M_Out(10129)=1
66 Dly 0.3
67 Mvs PTRG,-100
68 Dly 0.1
69 Hlt ' Operation 1: Teach PPUT, and then remove the comment "Hlt" in line 69 of the program.
70 Mov PPUT,-100
71 Mvs PPUT
72 Dly 0.2
73 M_Out(10129)=0
74 M_Out(10128)=1 Dly 0.1
75 Dly 0.2
76 HOpen 1
77 Dly 0.2
(continued on the next page→)
Chapter 4 - Setting up the hand eye 130
78 Mvs PPUT,-100
79 Mov P_PHome
80 Hlt
81 End
82 *ELOOP
83 Error 9000
84 GoTo *ELOOP
PHOME=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
PVSP=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
PSEARCH=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
PVSPOS=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)
PVS=(-9.11,-0.84,+0.00,+0.00,+0.00,-40.08,+0.00,+0.00)(0,0)
PTRG=(+212.75,+270.33,+254.64,+179.94,+0.00,-138.69,+0.00,+0.00)(7,0)
PPUT=(+243.18,-121.93,+253.56,+179.96,-0.04,-178.82,+0.00,+0.00)(7,0)
P_CMTL=(-97.85,-5.06,+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
P_CLPos=(+184.47,-178.00,+376.40,-180.00,+0.00,-178.77,+0.00,+0.00)(7,0)
P_CMH=(+88.38,-90.49,-140.90,+0.00,+0.00,+0.00,+0.00,+0.00)(7,0)
P_HVSP1=(+165.14,+205.01,+395.53,+179.96,-0.04,-178.78,+0.00,+0.00)(7,0)
P_WRK03=(+251.47,+297.44,+254.63,+179.96,-0.04,-178.78,+0.00,+0.00)(7,0)
P_PVS03=(+10.33,+4.63,+0.00,+0.00,+0.00,+0.01,+0.00,+0.00)(0,0)
P_PH03=(-0.84,+90.90,+140.90,+0.00,+0.00,-0.01,+0.00,+0.00)(7,0)
P_PHOME=(+187.48,-13.81,+320.67,-180.00,+0.00,+180.00,+0.00,+0.00)(7,0)
(End of HND4.prg)
Chapter 4 - Setting up the hand eye 131
4.6.2 Checking the movement of the robot
(1) Teaching the release position
(1.1) Run HND4.prg automatically
1) Set the robot's speed to 3%. (* Set the robot's speed to 3% during automatic operation.)
2) Run HND4.prg automatically.
3) "HLT" in line 69) will stop the robot.
◇ The camera will find the workpiece, and the robot will suck it. Then, the robot will move up its arm
and stop.
◇ Program HND4.prg
......
42 NVRun #3,C_J03$
43 EBRead #3,,MNUM,PVS
‘--- Workpiece output position information from the vision sensor
......
52 PTRG=P_HVSP1*P_CMTL*PVS*P_PH03
‘--- Calculate the workpiece picking point.
......
60 Mov PTRG,-100
61 HClose 1
Flange center for the workpiece
identification point
P_CMTL
P_HVSP1
Flange center for
the workpiece picking point
PTRG
P_HVSP1*P_CMTL*PVS
PVS
P_PH03
Workpiece picking position: PTRG=P_HVSP1*P_CMTL*PVS*P_PH03
P_HVSP1: Default imaging point
P_CMTL: Camera center position data (control point)
PVS: Workpiece output position information from the vision sensor
P_PH03: Coefficient for calculating the handling position from the position of the identified workpiece
Chapter 4 - Setting up the hand eye 132
(1.2) Teach the release position.
1) Move the robot using jog operation to a place where the hand releases the workpiece.
2) Open HND4.prg and teach the release position PPUT.
3) After the teaching process, move the robot with the workpiece to a place where no interference
occurs.
Teach the release position
"PPUT".
PPUT
(2) Checking the operation
(2.1) Run the program automatically and check the operation.
1) Remove the comment "Hlt" from line 69 of HND4.prg and save the program.
2) Run the program automatically and check that the suction and release operations function properly.
Chapter 4 - Setting up the hand eye 133
Notes
Chapter 4 - Setting up the hand eye 134
Appendix 1. Vectors and operations on vectors
Appendix 1.1 Robot position data and vectors
Within the robot program, the position variable P1 is written as P1=(X, Y, Z, A, B, C) (FL1, FL2).
The values of each unit are the change in position from the robots origin to the taught position. These
position variables can be treated as vectors.
That is to say that, the position variable P1 can be used as a vector that starts at the origin and ends at
the taught position P1. (Fig.1.1)
Vectors have two important characteristics.
Characteristics of vectors
1) Even if they originate from different points, vectors are the same if their size and direction are
identical to each other.
2) Even if they have multiple paths, vectors are the same if their start points and end points are
identical to each other.
+Z
P1
P1
+X
+Y
+Z
Robot origin
+Y
Fig. 1.1
+X
Vector
+X
＋X
Vector
Vector
Vector
Vector
Vector
+Y
Fig. 1.2
*Fig. 1.2: Vector A = Vector B = Vector C
*Fig. 1.3: Vector A = Vector B × Vector C ≠ Vector C × Vector B
Appendix 1. Vectors and operations on vectors 135
+Y
Fig. 1.3
Appendix 1.2 Method of finding PH
Referring to Figure 3 on the previous page, in the program "UVS1" (fixed downward-facing camera)
vectors A, B, and C are represented as follows: A = PWK, B = PVS, C = PH. (Fig. 1.4)
As was previously mentioned, there is PVS (position of the workpiece) output from the vision sensor and
the taught position "PWK" (grasp position of the workpiece).
Using the characteristics of vectors, from these two variables we can find PH (the vector of the position of
the identified workpiece to the grasp position).
As was mentioned in the 2nd characteristic of vectors on the previous page, the origin and end point of PH
can be split up within the same vector.
Therefore, if PVS is inverted, PH will become Inv PVS × PWK.
PVS: From the robot's origin to the position where the vision sensor identified the workpiece.
Inv PVS: From the position where the vision sensor identified the workpiece to the robot's origin.
Inverse functions are vectors that have the start and end points of a user-defined vector swapped around.
By using inverse functions, the following points (1 to 3) become the basic principles behind integrating
vision sensors and robots.
1) Teach the robot the grasp position (PWK) of the master workpiece to make the robot identify it (PVS).
