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TM Conveyor Tracking 

Software version: TMflow 1.76   

16

 

4.  Software Functions 

4.1 Conveyor Tracking Setting 

After opening the Conveyor Tracking project, selecting the Start Node 

  sets encoder parameters, 

working boundary, camera and advanced conveyor parameters like vectors. Further description will be 
discussed in the following: 

 

Figure 6 Conveyor Tracking Setting 

 

4.1.1  Encoder setting 

Encoder setting allows users to set resolution and encoder wheel perimeters. 

Resolution: 

Encoder resolution. 

Perimeter: 

encoder wheel circumference 

(mm). 

Reverse: 

(Reverse rotation): when the 

conveyor is operating, the speed indicator 
should be in positive values. If shown in 
negative values, select “Reverse”.

  

    . 

 

The officially designated encoder model is 
the Omron E6C3- CWZ5GH 2000P/R 2M. 
However, settings shall be based on the 
actual encoder hardware used by users. 

 

 

 

Figure 7 Encoder setting 

Summary of Contents for TM Conveyor Tracking

Page 1: ...I853 E 01 TM Conveyor Tracking User s Manual Original Instruction ...

Page 2: ... of this publication may be reproduced or copied in any way shape or form without prior authorization from the Corporation No information contained herein shall be considered an offer or commitment It may be subject to change without notice This Manual will be reviewed periodically The Corporation will not be liable for any error or omission Mark are the registered trademarks of Techman Robot Inc ...

Page 3: ... Coupler Encoder Module 10 2 3 Code Wheel 11 2 4 Camera 11 2 4 1 Lens 12 2 5 Reference Guide for Light Source Setup 12 2 6 Sensor 13 2 7 Light box design reference 13 2 8 Hardware Connection Diagram 13 3 Operating Guide 14 3 1 Sensor Mode 14 3 2 ETH Mode 15 4 Software Functions 16 4 1 Conveyor Tracking Setting 16 4 1 1 Encoder setting 16 4 1 2 Boundary setting 17 4 1 3 Advanced setting 18 4 2 CVSe...

Page 4: ...re 8 Boundary setting 17 Figure 9 Advanced Setting 18 Figure 10 CVSensor 19 Figure 11 Sensor calibration 20 Figure 12 CVNewObj 21 Figure 13 CVPoint 21 Figure 14 Teach 22 Figure 15 Get Point 23 Figure 16 CVCircle 24 Figure 17 Create new project 25 Figure 18 Start the project 25 Figure 19 Conveyor Tracking Setting 25 Figure 20 Select tool 26 Figure 21 CVSensor 26 Figure 22 Sensor calibration 26 Figu...

Page 5: ... 38 Conveyor Tracking camera 32 Figure 39 Automatic calibration steps 33 Figure 40 Load workspace 34 Figure 41 Pattern matching 35 Figure 42 Confirm and exit 35 Figure 43 Confirm FIND pattern 35 Figure 44 Save visual task 36 Figure 45 Check visual task on list 36 Figure 46 Switch tool 36 Figure 47 Point Node 36 Figure 48 Select conveyor 37 Figure 49 Set Pass Path 37 Figure 50 CVPoint 37 Figure 51 ...

Page 6: ...TM Conveyor Tracking Software version TMflow 1 76 6 Revision History Revision Date Revised Content 01 April 2020 Original release ...

Page 7: ...riation within 15 1 2 Limitations of Use 1 Only supports Sensor Sensor or ETH Sensor ETH ETH is not supported and ETH mode requires use of license dongle 2 Does not support two robots using one single Encoder EtherCAT IO 3 Only supports linear conveyor Does not support circular conveyor 4 Does not support multiple objects NOTE The precision specifications in this manual only serves as reference Up...

Page 8: ...mplete a training course for their responsibilities in regard to the robot All personnel who design the robot system must read the Hardware installation Manual Software Manual and Safety Manual according to the software and hardware version of this product and must comply with all local and national safety regulations for the location in which the robot is installed The TM Robot must be used for i...

Page 9: ...rked symbols for installation of the robot arm and the integrator contact details Making accessible relevant documents including the risk assessment and this Manual CAUTION This product is a partly complete machine The design and installation of the complete system must comply with the safety standards and regulations in the country of use The user and integrators of the robot should understand th...

Page 10: ...tage N A 0 5V N A 0 5V Table 1 EtherCAT Coupler Encoder Module 1 2 Equipment Name EtherCATCoupler Encoder Module Encoder Module Model OMRON NX ECC203 OMRON NX EC0112 NPN module single encoder OMRON NX EC0222 PNP module dual encoder Rated voltage DC24V DC24V DC24V Rated current 520mA 35mA 39mA Number of Encoder N A 1 2 ON voltage N A 19 6 28 8V 19 6 28 8V OFF voltage N A 0 4V 0 4V Table 2 EtherCAT ...

