Denso RC5 Specifications

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Denso RC5 Specifications | Manualzz

Chapter6

µµµµ

Vision Board

6.1

µµµµ

Vision Board Specifications

If the robot controller has a built-in

µ

Vision board, it can handle a variety of image processor functions.

Similar to other commands, image processing commands are already incorporated and no special operations or programming are required.

µµµµ

Vision Board Specifications

Item Specifications

CPU

Image storage memory for processed images

(Horizontal x Vertical)

Overlay memory for drawn images

(Horizontal x Vertical)

Search model registration memory

Image input, number of channels

Image output

32-bit CPU

512

624

×

×

480 pixels, 8 bits

480 pixels, 2 bits

1 MB (H255

×

V255

×

×

×

4 screens

2 screens

8 models), Up to 100 models registrable

EIA/CCIR monochrome, 256 gradations, 2 channels

Note (1)

Image processing

Processing range specification (window)

Self-diagnosis function

Error display

Power source

Environmental conditions

(during operation)

EIA/CCIR monochrome, 256 gradations, 1 channel

Binary feature extract

(area, center of gravity, main axis angle, luminance integration), histogram, edge detection, image-to-image operation, filtering, labeling, light/dark image search, code recognition (QR code)

Up to 512 windows registrable

(shape: straight line, rectangle, circle, ellipse, sector)

Memory check, incorrect input, incorrect processing range, improper camera connection, etc.

Errors will be displayed on the teach pendant (option).

5 VDC, 12 V (supplied from controller ISA)

Temperature: 0 to 40

°

C

Humidity: 90 %RH or less

(Dew condensation shall not be allowed.)

Note (2)

Outside dimensions

(H x W x D)

21.4

×

114

×

185 mm (excluding projections of connectors)

Note (1) The number of registrable models will differ depending upon the model image and/or size.

(2) Since power is supplied from the inside of the robot controller, no external power source is required.

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Operating condition setting switch (all off)

Program adjustment connector (Not used.)

ISA mapping switch (fixed)

Camera trigger short pins (Not used.)

Camera 1 input connector

Camera 2 input connector

Monitor output connector

Serial port (Not used.)

I/O port (Not used.)

Extension connectors (Not used.) Interrupt short pin (Not used.)

µµµµ

Vision Board

Note (1) Switches and the short pins on the

µ

Vision board have been set at the factory. Do not change the settings. A failure may result.

Note (2) Do not connect anything to the unused connectors on the board. A failure may result.

Note (3) The serial port and the I/O port on the board are unusable. Do not connect anything to them.

A failure may result.

29

6.1.1 Location of the

µµµµ

Vision Board and Names of Connectors

Insert a

µ

Vision board into extension slot 3 shown in the figure below.

Inserting the board in a wrong slot may damage the internal circuits of the robot controller. For the installation procedure, refer to Chapter 11, "Mounting Extension

Boards."

Extension slot 1

Extension slot 2

Extension slot 3

(

µ

Vision board)

I/O port

(TTL I/O not used)

Serial port

(RS-232C not used)

Monitor output connector

Camera input connector 1

Camera input connector 2

Location of

µµµµ

Vision Board and Names of Connectors

Camera input connector 1

Camera input connector 2

Used for connection with camera 1 (12-pin, round connector)

Used for connection with camera 2 (12-pin, round connector)

Monitor output connector Used for connection with the monitor (BNC).

Serial port

I/O port

RS-232C port (Not used.)

TTL level input/output: 1 point each (Not used.)

Pin No.

1

2

3

4

8

9

10

5

6

7

11

12

Camera Input Connector Pin Layout

(Manufacturer: Hirose Electric HR10A-10R-12S or equivalent)

Signal name

GND

+12V

GND

VIDEO

HDGND

HD

VD

NC

NC

NC

TRIG

VDGND

Remarks

Camera power GND

Camera power 12V

Camera power GND

Video signal

HD synchronous signal GND

Horizontal synchronous signal

Vertical synchronous signal

Not connected

Not connected

Not connected

Trigger signal (not used)

VD synchronous signal GND

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6.1.2 Block Diagram and Internal Configuration of

µµµµ

Vision Board

Camera 1

Camera 2

Selector

A/D LT

Animation

(camera image)

Selector

LT Overlay circuit

(superpose)

D/A

Image storage memory

(4 processed screens)

Static image

(image memory)

Drawn image

Monitor

Image processing circuit

CPU

Dedicated drawn image memory (2 screens)

Block Diagram of

µµµµ

Vision Board

The above figure illustrates the processing flow of the

µ

Vision board as a reference.