2) Calculate the vector "PH" from PWK and PVS. (The vector for where the workpiece is identified up to
where it is grasped by the robot.)
3) In actual operation, when the output position (PVS) is multiplied by PH, the grasp position becomes
PTRG.
PH
PH
+X
Inv(PVS)
PVS
PWK
+Y
+X
PWK
Fig. 1.4
+Y
Fig. 1.5
Formula for your reference
Regarding Fig. 1.4, the relationship between vectors is expressed in the following formula.
PWK = PVS*PH
To find PH, multiply both sides by (PVS)-1 as follows:
(PVS)-1＊PWK = (PVS)-1＊PVS＊PH
Then, (PVS)-1*PVS on the right side becomes 1, and the equation becomes
(PVS)-1＊PWK = PH
When the equation is reversed, it becomes
PH = (PVS)-1＊PWK
In the robot language, (PVS)-1 is Inv(PVS) . Therefore, PH becomes as follows:
PH = Inv(PVS)*PWK
Appendix 1. Vectors and operations on vectors 136
Appendix 2. Vision sensor commands and status variables
The robot controller has dedicated commands and status variables which control the vision sensor.
Dedicated commands and status variables are described below.
Definitions of terms
Function: A description of the command's function.
Syntax: An example of an argument in the command line
< > indicate an argument.
[ ] indicate if something can be omitted.
Term: A description of the argument and its setting range.
Example: An example of the command in a program.
Description: Includes detailed information and cautions.
Error: A description of possible errors related to the command.
Appendix 2.1 Vision sensor commands
Command
name
Function
NVOpen
Connects and logs on to the vision sensor
NVClose
Disconnects the vision sensor
NVLoad
Changes the state of a specified program so that it can be run
NVRun
Runs the specified program
NVTrg
Requests an image from the vision sensor, and acquires encoder values after a
specified period of time
EBRead
Specifies a vision sensor tag and reads the tag's data.
EBWrite
Specifies the tag name of the vision sensor to write data.
Appendix 2. Vision sensor commands and status variables 137
NVOpen (Open network vision sensor port)
Function
Connects and logs on to a specified vision sensor.
Syntax
NVOpen "<COM No.>" AS # <Vision sensor No.>
Term
<COM No.> (cannot be omitted)
Specify the communication port No. in the same way as the Open command.
"COM1" cannot be specified because it is occupied by O/P front RS-232C.
Setting range: COM2: to COM8:
<Vision sensor No.> (cannot be omitted)
Specify a constant from 1 to 8 (Vision sensor No.). The vision sensor connected to the COM
port specified with <COM No.> is expressed as a number.
Caution is advised when setting the vision sensor number as it is shared with the Open
command <File No.>.
Setting range: 1 to 8
Examples
1 If M_NvOpen(1)<>1 Then ' If vision sensor number 1 is not logged on
2 NVOpen "COM2:" As #1 ' connect to the vision sensor connected to COM2, and set the nu
mber to 1.
3 End If
4Wait M_NvOpen(1)=1
' Connect to vision sensor No. 1 and wait until it has logge
d on.
Comments
1) Connects and logs on to the vision sensor connected to the port specified by <Com No.>.
2) Up to seven vision sensors can be connected simultaneously. <Vision sensor No.> is used to
distinguish which vision sensor to communicate with.
3) When NVOpen is used together with Open command, <COM No.> and <File No.> of Open Command
and the <COM No.> and <Vision sensor No.> of NVOpen are shared, so use numbers other than
those specified with the Open command <COM No.> and <File No.>.
Correct
Incorrect
10 Open “COM1:” As #1
10 Open “COM2:” As #1
20 NVOpen “COM2:” As #2
20 NVOpen “COM2:” As #2 ⇒ <COM No.> is used.
30 NVOpen “COM3:” As #3
30 NVOpen “COM3:” As #1 ⇒ <Vision sensor No.> is used.
More than two ports cannot be opened with a setup consisting of one robot controller and one vision
sensor. When configuring the parameter "NETHSTIP", the error "Ethernet parameter NETHSTIP
setting error" will occur if the IP address of NETHSTIP and NVOpen are the same.
4)
A username and password are required to logon to the vision sensor. The same username and
password set for the vision sensor need to be set in robot controller's parameters "NVUSER" and
"NVPSWD".
The username and password must be within 15 characters. It can contain any uppercase letters from
A to Z, any numbers from 0 to 9, a hyphen ( - ) or an underscore ( _ ). (Do not use lowercase
characters when creating a new vision sensor user as the teaching pendant does not support them.)
The vision sensor's default administrator username is "admin". The password is "" (two quotation
marks).
"NVUSER" and "NVPSWD" share the same administrator username and password.
The administrator password can be changed in MELFA-Vision. When changing the administrator
password or adding a new user, be sure to change the administrator usernames and passwords of
"NVUSER" and "NVPSWD" too. * * * * will appear when changing the username and password of
"NVPSWD".
Once the vision sensor password has been changed, open parameter "NVPSWD" and change the
password. Restart the robot controller after the password has been changed.
Appendix 2. Vision sensor commands and status variables 138
Caution
When connecting multiple vision sensors to a robot controller, ensure that all the usernames a
nd passwords of the vision sensors are the same.
5)
The communication status of vision sensors can be checked with M_NvOpen once NVOpen has been
executed. For further details, refer to M_NvOpen.
6)
Communication stops immediately if the program is aborted while executing this command.
To logon to the vision sensor, reset the robot program and restart MELFA-Vision.
7)
The following limitations apply when using this command for multi-tasking.
Different tasks cannot have the same <COM No.> and <Vision sensor No.> when multi-tasking.
(1) The error "COM file already open" will occur if the same COM number is used for a different
task.
SLOT 2
SLOT 3
10 NVOpen "COM2:" As#1
10 NVOpen "COM2:" As#2
20 ……..
20 ……..
An error occurs because COM2: is
specified in both slots 2 and 3
(2) The error "Attempt was made to open an already open communication file" will occur if the
same vision sensor number is used for a different task.
SLOT 2
SLOT 3
10 NVOpen "COM2:" As#1
10 NVOpen "COM2:" As#1
20 ……..
20 ……..
An error occurs because the specified
vision sensor number for COM2: is not the
same in Slot 2 and Slot 3.
8) Not supported if the program's startup settings are set to "ALWAYS" or the continuity function
(CTN) is enabled.
9) Up to three robots can control the same vision sensor simultaneously.