Page 11: ...er acA2500 20gc Basler acA2500 14gc Shutter Global Rolling Sensor Color 2 3 inch Color 1 inch Color 1 2 5 inch Connection interface GigE interface Remark When conveyor speed 300 mm s the average tolerance is 1 mm When conveyor speed 300 mm s the average tolerance is 1 mm Rolling shutter camera is recommended to be used at low speed conveyor speed 100 mm s and when precision requirement is lower Fo...

Page 12: ...quality and rapid imaging time it is strongly recommended that the light source intensity of the image range can reach to 2500 Lux with uniformity higher than 90 to avoid light reflection At light levels below 2500 LUX it may be necessary to increase the camera exposure time and decrease the conveyor belt speed For example when the camera is 500 mm from the focus object When the light intensity is...

Page 13: ...ibration Set contact your local distributor or dealership 2 7 Light box design reference For relevant details about reference design of light box contact your local distributor or dealership 2 8 Hardware Connection Diagram The diagram below shows the recommended hardware connection For details about the supply voltage of the power socket refer to the robot in use Camera Sensor Code wheel Encoder E...

Page 14: ...quires only one conveyor Conveyor_1 application requires two conveyors TM Conveyor Tracking supports two operating modes Sensor Mode detect the objects passing through the sensor beam default mode ETH Mode obtain object position through camera imaging requires use of a license dongle Figure 3 Create new project 3 1 Sensor Mode Sensor Mode consists of a robot and external sensors The sensor will de...

Page 15: ... is composed of a robot an external camera and light sourcing devices Schematic of ETH Mode shown in Figure 7 Figure 5 ETH Mode diagram Currently TM Conveyor Tracking only supports Sensor Mode by default For purchase of ETH Mode license consult with your local representatives ...

Page 16: ...ure 6 Conveyor Tracking Setting 4 1 1 Encoder setting Encoder setting allows users to set resolution and encoder wheel perimeters Resolution Encoder resolution Perimeter encoder wheel circumference mm Reverse Reverse rotation when the conveyor is operating the speed indicator should be in positive values If shown in negative values select Reverse The officially designated encoder model is the Omro...

Page 17: ...e please refer to the 6DOF Workspace for the respective user manual of each robot model New object range the range robot selects new object this range is executed in CVNewObj node Working Area Actual work range based on the intersecting boundaries of B Start and B End If there is no intersecting point in the case that B Start is set to be small while B End is set to be very large the system will u...

Page 18: ...rrect the X Y Z offset of Calibration Point 2 coordinates Maximum object moving distance in a frame ETH Mode only this function prevents a single object from being detected as multiple objects If a single object is detected as multiple objects increase the value If multiple objects are detected as a single object decrease the value Figure 9 Advanced Setting NOTE When executing Conveyor Tracking pr...

Page 19: ...gger time is lower than Enable Time this signal will not be considered as an object moving pass the sensor Rising Edge Detect the default is checked indicating the signal is active High when an object is detected by the sensor When no object passes through the sensor beam the signal is Low When an object passes through the sensor beam the signal is High Then click Next to start calibration Figure ...

Page 20: ...lid objects that have been detected by the sensor and will move to the robot s New Object Range within the Working Area refer to Section 4 1 2 for details about range and area Conveyor NO Selected conveyor Time Out Set the waiting time for a valid object which is detected within New Object Range When Time Out 0 it indicates no time out is set When a valid object enters the robot operating range th...

Page 21: ...Node sets the line motion under Conveyor main thread This node is mainly used to track object motion through the conveyor NOTE Under ETH Mode the tool end will rotate along with the object However in Sensor Mode the tool end will not rotate along with the object Conveyor NO Selected conveyor Follow Time Set the stopping time after the CVPoint tracks to position Get Point set CVPoint above the obje...

Page 22: ...9 If the Encoder device has been replaced resume to the thread with CVSensor1 to reset the sensor ETH Mode re do 5 2 Step 7 Step 14 If the Encoder device has been replaced create new vision job in sub thread The following provides instructions about Teach and Get Point under CVPoint Node When entering Teach follow the instruction to place object on the conveyor and in front of the sensor Activate ...

Page 23: ...Point NOTE If the Get Point values are unreasonable users have to recalibrate their part location calibrate for Sensor Mode and save new source image in the vision job for ETH Mode If the project has CVPoint Node with pre obtained values users may just enter values to update the pre obtained values when adding a new CVPoint Node Then click OK to save the results Analog Digital IO could be set to c...

Page 24: ...the established arc Set the degrees for the movement path based on the arc established by the points Teach Set the steps for objects that pass the sensor on the conveyor Re teach is not necessary if the object remains in the same position under CVPoint and CVCircle Get Point Set CVCircle point P1 starting point P2 midpoint and P3 end point Similar to CVPoint the only difference is that three diffe...