The actual circuit configuration is different from this diagram.

Camera selector

A/D

Monitor selector

LT

Overlay circuit

D/A

Image storage memory

Dedicated drawn image memory

Image processing circuit

CPU

Switches between camera 1 and 2.

Converts analog signals into digital signals (8-bit).

Selects whether to display the camera live image or static image on the monitor.

Converts 8-bit data values using the appropriate table.

Overlays a drawn image, which is stored in the dedicated drawn image memory, on the camera live image or static image (see the figure given on the next page).

Converts digital data into analog signals.

Stores camera live images. When outputted onto the monitor screen, those images will be handled as static images. Up to four screens can be stored on this board.

Stores drawn images of characters and figures. Those images can be displayed on the monitor screen via the overlay circuit. Up to two screens can be stored on this board.

Processes images.

Manages the entire system.

31

Camera and processed screen image (256 gradations)

X = 280

Y = 245

Overlaying

(superpose)

Camera and processed screen image (256 gradations)

Overlay Concept

X = 280

Y = 245

32

6.2 Peripheral Devices

6.2.1 General Information about the Camera

C mount

Camera cable (option)

4-M3 depth 3.5 (tightening torque: 0.69 N

⋅ m)

Connect to the camera input connector on the

µ

Vision board

CS-8320B camera (back)

4-M2 depth 3 (tightening torque: 0.39 N

⋅ m)

Camera Dimensions and its Parts Names

Item

Manufacturer

Manufacturer’s model

Image pickup interline transfer system

Lens mount

Image output NTSC signal

Power source/Ambient temperature

Weight

Vibration-proof

Camera Specifications

Specifications

Tokyo Electronic Industry Co., Ltd.

CS8320B

CCD pixels: 768 (H)

×

493 (V)

C mount

1.0 Vp-p/75

Supplied from power adapter, 0 to +40

°

C

120 g

98 m/s, 10G

(10 to 50 Hz, 30 minutes in each of X, Y and Z directions)

Cable length

3 m

5 m

15 m

Cables (Option)

Camera cable model

CPC3440-03

CPC3440-05

CPC3440-15

33

Caution (1) When mounting the camera to the equipment, tighten the screws securely to the specified torque. See the figure given on the previous page.

(2) Do not apply a strong impact or vibration to the camera. A failure may result.

(3) When opening the camera top cover and changing the settings, be sure to turn the controller power off or disconnect the camera cable.

(4) For setting up cameras, refer to the instruction manual that comes with the camera.

34

6.2.2 General Information about the Monitor

Input impedance

Image signal output

Image signal input

Adjuster cover

Power switch

Pilot lamp BNC cable

To µ vision board monitor output connector

Monitor Dimensions and its Parts Names

Item

Manufacturer

Manufacturer’s model

Cathode-ray tube

Image input NTSC signal

Power supply

Power consumption

Ambient temperature

Humidity

Monitor Specifications

Specifications

Chuo Musen Co., Ltd.

TMP-233-03

9-inch, monochrome

0.7 Vp-p (straight polarity)

100 VAC, 50/60 Hz

Approx. 30 W

0 to 40

°

C

90% or less (without dew condensation)

Cable length

1 m

3 m

5 m

Cables (Option)

BNC coaxial cable type

3CV-PP (1)

3CV-PP (3)

3CV-PP (5)

Caution (1) NEVER disassemble the monitor.

(2) Be sure to set a ferrite core clamp (ZCAT1518) that comes with the BNC cable, to the monitor output connector side on the

µµµµ

Vision board.

35

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