If four robots logon to the same vision sensor, one of the four robots will be disconnected. Take
this into account during the system design process.
10) The program's End command called by the CallP command does not close the port.
However, the main program's End command does close the port. The port also closes when
the program is reset.
11) If interrupt conditions are satisfied while this command is executing, interrupt processing is
performed immediately even if the processing of the command is in progress.
Errors
1) If the data types of arguments are different, the error "Syntax error in input command" will occur.
2)
If there is a discrepancy with the number of arguments (too many or too few), the error "Incorrect
argument count" will occur.
3)
Specifying a COM number outside the range of COM2 to COM8 for <COM No.> will result in the error
"Argument out of range".
4)
Specifying a value outside the range of 1 to 8 for <Vision sensor No.> will result in the error
"Argument out of range".
Appendix 2. Vision sensor commands and status variables 139
5)
If a COM port <COM No.> which is already connected is specified, the error "COM file already open"
will occur. (This also applies to files <File No.> already opened by the Open command.)
6)
If a COM port is opened before a vision sensor is connected, the error "Vision sensor not connected"
will occur. (The same manufacturer parameter "COMTIMER" as in the Ethernet specifications is used.
Currently set at "1s".)
7)
If the same COM number or vision sensor number is used for a different task, the error "COM file
already open" will occur.
8)
If the username and password specified by parameters "NVUSER" (username) and "NVPSWD"
(password) are different, the error "Incorrect password" will occur.
9)
If communication is disconnected while this command is being executed, the error "The
communication is abnormal" will occur and the robot controller's port will close.
10) If the program's start conditions are set to "ALWAYS", the error "The command cannot be used when
the start conditions are ERR or ALW." will occur.
Appendix 2. Vision sensor commands and status variables 140
NVClose (Disconnect network vision sensor)
Function
Disconnects from the specified vision sensor.
Syntax
Term
NVClose [[#]<Vision sensor No.> [,[[#]<Vision sensor No.>...]
<Vision sensor No.> (can be omitted)
Specify a constant from 1 to 8 (Vision sensor No.).
The vision sensor connected to the COM port specified with <COM No.> is expressed as a number.
When omitted, all connections (vision sensor connections) established by the NVOpen command are
closed. Up to eight vision sensor numbers can be specified and each one should be separated with a
comma.
Setting range: 1 to 8
Examples
1 If M_NvOpen(1)<>1 Then ' If vision sensor number 1 is not logged on
2 NVOpen "COM2:" As #1 ' connect to the vision sensor connected to COM2, and set the nu
mber to 1.
3 EndIf
4 Wait M_NvOpen(1)=1
' Connect to vision sensor No. 1 and wait until it has logge
d on.
10 ...
20 NVClose #1
' Disconnect from the vision sensor connected to COM2.
Comments
1) Disconnects from the vision sensor to which a connection was established with the NVOpen
command.
2)
If the <Vision sensor No.> is omitted, all connections are closed.
3)
If a connection has been already closed, the process proceeds to the next step.
4)
It is possible to connect to up to seven vision sensors simultaneously. Therefore, the <Vision sensor
No.> is used to identify which vision sensor is to be disconnected.
5)
If the program is aborted while executing this command, execution is continued until processing of
this command has completed.
6)
If this command is used for multi-tasking, execute the command "NVOpen" for the relevant task and
close only the connection that is open. Use the number specified with the NVOpen command for the
vision sensor number that is to be used.
7)
Not supported if the program's startup settings are set to "ALWAYS" or the continuity function (CTN)
is enabled.
8)
If the End command is used, all connections established by the NVOpen or Open command are
closed. However, connections are not closed with End command inside programs called with the
CallP command.
Furthermore, connections are also closed when resetting the program. Therefore, if the End
command is specified or the program is reset, there is no need to close connections using this
command.
9)
The continuity function is not supported.
10) If interrupt conditions are satisfied while this command is executing, interrupt processing is
performed after processing of this command has completed.
Errors
1) If the value specified for the <Vision sensor No.> is anything other than 1 to 8, the error "Argument
out of range" will occur.
2) If there are more than eight arguments in the command, the error "Argument out of range" will occur.
Appendix 2. Vision sensor commands and status variables 141
NVLoad (Load network vision sensor)
Function
Loads a specified vision program to a vision sensor.
Syntax
NVLoad #<Vision sensor No.>,<Vision program (job) name>
Term
<Vision sensor No.> (cannot be omitted)
Specify the number of the vision sensor to control. Setting range: 1 to 8
<Vision program (job) name> (can be omitted)
Specify the name of the vision program to be started.
The filename extension (.job) can be omitted.
Acceptable characters include: 0 to 9, A to Z (upper and lower case), hyphens ( - ), and
underscores ( _ ).
Examples
1 If M_NvOpen(1)<>1 Then ' If vision sensor number 1 is not logged on
2 NVOpen "COM2:" As #1 ' connect to the vision sensor connected to COM2, and set the numb
er to 1.
3 EndIf
4 Wait M_NvOpen(1)=1
5 NVLoad #1,"TEST" ' Load program "TEST".
6 NVRun #1,"TEST" ' Run program "TEST".
7 EBRead #1,,MNUM,PVS1,PVS2
' Read the tag data of ”Job.Robot.FormatString” and save
it in the variables MNUM, PVS1, and PVS2.
8 ...
30 NVClose #1
' Disconnect from the vision sensor connected to COM2.
Comments
1) Loads the specified program for the specified vision sensor.
2)
The program moves to the next step once NVLoad has loaded the vision sensor program to the
vision sensor.
3)
This command will suspend immediately if the program is aborted while it is being executed.
4)
If the specified vision program name is already loaded, processing of this command is ended.
5)
If this command is used for multi-tasking, it is necessary to use the NVOpen command for each task.
Use the vision sensor number specified with the NVOpen command.
6)
Not supported if the program's startup settings are set to "ALWAYS" or the continuity function (CTN)
is enabled.
7)
If interrupt conditions are satisfied while this command is executing, interruption processing will be
executed immediately.
Errors
1) If the data types of arguments are different, the error "Syntax error in input command" will occur.
2)
If there is a discrepancy with the number of arguments (too many or too few), the error "Incorrect
argument count" will occur.
3)
If the value specified for <Vision sensor No.> is anything other than 1 to 8, the error "Argument out
of range" will occur.
4)
If the NVOpen command is not executed with the number set in <Vision sensor No.>, the error
"Illegal vision sensor number" will occur.
