A-1-4 3D Machine Models - Omron NJ501-4500 Manual

Appendices
A-1-4 3D Machine Models
This section describes the parameters of the 3D machine models that you can use with the Robot Addi-
tional Option.
Use the 3D machine models described here in a Vision & Robot integrated simulation.
Conveyor for Picking
This model represents a conveyor for picking.
 Components of this 3D Machine Model
The 3D machine model for a conveyor for picking has the components shown in the figure below.
Origin of the
camera
coordinate
system
z
y
Origin of the
conveyor
Component name
Camera view
Conveyor
Tracking area
Camera
 Operation of this 3D Machine Model
This 3D machine model performs the following two operations.
• Displaying workpieces in the initial position of the camera view
• Moving workpieces from the initial position according to the conveyor's encoder value
A - 8
Camera
z
(Vision sensor)
x
y
Camera view
x
Conveyor
The area in which the vision sensor captures images. The workpieces detected by the
vision sensor's simulator are displayed in this area.
The conveyor for picking. It moves the workpieces displayed in the camera view.
Robots can pick the workpieces located in this area.This area has the same width as the
width of the conveyor.
The model of the camera used for the simulation of the pick-and-place application.
z
World coordinates of the
3D simulation space
(Right-handed
coordinate system)
Tracking area
Description
NJ-series NJ Robotics CPU Unit User's Manual (W539)
y
x