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Related Manuals for Omron TM Conveyor Tracking
Summary of Contents for Omron TM Conveyor Tracking
- Page 1 TM Conveyor Tracking User’s Manual Original Instruction I853-E-01...
- Page 2 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., The Company reserves the ownership and copyright of this Instruction and its copies. TM Conveyor Tracking Software version: TMflow 1.76...
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Page 3: Table Of Contents
Main Thread Nodes ......................... 20 4.3.1 CVNewObj Node ......................... 20 4.3.2 CVPoint Node ........................21 4.3.3 CVCircle Node ........................24 5. Quick Walk-through ........................25 Sensor Mode ........................... 25 ETH Mode ..........................31 TM Conveyor Tracking Software version: TMflow 1.76... - Page 4 Figure 25 Point Node ........................27 Figure 26 Select conveyor number ....................28 Figure 27 Set Pass Path ....................... 28 Figure 28 CVPoint ......................... 28 Figure 29 Teach ..........................29 Figure 30 Get Point ........................30 TM Conveyor Tracking Software version: TMflow 1.76...
- Page 5 Figure 47 Point Node ........................36 Figure 48 Select conveyor ......................37 Figure 49 Set Pass Path ....................... 37 Figure 50 CVPoint ......................... 37 Figure 51 Get Point ........................38 Figure 52 Form a loop ........................39 TM Conveyor Tracking Software version: TMflow 1.76...
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Page 6: Revision History
Revision History Revision Date Revised Content April 2020 Original release TM Conveyor Tracking Software version: TMflow 1.76... -
Page 7: Introduction
When using the TM Conveyor Tracking function during TM Flow, connect the TM license dongle supplied in the TM Conveyor Tracking product package into any USB port on the control box to activate the TM ETH Conveyor Tracking function. Sensor mode does not require a license dongle. Be careful that when editing, running trials or operating, the license dongle must remain connected with the control box. -
Page 8: Safety Precautions
Dispose of the product in accordance with the relevant rules and regulations of the country or area where the product is used. TM Conveyor Tracking Software version: TMflow 1.76... -
Page 9: Validation And Liability
The following table defines the functional note symbols used in this manual. Read the paragraphs carefully. IMPORTANT: This symbol indicates the relevant functional details to assist programming and use. NOTE: This symbol indicates the relevant functional use tips to assist programming efficiency. TM Conveyor Tracking Software version: TMflow 1.76... -
Page 10: Hardware Requirements
Equipment needs to be connected to external power supply for proper use. For detailed product information, visit the product’s official website. Suggested Encoder Model: E6C3-CWZ5GH IMPORTANT: Techman Robot Inc. is not liable for any imcompatibility issue due to use of equipment not listed above. TM Conveyor Tracking Software version: TMflow 1.76... -
Page 11: Code Wheel
For detailed product information, please visit the product’s official website. Table 3：Camera IMPORTANT: Techman Robot Inc. is not liable for any incompatibility issue due to use of equipment not listed above. TM Conveyor Tracking Software version: TMflow 1.76... -
Page 12: Lens
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 − � × 100% (������������ + �������� ���� ) TM Conveyor Tracking Software version: TMflow 1.76... -
Page 13: Sensor
For details about the supply voltage of the power socket, refer to the robot in use. TM Robot TM Control Box Network cable EtherCAT Camera Power Socket Light source IO in Sensor EtherCAT Coupler Power supply 24V(DC) Encoder Module Encoder Code wheel Figure 2 Hardware connection diagram TM Conveyor Tracking Software version: TMflow 1.76... -
Page 14: Operating Guide
conveyor Conveyor_1: application requires two conveyors Figure 3 Create new project 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 ... -
Page 15: Eth Mode
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. TM Conveyor Tracking... -
Page 16: Software Functions
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 TM Conveyor Tracking Software version: TMflow 1.76... -
Page 17: Boundary Setting
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 use the distance of range to determine the working area. Robot Base: Robot placement position. Figure 8 Boundary setting TM Conveyor Tracking Software version: TMflow 1.76... -
Page 18: Advanced Setting
TMflow and click “Conveyor Data” to adjust Advanced Setting. Advanced Setting does not support Warp Node project switching. If your project would use Warp Node, remember to set Advanced Setting first and then use Warp. TM Conveyor Tracking Software version: TMflow 1.76... -