5)
If <Vision program name> exceeds 15 characters, the error "Vision program name is abnormal" will
occur.
6)
If characters other than letters from A to Z, numbers from 0 to 9, a hyphen ( - ) or an underscore ( _ )
are used in <Vision program name>, the error "Vision program name is abnormal" will occur.
7)
If the program specified in <Vision program name> has not been loaded to the vision sensor, the
Appendix 2. Vision sensor commands and status variables 142
error "Specified vision program not loaded" will occur.
8)
If the vision sensor is offline, the error "Change status to Online" will occur. Change the vision
sensor's status to Online.
9)
If communication is disconnected while this command is being executed, the error
"The communication is abnormal" will occur and the robot controller's port will close.
Appendix 2. Vision sensor commands and status variables 143
NVRun (Run network vision sensor program)
Function
Runs the specified program
Syntax
NVRun #<Vision sensor No.>,<Vision program (job) name>
Term
<Vision sensor No.> (cannot be omitted)
Specify the number of the vision sensor you want to control. Setting range: 1 to 8
<Vision program (job) name> (can be omitted)
Specify the name of the vision program you want to start. The filename extension (.job) can be
omitted.
Acceptable characters include: 0 to 9, A to Z (upper and lower case), hyphens ( - ), and unders
cores ( _ ).
Examples
1 If M_NvOpen(1)<>1 Then ' If vision sensor number 1 is not logged on
2 NVOpen "COM2:" As #1 ' connect to the vision sensor connected to COM2, and set the numb
er to 1.
3 Endif
4 Wait M_NvOpen(1)=1
' Connect to vision sensor No. 1 and wait until it has logged on.
5 NVLoad #1,"TEST" ' Load program "TEST".
6 NVRun #1,"TEST" ' Run program "TEST".
7 EBRead #1,,MNUM,PVS1,PVS2
' Read the tag data of ”Job.Robot.FormatString” and save
it in the variables MNUM, PVS1, and PVS2.
8 ...
30 NVClose #1
' Disconnect from the vision sensor connected to COM2.
Comments
1) Runs the specified program for the specified vision sensor.
2)
The timing of when this command finishes processing differs depending on the setting of the
parameter NVTRGTMG. If the parameter NVTRGTMG is a factory setting, the next command is
executed after communication with the image processing command (image request) has finished.
3)
This command will suspend immediately if the program is aborted while it is being executed.
4)
If the specified vision program name is already loaded, only image capture and image processing
are executed. (The vision program is not loaded.)
5)
Use the EBRead command to get data from the vision sensor.
6)
If this command is used for multi-tasking, it is necessary to use the NVOpen command for each task.
Use the vision sensor number specified with the NVOpen command.
7)
Not supported if the program's startup settings are set to "ALWAYS" or the continuity function (CTN)
is enabled.
8)
Set the trigger of EasyBuilder's image capture settings to "External trigger", "Manual trigger" or
"Network" ("Camera" can be used when the setting value of NVTRGTMG is "0" or "2".)
9)
Up to three robots can control the same vision sensor at the same time, but this command cannot be
used by more than one robot at the same time. Use this command for only one of the robots.
10) If interrupt conditions are satisfied while this command is executing, interruption processing will be
executed immediately.
Appendix 2. Vision sensor commands and status variables 144
Errors
1) If the data types of arguments are different, the error "Syntax error in input command" will occur.
2)
If there is a discrepancy with the number of arguments (too many or too few), the error "Incorrect
argument count" will occur.
3)
If the value specified for <Vision sensor No.> is anything other than 1 to 8, the error "Argument out
of range" will occur.
4)
If the NVOpen command is not executed with the number set in <Vision sensor No.>, the error
"Illegal vision sensor number" will occur.
5)
If <Vision program name> exceeds 15 characters, the error "Vision program name is abnormal" will
occur.
6)
If characters other than letters from A to Z, numbers from 0 to 9, a hyphen ( - ) or an underscore ( _ )
are used in <Vision program name>, the error "Vision program name is abnormal" will occur.
7)
If the program specified in <Vision program name> has not been loaded to the vision sensor, the
error "Specified vision program not loaded" will occur.
8)
If the trigger of EasyBuilder's image capture setting is set to anything other than "External trigger",
"Manual trigger" or "Network", the error "Abnormal image capture specification" will occur.
The same error occurs if the image capture setting is set to "Camera" and NVTRGTMG is set to "1".
9)
If the vision sensor is offline, the error "Change status to Online" will occur. Change the vision
sensor's status to Online.
10) If communication is disconnected while this command is being executed, the error "The
communication is abnormal" will occur and the robot controller's port will close.
Appendix 2. Vision sensor commands and status variables 145
NVTrg (Network vision sensor trigger)
Function
Requests the specified vision program to capture an image
Syntax
NVTrg #<Vision sensor No.>,<Delay time>,<Encoder
2 value read-out variable>]
[, [<Encoder 3 value read-out variable>][, [<Encoder
[, [<Encoder 5 value read-out variable>][, [<Encoder
[, [<Encoder 7 value read-out variable>][, [<Encoder
1 value read-out variable>[, [<Encoder
4 value read-out variable>]
6 value read-out variable>]
8 value read-out variable>]
Term
<Vision sensor No.> (cannot be omitted)
Specify the number of the vision sensor you want to control. Setting range: 1 to 8
<Delay Time> (cannot be omitted)
Specify the delay time (ms) from when the image capture request is output to the vision sensor
until the encoder value is obtained.
Setting range: 0 to 150 ms
<Encoder n value read-out variable> (Can be omitted from the second one on)
Specify the double precision numeric variable into which the read external encoder n value is set
. Note: n is 1 to 8
Examples
1 If M_NvOpen(1)<>1 Then ' If vision sensor number 1 is not logged on
2 NVOpen "COM2:" As #1 ' connect to the vision sensor connected to COM2, and set the nu
mber to 1.
3 EndIf
4 Wait M_NvOpen(1)=1
' Connect to vision sensor No. 1 and wait until it has logged on.
5 NVLoad #1,"TEST"
' Load program "TEST".
6 NVTrg #1,15,M1#,M2#
' Request the vision sensor to capture an image and acquire enc
oders 1 and 2 after 15 ms.
7 EBRead #1,,MNUM,PVS1,PVS2
' Read the tag data of ”Job.Robot.FormatString” and save
it in the variables MNUM, PVS1, and PVS2.
8 ...
30 NVClose #1
' Disconnect from the vision sensor connected to COM2.