Page 25: ...project 2 Conveyor Tracking project appears Two threads appear One is the main thread to edit the movement procedure of the robot the name of this thread shall appear identical to the project name you entered in Step 1 Another is the sub thread which is Conveyor_0 in Figure 20 This thread is configuration only and cannot add any node The sub thread must be edited before the main thread can be edit...

Page 26: ... s Set IO Number based on the sensor s IO position and the sensor trigger signal I O Number setting Enable Time setting If the trigger signal is high select Rising Edge Detect For details about I O Number and Enable Time settings refer to 4 2 Then click NEXT to start calibration for the sensor Upon entering calibration follow the instructions shown in the image Figure 24 Figure 21 CVSensor Figure ...

Page 27: ...hen the part is in the robot s working area Hand guide the robot to detect or contact the same point of the object to set Calibration Point 2 Click Finish to complete calibration Figure 23 Two calibration points 7 Select Tool Switch back to main thread to select the tool you will use during the application Figure 24 Switch tool 8 Set initial point Drag Point Node to the screen and set it as the ro...

Page 28: ...sion TMflow 1 76 28 9 Drag CVNewObj Node and Select the conveyor number Figure 26 Select conveyor number 10 Select Pass Path Figure 27 Set Pass Path 11 Drag CVPoint Node to the screen Click CVPoint s then click Teach Figure 28 CVPoint ...

Page 29: ...ing Teach use the conveyor so that the object passes over the sensor Then stop the conveyor when the object is within robot working range This step is essential to teach the robot to get Once Teach is done return to CVPoint Node and click Get Point Figure 29 Teach ...

Page 30: ...e the result Figure 30 Get Point 12 Form a repeated loop Drag a path line back to the P1 starting point to form a repeating loop to complete a simple object tracking procedure Figure 31 Form a loop NOTE User can set end effector I O status in CVPoint to control the component to complete grip release grip or other procedure ...

Page 31: ...lick OK Figure 32 Open new project 2 Conveyor Tracking project appears Two threads appear One is the main thread to edit the movement procedure of the robot the name of this thread shall appear identical to the project name you entered in Step 1 Another is the sub thread which is Conveyor_0 in Figure 35 This thread is configuration only and cannot add any node Users must have edited the sub thread...

Page 32: ...Job Name Under the Vision Job page click and input the vision task name Then click OK to start new vision task Figure 36 Add new vision job Figure 37 Input vision job name 6 Enable Conveyor Tracking Camera Upon entering vision task screen choose Conveyor Tracking camera on the Camera List at the left side the example screen is a calibrated example Figure 38 Conveyor Tracking camera 7 Go to Calibra...

Page 33: ...o the conveyor direction while Y axis 0 n is aligned to the bottom edge of the screen The benefits are Obtain a precise value from object position to camera FOV edge Obtain a more precise value to avoid repeated photo taking of objects Calibrate Workspace click to configure camera parameters before calibrating the workspace Then press PLAY PAUSE on the robot stick to start visual navigation Click ...

Page 34: ...76 34 make sure the Hand Eye type is ConveyorTracking Click Load button Figure 40 Load workspace 9 Pattern Matching Place the object in the center of the vision area Then go to Find Pattern Matching and the robot will recognize the pattern and range ...

Page 35: ...ion is completed and the positioning values are confirmed click Check the editing procedure The editing procedure on the left side will show a FIND The FIND is supposed to appear in green If it appears in orange it indicates the pattern recognition is not completed Figure 42 Confirm and exit 11 Figure 43 Confirm FIND pattern ...

Page 36: ...successfully created Upon returning to TMflow make sure the vision task you just edited appears on Vision Job Then click OK to complete the setting Figure 45 Check visual task on list 14 Select Tool Switch to the main thread and select the tool for your application Figure 46 Switch tool 15 Drag Point Node Set as the robot s initial work point T5 is the selected tool Figure 47 Point Node ...

Page 37: ...e screen and choose the conveyor number Figure 48 Select conveyor 17 Drag CVPoint to the screen and set Pass Path Figure 49 Set Pass Path 18 Enter CVPoint Node Click of the CVPoint Node Meanwhile use the conveyor to move the object to the robot s working area Figure 50 CVPoint ...

Page 38: ...king Software version TMflow 1 76 38 19 CVPoint Setting Hand guide the robot to the top of the object Click Get Point Upon entering Get Point click Get and OK to complete CVPoint setting in ETH Mode Figure 51 Get Point ...

Page 39: ...peated loop Drag a line back to the P1 Node starting point to form a repeated loop to complete the tracking procedure Figure 52 Form a loop NOTE User can set end effector I O status in CVPoint to control the component to complete grip release grip or other procedure ...

Page 40: ...19888 800 A I853 E 01 0420 0420 ...

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