Page 19: Cvsensor1
When an object passes through the sensor beam, the signal is High. Then, click “Next” to start calibration. Follow the instruction on the screen to perform calibration. Users have to calibrate two Calibration Points. TM Conveyor Tracking Software version: TMflow 1.76... -
Page 20: Main Thread Nodes
New Object Range. • When Time Out = 0, it indicates no time out is set. When a valid object enters the robot operating range, the thread will go to the next node. TM Conveyor Tracking Software version: TMflow 1.76... -
Page 21: Cvpoint Node
Stop Criteria Analog Input: set analog I/O setting for control box, end module or other peripherals Digital Input: Robot tool end’s end effector is the End Module_DO 0. Figure 13 CVPoint TM Conveyor Tracking Software version: TMflow 1.76... -
Page 22: Figure 14 Teach
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. Figure 14 Teach TM Conveyor Tracking Software version: TMflow 1.76... -
Page 23: Figure 15 Get Point
CVPoint Node. Then click OK to save the results. Analog/Digital IO could be set to control the component to grip/release or other implementation before the Follow Time of CVPoint. TM Conveyor Tracking Software version: TMflow 1.76... -
Page 24: Cvcircle Node
Similar to CVPoint, the only difference is that three different points need to be set to form an arc. The remaining setting of the CVCircle is Figure 16 CVCircle the same as the CVPoint. TM Conveyor Tracking Software version: TMflow 1.76... -
Page 25: Quick Walk-Through
Enter Conveyor Tracking Setting Click the of sub-thread’s Start • Node to proceed with Conveyor Tracking Setting. • For details about sub-thread setting, see 4.1 Figure 19 Conveyor Tracking Setting TM Conveyor Tracking Software version: TMflow 1.76... -
Page 26: Figure 20 Select Tool
Enable Time settings, refer to 4.2. • Then click NEXT to start calibration for the sensor. Figure 21 CVSensor • Upon entering calibration, follow the instructions shown in the image (Figure 24). Figure 22 Sensor calibration TM Conveyor Tracking Software version: TMflow 1.76... -
Page 27: Figure 23 Two Calibration Points
Figure 24 Switch tool Set initial point • Drag Point Node to the screen and set it as the robot’s initial work point. • (T5 is the selected tool in this example) Figure 25 Point Node TM Conveyor Tracking Software version: TMflow 1.76... -
Page 28: Figure 26 Select Conveyor Number
Select the conveyor number. Figure 26 Select conveyor number Select “Pass Path”. Figure 27 Set Pass Path Drag CVPoint Node to the screen • Click CVPoint’s , then click Teach. Figure 28 CVPoint TM Conveyor Tracking Software version: TMflow 1.76... -
Page 29: Figure 29 Teach
• 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 TM Conveyor Tracking Software version: TMflow 1.76... -
Page 30: Figure 30 Get Point
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. TM Conveyor Tracking Software version: TMflow 1.76... -
Page 31: Eth Mode
Enter Conveyor Tracking Setting Click the of sub-thread’s Start • Node to proceed with Conveyor Tracking Setting. • For details about sub-thread setting, see 4.1 Figure 34 Conveyor Tracking Setting TM Conveyor Tracking Software version: TMflow 1.76... -
Page 32: Figure 35 Vision Job
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 Go to “Calibration” “Automatic”. TM Conveyor Tracking Software version: TMflow 1.76... -
Page 33: Figure 39 Automatic Calibration Steps
Then press “PLAY/PAUSE” on the robot stick to start visual navigation Click “Save” upon completion. Load Workspace • After camera calibration is completed, click Task Designer. • Choose the required Workspace TM Conveyor Tracking Software version: TMflow 1.76... -
Page 34: Figure 40 Load Workspace
Figure 40 Load workspace 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. TM Conveyor Tracking Software version: TMflow 1.76... -
Page 35: Figure 41 Pattern Matching
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 43 Confirm “FIND” pattern TM Conveyor Tracking Software version: TMflow 1.76... -
Page 36: Figure 44 Save Visual Task
Switch to the main thread and select the tool for your application Figure 46 Switch tool Drag Point Node Set as the robot’s initial work • point. (T5 is the selected tool) Figure 47 Point Node TM Conveyor Tracking Software version: TMflow 1.76... -
Page 37: Figure 48 Select Conveyor
[Pass Path]. Figure 49 Set Pass Path 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 TM Conveyor Tracking Software version: TMflow 1.76... -
Page 38: Figure 51 Get Point
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 TM Conveyor Tracking Software version: TMflow 1.76... -
Page 39: Figure 52 Form A Loop
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. TM Conveyor Tracking Software version: TMflow 1.76... - Page 40 I853-E-01 0420 (0420) 19888-800 A...