Comments
1) Outputs the image capture request to the specified vision sensor and acquires the encoder value
after the specified period of time. The acquired encoder value is stored in the specified numeric
variable.
2) The timing of when this command finishes processing differs depending on the setting of the
parameter NVTRGTMG. If the parameter NVTRGTMG is a factory setting, the next command is
executed after communication with the image processing command (image request) has finished.
3) This command will suspend immediately if the program is aborted while it is being executed.
4) Use the EBRead command to get data from the vision sensor.
5) If this command is used for multi-tasking, it is necessary to use the NVOpen command for each task.
Use the vision sensor number specified with the NVOpen command.
6) Not supported if the program's startup settings are set to "ALWAYS" or the continuity function (CTN)
is enabled.
7) Set the trigger of EasyBuilder's image capture settings to "External trigger", "Manual trigger" or
"Network" ("Camera" can be used when the setting value of NVTRGTMG is "0".)
8) Up to three robots can control the same vision sensor at the same time, but this command cannot be
used by more than one robot at the same time. Use this command for only one of the robots.
9) If interrupt conditions are satisfied while this command is executing, interruption processing will be
executed immediately.
Appendix 2. Vision sensor commands and status variables 146
Errors
1) If the data types of arguments are different, the error "Syntax error in input command" will occur.
2)
If there is a discrepancy with the number of arguments (too many or too few), the error "Incorrect
argument count" will occur.
3)
If the value specified for <Vision sensor No.> is anything other than 1 to 8, the error "Argument out
of range" will occur.
4)
If the NVOpen command is not executed with the number set in <Vision sensor No.>, the error
"Illegal vision sensor number" will occur.
5)
If the vision program's image capture setting is set to anything other than "Camera" (All trigger
commands) "External trigger", "Manual trigger" or "Network", the error "abnormal image capture
specification" will occur.
6)
If the trigger of EasyBuilder's image capture setting is set to anything other than "External trigger",
"Manual trigger" or "Network", the error "abnormal image capture specification" will occur.
The same error occurs if the image capture setting is set to "Camera" and NVTRGTMG is set to
"1" or "2".
7)
If the vision sensor is offline, the error "Change status to Online" will occur. Change the vision
sensor's status to Online.
8)
If communication is disconnected while this command is being executed, the error "The
communication is abnormal" will occur and the robot controller's port will close.
Appendix 2. Vision sensor commands and status variables 147
EBRead (EasyBuilder read)
Function
Specifies a vision sensor tag and reads the tag's data.
Stores the data read by the vision sensor in a specified variable.
Specify the tag name and read the data using this command if the vision program (job) has been created
with the vision tool "EasyBuilder" by Cognex Corporation.
Syntax
EBRead #<Vision sensor No.>, [<Tag name>] , <Variable name 1> [,<Variable name 2>]...
[,<Time out>]
Term
<Vision sensor No.> (Cannot be omitted)
Specify the number of the vision sensor you want to control. Setting range: 1 to 8
<Tag name> (Can be omitted)
Specify the name of the symbolic tag where data read by the vision sensor is to be stored.
When omitting the tag name, the value of parameter EBRDTAG (initial value is the custom format tag
name "Job.Robot.FormatString") is specified.
<Variable name> (Cannot be omitted):
Specify the variable read from the vision sensor to send to the robot. Multiple variables can be delimited
by a comma.
Numeric value variables, position variables, and string variables can be specified.
When the position variable is specified, the components that have vision data set in them are X, Y, and
C. The values of components that do not have any data set in them are set to "0".
<Time out> (If omitted, 10)
Specify the time-out time in seconds.
Setting range: 1 to 32767 (integers)
Examples
1 If M_NvOpen(1)<>1 Then ' If vision sensor number 1 is not logged on
2 NVOpen "COM2:" As #1 ' connect to the vision sensor connected to COM2, and set the numb
er to 1.
3 EndIf
4 Wait M_NvOpen(1)=1
' Connect to vision sensor No. 1 and wait until it has logged on.
5 NVLoad #1,"TEST" ' Load program "TEST".
6 NVRun #1,"TEST" ' Run program "TEST".
7 EBRead #1,,MNUM,PVS1,PVS2
' Read the tag data of ”Job.Robot.FormatString”
and save it in the variables MNUM, PVS1, and PVS2.
20 ...
21 NVClose #1
' Disconnect from the vision sensor connected to COM2.
Comments
1) Reads data by specifying a tag name from an active vision program of a specified vision sensor.
2)
Stores the data read by the vision sensor in a specified variable.
3)
In cases where vision data consists of multiple values delimited by commas, the data is stored in the
order that the specified variable names were enumerated and delimited in. In such cases, the data
and variables should be of the same type.
4)
When the position variable is specified, the components that have vision data set in them are X, Y,
and C. The values of components that do not have any data set in them are set to "0". The value
converted into the radian is set to the C component.
5)
Values are only set in specified variables when the number of specified variables is less than the
amount of data received.
6)
Variables exceeding the amount of data are not updated when the number of specified variables
exceed the amount of data received.
7)
If the tag name is omitted, the setting value of parameter EBRDTAG is set instead. (The factory
setting is "Job.Robot.FormatString".)
Appendix 2. Vision sensor commands and status variables 148
8)
The time-out period can be specified with numeric values. Within the time-out period, the program will
not move to the next step until it has received data from the vision sensor. However, this command
will be suspended if the program is aborted. The program will resume once it has been restarted.
9)
When this command is used with multi-tasking, it is necessary to execute the NVOpen command and
NVRun command depending on the task. Use the number specified with the NVOpen command for
the vision sensor number that is to be used.
10) Not supported if the program's startup settings are set to "ALWAYS" or the continuity function (CTN)
is enabled.
11) If interruption conditions have been satisfied during this command, interruption processing will be
executed immediately. Processing will be executed after interruption processing has complete.
12) In order to reduce tact time, other work can be done after executing the NVRun command and
EBRead can be executed when required.
13) Set "1" in parameter NVTRGTMG if the EBRead command is on the line immediately after the NVRun
command in the program.
If parameter NVTRGTMG is set to the factory setting (NVTRGTMG = "2"), the NVRun command
starts processing the next command without waiting for completion of vision identification processing.
Therefore, the results of previous identification data may be read if the EBRead command is still
being executed.
14) Note that if the program stops between NVRun and EBRead, the results when NVRun is executed
and the results when EBRead is executed may be different.
