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Omron AnyFeeder Series, Integration Manual

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Omron AnyFeeder Series Integration Manual Download Page 46

Chapter 6: Fine-Tuning

Figure 6-9. ACE Sight Index ID Used in Sample Code

The parameters shown below are V+ vision keywords that will be useful if you want to cus-
tomize the system:

l

VRUN: Initiates execution of a vision sequence

l

VLOCATION: Returns the Cartesian transform result of sequence

l

VPARAMETER: Sets the current value of a vision parameter

l

VRESULT: Returns specified result of a vision sequence

l

VSTATE: Returns the state of execution of a vision sequence

l

VWAITI: Waits for a vision sequence to reach a specific state

For a detailed explanation and examples of these keywords, go to:

Help > ACE Guides > ACE Reference Guide > ACE Sight V+ and  Keywords.

AnyFeeder Integration Guide - Page 46

Summary of Contents for AnyFeeder Series

Page 1: ...AnyFeeder Integration Guide AnyFeeder SXM100 140 AnyFeeder SX240 340 R262I E 01...

Page 2: ...hnologies Inc This manual is periodically reviewed and revised Omron Adept Technologies Inc assumes no responsibility for any errors or omissions in this document Critical evaluation of this manual by...

Page 3: ...asic Components 12 3 3 Power Required 12 3 4 Data and Air Required 13 3 5 Camera AnyFeeder Setup 13 3 6 AnyFeederInterface Panel LEDs 15 Chapter 4 System Installation 17 4 1 System Cables without Smar...

Page 4: ...29 Initial Configuration 29 5 3 Pick and Place Sequence Wizard 30 Safe and Picture taking Positions 31 Create Feeder 31 Teach Pick for Arm or Fixed Mount Camera 32 Teach Place Position 36 Chapter 6 F...

Page 5: ...ed the robot and AnyFeeder mod els that you are going to use as well as the accessories that will be used with those devices such as the type of backlight if any for the AnyFeeder It is also assumed t...

Page 6: ...different AnyFeeder models supported l AnyFeeder SXM100 l AnyFeeder SXM140 l AnyFeeder SX240 l AnyFeeder SX340 In most respects the feeders are similar enough that they will be covered together In are...

Page 7: ...ect Use of manuals for each device which is used in the system Table 1 1 Related Manuals Manual Title Description AnyFeeder User s Guide Instructions for installation and con figuration of an AnyFeede...

Page 8: ...Chapter 1 Introduction Support If after reading this manual you are having problems with your AnyFeeder contact your local Omron Support AnyFeeder Integration Guide Page 8...

Page 9: ...will result in death or serious injury WARNING This indicates a potentially hazardous electrical situation which if not avoided could result in injury or major damage to the equipment WARNING This ind...

Page 10: ...d tagged out before any main tenance is performed l Understand the specifications of the equipment that is used in the system Allow some margin for ratings and performance l Provide safety measures su...

Page 11: ...e overview of typical components Air line 9 Belt or Target Front Panel Robot Interface Panel T20 Pendant option RS232 All to SmartController EX if available or to Robot Interface Panel otherwise Smart...

Page 12: ...hen using a Quattro with an AnyFeeder l AnyFeeder The supported models are SXM100 SXM140 SX240 and SX340 l Camera If you are using an IR backlight we recommend you also use an IR lens filter For Basle...

Page 13: ...k window without touching the sides of the AnyFeeder and without any joints exceeding their limits AnyFeeder SXM100 Chipsize inches FOV mm Resolution mm Pixel Distance FOV Lens mm Lens mm Lens P N IR...

Page 14: ...1 760 25 Custom Custom 4 mm 1 330x330 0 161 1055 35 Custom Custom 4 mm 1 330x330 0 161 1510 50 Custom Custom 4 mm AnyFeeder SX340 Chipsize inches FOV mm Resolution mm Pixel Distance FOV Lens mm Lens m...

Page 15: ...r 3 Component Setup 3 6 AnyFeederInterface Panel LEDs Electrical Connectors Status LEDs for Digital I O Status LED for High Power Figure 3 2 Interface Panel on AnyFeeder AnyFeeder Integration Guide Pa...

Page 16: ......

Page 17: ...Interface Panel XUSR for User E Stop Safety Gate Muted Safety Gate The Jumper Plug is required if neither of these is used T20 Bypass Plug T20 Pendant option Either T20 Pendant T20 Bypass Plug or XMCP...

Page 18: ...20 Bypass Plug 10048 000 10055 000 standard T20 J T20 Adapter Cable 10051 003 10055 000 standard T20 K T20 Pendant option 10055 000 option L AC Power Cable 04118 000 90565 010 or user supplied M 24 VD...

Page 19: ...cable to eAIB XSYSTEM cable XMCP connector or J K 4a if no T20 install XMCP jumper or T20 Adapter Cable with T20 bypass plug G or H 5 Connect user supplied ground to robot See robot user s guide for...

Page 20: ...rt Description Notes XIO Breakout Cable 12 inputs 8 outputs 5 M Available as option eAIB XBELT IO Adapter Cable Available as option The optional eAIB XBELT IO Adapter cable splits the eAIB XBELTIO por...

Page 21: ...option Either T20 Pendant T20 Bypass Plug or XMCP Jumper Plug must be used Ethernet to SmartController FP Jumper Plug Either Front Panel or FP plug must be used Ethernet to SmartVision MX User supplie...

