Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 15
Table 3: Camera
IMPORTANT:
Techman Robot Inc. is not liable for any incompatibility issue due to use of equipment
not listed above.
Lens
It is strongly recommended to use an industrial-grade C/CS Mount lens. The lens focal distance
should be set based on the real-world applications.
Lens selection example (object is 500 ㎜ away from the camera)
Reference for calculation:
When using a 12 ㎜ lens, the field is 232 x 174 ㎜
2
; pixel resolution is 232/2590 ~ 0.09 ㎜
/pixel.
When using an 8 ㎜ lens, the field is 351 x 263 ㎜
2
; pixel resolution is 351/2590 ~ 0.14 ㎜
/pixel.
Reference Guide for Light Source Setup
To obtain decent image 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 ㎜ from the focus object):
When the light intensity is 2500 Lux, exposure time setting should be set as 0.5 ㎳, and the conveyor
speed shall be set to 300 ㎜/sec;
Calculation of Uniformity：
Divide the camera field into a 3 x 3 grid as in the following figure. Measure the brightness in the
center of each cell and obtain the maximum and minimum value,
Substitution：
Uniformity = |1−
(𝑀𝑎𝑥 −𝑀𝑖𝑛)
(𝑀𝑎𝑥 +𝑀𝑖𝑛)
|×100%
Sensor
Choose the most appropriate sensor based on the object material that needs to be detected.
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