＜Values set in variables＞
Values substituted by variables when the EBRead command is executed are as follows.
(1) Content of specified tag (Pattern_1.Number_Found) is 10
● The value when "EBRead #1,"Pattern_1.Number_Found",MNUM" is executed is:
→MNUM=10
● The value when "EBRead #1,"Pattern_1.Number_Found",CNUM" is executed is:
→CMNUM="10"
(2) Content of specified tag (Job.Robot.FormatString) is: 2, 125.75, 130.5, -117.2, 55.1, 0, 16.2
● The value when "EBRead #1,,MNUM,PVS1,PVS2" is executed is:
→MNUM=2
PVS1.X=125.75 PVS1.Y=130.5 PVS1.C=-117.2
PVS2.X=55.1
PVS2.Y=0,
PVS2.C=16.2
* The value of the component not set by vision data (excluding X, Y, and C components) is "0".
● The value when "EBRead #1,,MNUM,MX1,MY1,MC1,MX2,MY2,MC2" is executed is:
→MNUM=2
MX1=125.75
MX2=55.1
MY1=130.5
MY2=0
MC1=-117.2
MC2=16.2
● The value when "EBRead #1,,CNUM,CX1,CY1,CC1,CX2,CY2,CC2" is executed is:
→CNUM="2"
CX1="125.75"
CX2="55.1"
CY1="130.5"
CY2="0"
CC1="-117.2"
CC2="16.2"
(3) Content of specified tag (Job.Robot.FormatString) is: 2, 125.75, 130.5
● The value when "EBRead #1,,MNUM,PVS1,PVS2" is executed is:
→MNUM=2
PVS1.X=125.75
PVS1.Y=130.5 PVS1.C=-117.2
PVS2.X=55.1
PVS2.Y=0,
PVS2.C=16.2
* The value of the component not set by vision data (excluding X, Y, and C components) is
"0".
Appendix 2. Vision sensor commands and status variables 149
Errors
1) If the data types of arguments are different, the error "Syntax error in input command" will occur.
2)
If there is a discrepancy with the number of arguments (too many or too few), the error "Incorrect
argument count" will occur.
3)
If the value specified for <Vision sensor No.> is anything other than 1 to 8, the error "Argument out of
range" will occur.
4)
If the NVOpen command is not executed with the number set in <Vision sensor No.>, the error "The
NVOPEN command not is not executed" will occur.
5)
If the string data format received from the vision sensor and format of the variable which substituted it
are different, the error "Illegal Receive data (EBREAD)" will occur.
6)
If the value specified for <Time out> is anything other than 1 to 32767, the error "Argument out of
range" will occur.
7)
If the vision sensor does not respond within the specified time, or within the first 10 seconds if the
<Time out> parameter has been omitted, the error "Vision sensor response timeout" will occur.
8)
If communication is disconnected while this command is being executed, the error "The
communication is abnormal" will occur and the robot controller's port will close.
9)
If the specified tag name does not exist in the active vision program, the error "Vision tag name is
abnormal" will occur.
10) Specify no more than 31 variables. (No. of identifications + coordinate values XYZ × 10) If 32
variables or more are specified, the error "Syntax error in input command" will occur.
11) If <Vision program name> exceeds 15 characters, the error "Vision program name is abnormal" will
occur.
12) If characters other than letters from A to Z, numbers from 0 to 9, a hyphen ( - ) or an underscore ( _ )
are used in <Vision program name>, the error "Vision program name is abnormal" will occur.
13) If the program specified in <Vision program name> has not been loaded to the vision sensor, the error
"Vision program does not exist" will occur.
14) If the program specified in <Vision program name> has not been started by the NVRun command, the
error "Vision program name is abnormal" will occur.
15) If <Identification count cell>, <Start cell>, or <End cell> contains a number other than 0 to 399, or a
letter other than A-Z, the error "Argument out of range" will occur.
16) If there is no value in the cell specified in <Identification count cell>, the error "Invalid value in
identification count cell" will occur.
17) If <Start cell> and <End cell> are reversed, the error "Argument out of range" will occur.
18) If the amount of data included in the cell specified by <Start cell> and <End cell> exceeds 90 lines,
the error "Specified cell value out of range" will occur.
19) If the range specified by <Start cell> and <End cell> exceeds line 30 and element 10, the error
"Specified cell value out of range" will occur.
20) If the value of <Type> is not a number from 0 to 7, the error "Argument out of range" will occur.
Appendix 2. Vision sensor commands and status variables 150
EBWrite (EasyBuilder write)
Function
Specifies the tag name of the vision sensor to write data.
When the vision program (job) is made with the vision tool EasyBuilder made by Cognex Corpor
ation, you can write data to the cell specified with the tag name by using this command.
Syntax
EBWrite□#<Vision sensor No.>, [<Tag name>], <Writing data> [, <Time out>]
Term
<Vision sensor No.> (Cannot be omitted)
Specify the number of the vision sensor you want to control with a numeric constant. Setting range: 1 to
8
<Tag name> (Can be omitted)
Specify the name of the symbolic tag for the cell to which data is written.
If the name is not specified, the value of parameter EBWRTAG is set.
<Writing data> (Cannot be omitted)
Specify the data to be written to the vision sensor.
Numeric constants, numeric variables, string constants, string variables, position component data,
joint component data, numerical expressions, and character string expressions can be used.
<Time out> (Can be omitted)
Specify the time-out time (in seconds) with a numeric constant. If the time is not specified, a
timeout of 10 seconds is set.
Setting range: 1 to 32767 (integers)
Examples
1 If M_NvOpen(1)<>1 Then ' If vision sensor No. 1 is not logged on
2 NVOpen "COM2:" As #1 ' connect to the vision sensor connected to COM2, and set the numb
er to 1.
3 Wait M_NvOpen(1) = 1 ' Wait until vision sensor No. 1 has logged on.
4 End If
5 NVOpen #1, "TEST" ' Load program (job) "TEST".
6 EBWrite #1, "Sample.Float", 5 ' Rewrite "Sample.Float" tag data as 5.
7 EBWrite #1, "Sample.String", "Test" ' Rewrite "Sample.String" tag data as "Test".
8 NVRun #1, "TEST" ' Run program (job) "TEST".
:
:
20 End
Comments
1) Writes data to the cell specified with the tag name in the active vision program (job) of the specified
vision sensor.
2) The error (L.3141) occurs if no NVOpen command is executed for the vision sensor specified with
<Vision sensor No.>.