Page 22: ...standard E Front Panel Cable 10356 10500 90356 10358 standard F Front Panel Jumper Plug 10053 000 13323 000 SmartController EX G XMCP Jumper Plug 04737 000 13323 000 SmartController EX H T20 Bypass Pl...

Page 23: ...ctor or B 2a verify XUSR jumper plug is installed in XUSR connector C 3 Connect Front Panel cable to Front Panel and XFP connector or D E 3a if no Front Panel install FP jumper on XFP connector F 4 Co...

Page 24: ...ption with SmartController EX eAIB XBELT IO Adapter Cable Available as option The XIO Breakout cable is for using the I O on the eAIB The Y cable attaches at the SmartController EX XSYS connector and...

Page 25: ...DC out 8 Pick in 9 Flash in 14 Error Drive 1 15 Error Drive 2 Installing Cables and Power The AnyFeeder requires the following cable connections l the servo motor cable supplied l the RS 232 serial co...

Page 26: ...the RS 232 J2 port on the AnyFeeder see following fig ure Figure 4 5 J2 RS232 Port Connect the female end of the cable to the serial port on the SmartVision MX Make sure that the cable on the AnyFeede...

Page 27: ...C 10 A regulated power supply 3 Attach the connector end of the cable to the Motor Power 24 VDC In J1 connector on the front of the AnyFeeder see following figure Figure 4 7 J1 24 VDC In Connector NOT...

Page 28: ...0 do not take a pneumatic line 1 Locate the pneumatic connector below the side handle on the AnyFeeder Figure 4 8 Pneumatic Connector Location on AnyFeeder SX240 2 Prepare an 8 mm OD air line 3 Attach...

Page 29: ...lications and well as con trol shutting down the SmartVision MX industrial PC The AnyFeeder can be controlled by V programs usually generated by the setup wizards in ACE This chapter provides an overv...

Page 30: ...ect New Sample Application ACE Sight V Application SmartController Pick and Place NOTE When you first start ACE you will have access to this wizard Refer to the following figure We will not repeat all...

Page 31: ...tion is where the robot moves when its current motion gets interrupted or stopped The location of these positions can affect the system s efficiency After selecting the Safe and Picture taking Positio...

Page 32: ...correct l You may also need to edit the Acquisition Settings to get the best image Using the Calibration Grid A pdf of the dot grid used for camera calibration is located in your Omron folder under P...

Page 33: ...Chapter 5 Configuration with ACE Software Figure 5 3 Grid Calibration Screen Shot AnyFeeder Integration Guide Page 33...

Page 34: ...s ensure that you leave room for the part and tool flange gripper to clear the walls of the AnyFeeder The gripper shape placement of the pick point on the part and the region of interest can all affec...

Page 35: ...Configuration you selected using an upward facing camera to refine the position of a picked part the wizard would step you through that at this time Typically you don t need to set up another camera t...

Page 36: ...ing the edge of the boxes Refer to figure Front Flip and Dispense Zones on page 43 l The Dispense zone is used to find out if there are too many parts and if a feed forward is needed l The Flip zone i...

Page 37: ...nyFeeder could be lying with either side up To add another Locator Model in the workspace Explorer window on the left simply right click on the Pick folder New Vision Tool Locator Model then go throug...

Page 38: ...PROGRAM fd main ABSTRACT Background task controlling the Feeder INPUTS None OUTPUTS None GLOBAL REAL pick seq GLOBAL sv client_ip AUTO REAL front den flip den dispense den inst count REACTE fd reacte...

Page 39: ...nse more product into the feeder CALL fd execute fd ms dispense VALUE flip den fd flip thres Move the product from dispense zone to the pick zone CALL fd execute fd ms pickmove END END END RETURN END...

Page 40: ...he AnyFeeder module under Workspace Explorer ACE Sight Pick and Place Pick Any feeder and click the motion sequence button as shown in the following graphic the output 1000 is tied to Feed backward 5...

Page 41: ...all of the Standard Controls that are provided by the AnyFeeder Object window by clicking the Standard Controls button and by adjusting the values for Iterations and Speed You can test how these moti...

Page 42: ...speeds to see how the parts disperse inside the vision window Since the type of part and how the parts piled inside the upper bin will also affect how you define feedforward and dispense sequence the...

Page 43: ...esholdWhite to 0 and 130 specifying the gray scale range 0 255 the system will look for These are explained at the bottom of the window Typically you could zoom in on the image and check what gray sca...

Page 44: ...ore product into the feeder CALL fd execute fd ms dispense VALUE flip den fd flip thres Move the product from dispense zone to the pick zone CALL fd execute fd ms pickmove END The default value of the...

Page 45: ...n tools the vision sequence id will need to be updated Choose the correct vision tool in ACE Sight Sequence Properties Vision Tool You must also make sure that VRESULT and VLOCATION parameters related...

Page 46: ...he Cartesian transform result of sequence l VPARAMETER Sets the current value of a vision parameter l VRESULT Returns specified result of a vision sequence l VSTATE Returns the state of execution of a...

Page 47: ...eference 18831 000 Rev A For support please contact your local Omron Support Center www ia omron com R262I E Revision code Date of revision Revision reason and revision page 01 August 23 2017 First ed...

Page 48: ...rlands 31 0 23 568 13 00 www industrial omron eu Controllers I O Machine Automation Controllers MAC Motion Controllers Programmable Logic Controllers PLC Temperature Controllers Remote I O Robotics In...

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