Omron Techman Robot Series - Figure 13: Cvpoint

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Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 26

Figure 13: CVPoint

NOTE:

1. If the object remains in its original position, users do not have to re-teach the robot in

sensor-setting nodes CVPoint and CVCircle.

2. Methods to reset corresponding relations between the robot and the object:

 Sensor Mode: redo 5.1 Step. 12. If the Encoder device has been replaced, resume to

the thread with CVSensor1 to reset the sensor.

 ETH Mode: redo 5.2 Step. 9 to Step. 17. 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 the conveyor. When the object is within robot working area, deactivate the

conveyor.

Main Page

Table of Contents6
Revision History Table9
Introduction10
Scope of Use10
Limitations of Use10
Warning and Caution Symbols11
Safety Precautions11
Validation and Liability12
Statement of Responsibilities for Cyersecurity Threats12
Limitation of Liability13
Functional Note Symbols13
Hardware Requirements14
TM Dongle14
Applicable Ethercat Coupler and Encoder Modules14
Table 1: Applicable Ethercat Coupler Models14
Table 2: Applicable Encoder Modules14
Code Wheel15
Camera15
Figure 1: Code Wheel15
Lens16
Reference Guide for Light Source Setup16
Sensor16
Table 3: Camera16
Light Box Design Reference17
Hardware Connection Diagram17
Figure 2: Hardware Connection Diagram17
Operating Guide18
Sensor Mode18
Figure 3: Create New Project18
ETH Mode19
Figure 4: Sensor Mode Diagram19
Figure 5: ETH Mode Diagram19
Software Functions20
Conveyor Tracking Setting20
Encoder Setting20
Figure 6: Conveyor Tracking Setting20
Boundary Setting21
Figure 7: Encoder Setting21
Advanced Setting22
Figure 8: Boundary Setting22
Cvsensor123
Figure 9: Advanced Setting23
Figure 10: Cvsensor24
Figure 11: Sensor Calibration24
Main Thread Nodes25
Cvnewobj Node25
Cvpoint Node25
Figure 12: Cvnewobj25
Figure 13: Cvpoint27
Figure 14: Teach28
Cvcircle Node29
Figure 15: Get Point29
Figure 16: Get Point30
Quick Walk-Through31
Sensor Mode31
Figure 17: Create New Project31
Figure 18: Start the Project32
Figure 19: Conveyor Tracking Setting32
Figure 20: Cvsensor33
Figure 21: Sensor Calibration34
Figure 22: Point Node34
Figure 23: Select Conveyor Number34
Figure 24: Set Cvnewobj35
Figure 25: Select Conveyor Number and Path35
Figure 26: Cvpoint35
Figure 27: Teach36
Figure 28: Get Point36
ETH Mode37
Figure 29: Form a Loop37
Figure 34: Open New Project41
Figure 35: Sub-Thread42
Figure 36: Vision Job42
Figure 37: Input Vision Job Name43
Figure 38: Load Workspace43
Figure 39: Pattern Matching44
Figure 40: Confirm "FIND" Pattern45
Figure 41: Save Vision Task45
Figure 42: Check Vison Job on List45
Figure 43: Point Node46
Figure 44: Select Conveyor46
Figure 45: Set Cvnewobj46
Figure 46: Set Conveyor for Cvpoint47
Figure 47: Set Path47
Figure 48: Get Point48
Figure 49: Form a Loop48

Omron Techman Robot Series - Figure 13: Cvpoint

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