3) If <Tag name> is not specified, the value of parameter EBWRTAG is set. (The factory setting is
""(NULL).)
4) The error (L.8637) occurs if the active vision program does not have the specified <Tag name>.
Appendix 2. Vision sensor commands and status variables 151
5)
The type of the data written to the cell of the vision sensor varies depending on the type of <Writing
data>.
(When a double-precision real number is specified, the single-precision real number converted from
the double-precision real number is used.)
<Writing data>
6)
Type of data written to cells
Numeric value type (integer)
Integer (Int)
Numeric value type (real number)
Single-precision real number (Float)
Character string type
Character string (String)
Processes are performed according to the combinations of the types of <Writing data> and the cell
value types of the vision program specified with <Tag name> as shown below.
<Writing data>
Numeric value type
(integer)
Numeric value type
(real number)
Character string
type
Cell value type
Boolean value editing
Integer editing control
Floating-point number
control
Text editing control
Boolean value editing
Integer editing control
Floating-point number
control
Text editing control
control
editing
control
editing
Boolean value editing control
Integer editing control
Floating-point number editing
control
Text editing control
Process
Cell value update (integer)
Cell value update (integer)
Cell value update (single-precision real
number)
Execution error (L.8637)
Cell value update (integer, rounding
down decimals)
Cell value update (integer, rounding
down decimals)
Cell value update (single-precision real
number)
Execution error (L.8637)
Execution error (L.8637)
Execution error (L.8637)
Execution error (L.8637)
Cell value update (character string)
7)
You can specify the time-out time with a numeric constant. During the time-out time, the next step is
not performed until data containing writing results is received from the vision sensor.
8)
When the execution of a robot program is stopped, the processing of this command is interrupted.
The interrupted processing restarts by executing the program again.
9)
When this command is used with multi-tasking, it is necessary to execute the NVOpen command in
the task slot you use. Use the number specified with NVOpen command for <Vision sensor number>.
10) This command cannot be used if ALWAYS is specified in the start conditions of the task slot.
11) If interruption conditions have been satisfied during this command, interruption processing will be
executed immediately.
Appendix 2. Vision sensor commands and status variables 152
Appendix 2.2 Vision sensor status variables
The following is information on the status variable of the 2D vision sensor.
Please be aware that the data of the status variable is not backed up by RT ToolBox3's backup
function.
Variable name
M_NvOpen
Array elements
8
Function
Port connection status
(*) "R" indicates that a status variable is read-only.
Appendix 2. Vision sensor commands and status variables 153
Attribute(*)
R
Data type
Integer
M_NvOpen
Function
Indicates the connection status of the port for the vision sensor
Array meaning
Array elements 1 to 8: Vision sensor numbers
Explanation of values returned
0: Connecting to port (logon not complete)
1: Logon complete
-1: Not connected
Usage
After the NVOpen command is executed, M_NvOpen connects the vision sensor to the port
and checks if the vision sensor has been logged on to.
Examples
1 If M_NvOpen(1)<>1 Then ' If vision sensor number 1 is not logged on
2 NVOpen "COM2:" As #1 ' connect to the vision sensor connected to COM2, and set the
number to 1.
3 EndIf
4 Wait M_NvOpen(1)=1 ' Connect to vision sensor No. 1 and wait until it has logged on.
5 …
10 NVClose #1
' Disconnect from the vision sensor connected to COM2.
Comments
1) Indicates the connection status of the port connected to the vision sensor when it was opened with the
NVOpen command.
2) The initial value is "-1". At the point in time when the NVOpen command is executed and the port is
connected, the value changes to "0" (connecting to port). At the point in time when the vision sensor
has successfully been logged on to, the value changes to "1" (logon complete).
3) This variable strongly resembles the status of status variable M_Open, but whereas M_Open
changes to "1" when the connection is verified, M_NVOpen becomes "1" when the vision sensor is
successfully logged on to.
Errors
1)
2)
3)
If the type of data specified as an array element is incorrect, the error "Syntax error in input command"
will occur.
If there is a discrepancy with the number of array elements (too many or too few), the error "Incorrect
array element" will occur.
If an array other than 1 to 8 is specified, the error "Array element mistake" will occur.
Appendix 2. Vision sensor commands and status variables 154
Appendix 3. 2D vision sensor parameters
Parameter settings for use with vision sensors are listed below.
Parameter
Parameter
name
No. of
arrays
Details
Factory
setting
Username
NVUSER
Character Set a username to log on to the vision sensor. (15
characters or less)
string 1
"admin"
Password
NVPSWD
Character Set a password to log on to the vision sensor. (15
characters or less)
string 1
""
Trigger timing
NVTRGTMG Integer 1
Defines how the NVRun and NVTrg commands are 2
processed. The processing details of each set value
are as follows.
Value
NVRun
NVTrg
0
Trigger
Trigger
1
Trigger + Image
processing
Trigger + Image
processing
2
Trigger
Trigger + Image
processing
● Trigger: The next command is executed upon
completion of communication between the vision
sensor and image processing instruction
(demand to take picture).
Set this setting to reduce tact time if the robot
performs other tasks while the vision sensor is
processing image data.
● Trigger + Image processing: A request to process
the image data is sent to the vision sensor.
Once image processing is complete, the next
command is executed.
Set this setting for the robot to request the vision
sensor to process the image and for the robot to
acquire the result of that processing in the next step
(i.e. by executing the EBRead command).
Initial value of EBRDTAG
tag name
specified by the
EBRead
command
"Job.Robot.
Character Set the initial value of the symbolic tag name
string 1
specified by EBRead command. (128 characters or FormatString"
less)
If the tag name in EBRead command is omitted, the
value of this parameter is specified.
Appendix 3. 2D vision sensor parameters 155
Notes
Appendix 3. 2D vision sensor parameters 156
Appendix 4. Troubleshooting
This chapter lists errors that may occur when using network vision sensors. It also explains the causes and
solutions to these errors.
(Errors not described in this chapter may occur depending on the conditions and timing of error detection.)
For errors not described in the list, refer to the following manuals.
CR800 Series Controller INSTRUCTION MANUAL Troubleshooting (BFP-A3480)
CR750/CR751/CR760 Series Controller INSTRUCTION MANUAL Troubleshooting (BFP-A8871)
Appendix 4.1 Error numbers
When an error occurs, the ERROR LED on the front panel of the robot controller will turn on or flash.
ERROR LED status
Description
ON
Low level error or caution
Flashing
High level error
OFF
Operating normally
A 4 digit error number also appears on the teaching pendant's LCD screen. (The letter at the beginning of
the error number is not displayed.) For example, when the error C0010 occurs, "0010"and an error message
are displayed.
An alarm will also sound in 0.5 second intervals. When power is restored or when the time between power
OFF and ON is too short, an alarm will sound in 0.1 second intervals (constantly).
Error codes, messages, causes and solutions can be found in Section 4.2.2 "2D vision sensor error code
list".
Detailed information on the error number is displayed in the Error history screen of the teaching box. Check
the Error history screen after any errors have been reset.
Error codes are explained in the following figure.
0000 *
 Error codes with asterisks attached to them require the power to be reset.
Refer to the error code list for information on how to solve the error.
 A 4 digit number indicates the type of error.
 There are three error levels.
H: High-level error……….Servos turn OFF
L: Low level error………..Operation stops
C: Caution…………………Operation continues
"n" after the error code indicates the axis number.
Example: H0931J1 Axis motor overcurrent
Appendix 4. Troubleshooting 157
Appendix 4.2 2D vision sensor error code list
The meanings of letters at the beginning of error codes are as follows: H: High level error, L: Low level
error, C: Caution.
"n" at the end of last digit of the error number in this list indicates the axis number (1 to 8).
Error code
L3110
L3120
L3130
L3141
L3142
L3287
L3501
Causes and solutions
Error
message
Argument out of range
Cause
One of the argument values specified in a command is out of range.
Solution
Check argument range and re-enter the values if necessary.
Error
message
Incorrect argument count
Cause
The number of arguments in the executed command is incorrect.
Solution
Check the number of arguments and re-enter them if necessary.
Error
message
Attempt was made to open an already open communication file.
Cause
The communication port is already open.
Solution
Check the COM number and vision sensor number. Re-enter them if
necessary. Or check communication parameters.
Error
message
The NVOpen command is not executed.
Cause
The NVOpen command was not executed before execution of a
command communicating with the vision sensor.
Solution
Revise the robot program to execute the NVOpen command.
Error
message
The communication line cannot be opened.
Cause
The port for communication with the vision sensor cannot be opened.
Solution
Check the communication cable or communication parameters.
Error
message
This command cannot be used if the start condition is ERR or ALW.
Cause
This command cannot be used if the start condition is ERR or ALW.
Solution
Revise the program
Error
message
Illegal Receive data(EBRead)
Cause
The type of data received by EBRead command is different from the
type of variable specified.
Solution
Revise the program.
Appendix 4. Troubleshooting 158
Error code
L3810
L4220
L4370
L7810
L8600
L8601
L8602
L8603
Causes and solutions
Error
message
Incorrect argument type
Cause
Either the arithmetic operator, monadic operator, or comparison operator
is incorrect, or the arguments of each function are incorrect.
Solution
Check the data of the specified vision sensor tag.
Error
message
Syntax error in input command
Cause
There is an error in the syntax of the input command.
Solution
Check the program and correct the syntax if required.
Error
message
Array element mistake
Cause
1. The array element is outside of the defined range.
2. A variable that cannot be arrayed was specified.
Solution
1. Edit the array elements so that they are within the array element
limit.
2. Do not specify that variable.
Error
message
Vision sensor not connected
Cause
There is no vision sensor connected to the specified COM number.
Solution
Check parameters such as NETHSTIP, NETPORT, and NETMODE.
Error
message
Controller data corrupted
Cause
The internal data of the controller has been corrupted.
Solution
Check the vision sensor program number and settings of parameters
such as COMDEV.
Error
message
Logon not possible
Cause
The communication port was opened, but there is no response from the
vision sensor.
Solution
Reset the program and start it again.
Error
message
Wrong password
Cause
The password for the user set in the parameter "NVUSER"
is not set in the parameter "NVPSWD".
Solution
Set the correct password
Error
message
Parameter abnormality
Cause
There is a problem with the username parameter or the password
parameter.
Solution
Check the parameters "NVUSER" and "NVPSWD".
Appendix 4. Troubleshooting 159
Error code
L8610
L8620
L8621
L8622
L8632
L8633
L8636
Causes and solutions
Error
message
Abnormal communications
Cause
Communication with the vision sensor was cut off before or during
command execution.
Solution
Check the communication cable connecting the robot and vision sensor.
Error
message
Abnormal vision sensor number specification
Cause
The specified vision sensor number is not defined with an NVOpen
command.
Solution
Check whether the vision sensor number is correct. Check that the
number is also defined by an NVOpen command.
Error
message
Abnormal vision program name
Cause
The vision program name exceeds 15 characters.
Solution
Specify a vision program name that does not exceed 15 characters.
Error
message
Vision program not present
Cause
The vision sensor cannot find the program.
Solution
Check whether the program has been loaded to the vision sensor.
Check whether the program name is correct.
Error
message
Vision sensor response timeout
Cause
There was no response from the vision sensor within the specified time
limit.
Solution
Check whether the specified time is correct.
Or check that the vision sensor settings are correct.
Error
message
NVTRG response timeout
Cause
No response to image capture request.
Solution
Check the communication cable.
Error
message
Vision tag name is abnormal
Cause
The symbolic tag name does not exist in the active vision program.
Solution
Check that the symbolic tag name of Easy Builder is the same as the
tag name specified by the robot program.
If it is not the same, correct it.
Appendix 4. Troubleshooting 160
Error code
L8640
L8650
L8660
L8670
Causes and solutions
Error
message
Abnormal image capture specification
Cause
The image capture settings are set to something other than "Camera",
"External", or "Manual".
Solution
Change the image capture settings to "Camera", "External", or "Manual".
Error
message
Put online
Cause
The vision sensor is offline.
Solution
Turn the vision sensor online and enable external control.
Error
message
Not permitted to control vision sensor
Cause
The NVUSER and NVPSWD parameters set for logging on to the
vision sensor
do not have full access rights to logon to the vision sensor.
Solution
Check the list of registered users for the vision sensor and specify
which users are allowed full access in parameters NVUSER and
NVPSWD.
Error
message
Restart not possible after stop
Cause
The program was started without being reset after it stopped.
Solution
Reset the robot program then start it.
Appendix 4. Troubleshooting 161
Mitsubishi Electric Industrial Robot
This textbook was published in May 2019. Note that the specifications are subject to change without notice. Issued: May 2019
(1905)MEE

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