Related Manuals for Omron Techman Robot Series
Summary of Contents for Omron Techman Robot Series
- Page 1 Omron TM Collaborative Robot: Conveyor Tracking User’s Manual Original Instruction I853-E-03...
- 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. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual...
- Page 3 Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
- Page 4 IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY. Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted.
- Page 5 Omron representative at any time to confirm actual specifications of purchased Product. Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
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Page 6: Table Of Contents
CVSensor1 ..........................22 Main Thread Nodes ........................24 CVNewObj Node ........................24 CVPoint Node ......................... 24 CVCircle Node ........................28 6. Quick Walk-Through ..........................30 Sensor Mode ..........................30 ETH Mode ..........................36 Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... - Page 7 Figure 26: CVPoint ............................. 34 Figure 27: Teach ............................35 Figure 28: Get Point ........................... 35 Figure 29: Form a loop ..........................36 Figure 34: Open new project ........................40 Figure 35: Sub-thread ..........................41 Omron TM Collaborative Robot: Conveyor Tracking User’s Manual...
- Page 8 Figure 45: Set CVNewObj .......................... 45 Figure 46: Set conveyor for CVPoint......................46 Figure 47: Set path ............................. 46 Figure 48: Get Point ........................... 47 Figure 49: Form a loop ..........................47 Omron TM Collaborative Robot: Conveyor Tracking User’s Manual...
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Page 9: Revision History Table
Revision History Table Revision Date Revised Content April, 2020 Original release August, 2020 Added 1.80 features June, 2023 Added 2.0 features Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 10: Introduction
This manual applies to TMflow Version 2.14 or later. There may be differences between the functions and interfaces of different software versions. Confirm the software version before using and reading this manual. To confirm the software version, click at the top right of the screen for the information. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 11: Warning And Caution Symbols
Power to the robot and its power supply must be locked out and tagged out or have means to control hazardous energy or implement energy isolation before any maintenance is performed. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 12: Validation And Liability
Security measures to prevent unauthorized network access • Install physical controls so that only authorized personnel can access control systems and equipment. • Reduce connections to control systems and equipment via networks to prevent access from untrusted devices. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 13: Limitation Of Liability
Functional Note Symbols 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. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 14: Hardware Requirements
44 mA 35 mA 39 mA current Number 1or2 encoder 15-28.8V 15-30V 19.6-28.8V 19.6-28.8V 19.6-28.8V 19.6-28.8V 19.6-28.8V 19.6-28.8V voltage 0-5V 0-5V 0-4V 0-4V 0-4V 0-4V 0-4V 0-4V voltage Table 2: Applicable Encoder Modules Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 15: Code Wheel
When conveyor speed < 300 low speed (conveyor speed ㎜/s, the average tolerance ㎜/s, the average tolerance is ±1 Remark < 100 ㎜/s) and when is ±1 ㎜. ㎜. precision requirement is lower. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 16: Lens
Substitution： (������ − ������) Uniformity = |1 − | × 100% (������ + ������) Sensor Choose the most appropriate sensor based on the object material that needs to be detected. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 17: Light Box Design Reference
For details about the supply voltage of the power socket, refer to the robot in use. TM AI Cobot TM Control Box EtherCAT GigE Camera Power Socket Light source Digital input Sensor Power supply EtherCAT Coupler 24V(DC) Encoder Module Encoder Code wheel Figure 2: Hardware connection diagram Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 18: Operating Guide
Figure 3: Create new project Sensor Mode Sensor Mode consists of a robot and external sensors. The sensor will detect objects passing through the sensor beam. Application diagram of Sensor Mode is presented in Figure 4. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 19: Eth Mode
ETH Mode is shown in Figure 5. 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. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 20: Software Functions
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. -
Page 21: Boundary Setting
If there is no intersecting point (in which case, for example, B Start is set to be small while B End is set to be very large, the system will use Range to determine the working area. Robot Base: Robot placement position. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 22: Advanced Setting
Conveyor Vector Compensate (Calibration Point 2） X offset (㎜): when adjusting calibration, compensate the calibration plate x direction offset Y offset (㎜): when adjusting calibration, compensate the calibration plate y direction offset Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 23: Cvsensor1
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. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 24: Figure 10: Cvsensor
When an object passes through the sensor beam, the signal is High. Then, click “Start Calibration”. Figure 10: CVSensor Follow the instruction on the screen to perform calibration. Users have to calibrate two Calibration Points. Figure 11: Sensor calibration Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 25: Main Thread Nodes
When a valid object enters the robot operating range, the thread will go to the next node. Figure 12: CVNewObj CVPoint Node CVPoint Node sets the linear motion under Conveyor main thread. This node is mainly used to track object motion through the conveyor in linear motion. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... - Page 26 Plug&Play software package to control the end tools. Blending: Enable the robot to move to different points in a smooth way. Advanced Settings: Switch the end tool. The CVPoint changes the in-position pose by the end tool setting. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual...
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Page 27: Figure 13: Cvpoint
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. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 28: Figure 14: Teach
CVPoint node, users can directly edit the values in the newly added CVPoint node and click OK.) : Go back to the previous page without making any changes. The other setting of the CVPoint node is the same as the parameters of the Point Node. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 29: Cvcircle Node
Analog Input: Set stop criteria via analog I/O setting for control box, end module or other peripherals. Digital Input: Set stop criteria via digital I/O setting for control box, end module or other Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 30: Figure 16: Get Point
Blending: Enable the robot to move to different points in a smooth way. Advanced Settings: Switch the end tool. The CVCircle changes the in-position pose by the end tool setting. Figure 16: Get Point Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 31: Quick Walk-Through
Step 1) Another is the sub-thread, which is Conveyor_0 in Figure 18. This thread is configuration-only and cannot add any node. The sub-thread must be edited before the main thread can be edited. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 32: Figure 18: Start The Project
Default options are “NOTOOL” and “HandCamera”. To ensure consistent precision, it is strongly recommended to use TM Calibration Set while teaching the two CV points. Click the pencil icon of the CVSensor node. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 33: Figure 20: Cvsensor
For details about I/O Number and Enable Time settings, refer to 4.2. Then click Start Calibration for the sensor. Figure 20: CVSensor Upon entering calibration, follow the instructions shown in the image (Figure 21). Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 34: Figure 21: Sensor Calibration
Drag a CVNewObj Node to the project editing page and select the conveyor number. Figure 23: Select conveyor number 10. Click the pencil icon of the CVNewObj node for the Time Out setting. For details, refer to 4.3.1. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 35: Figure 24: Set Cvnewobj
After the sensor has detected the object, click the Finish button under the teaching instruction so that the relative relationship between the robot and the object can then be established for conveying. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 36: Figure 27: Teach
Click Finish to go back to CVPoint, then click Get Point > Get > Set to complete the setting. Figure 28: Get Point 13. Make the flow an infinite loop to form a simple object tracking process. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 37: Eth Mode
Conveyor Tracking camera. In addition, users have to get 15 shots in different angles and directions and ensure the shots are not distorted (this depends on whether the calibration plate is tilted). Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... - Page 38 FOV, ensure more precise coordinates of any object in the image to avoid taking repeated photos of the objects. X-axis Omron TM Collaborative Robot: Conveyor Tracking User’s Manual...
- Page 39 Shift Workspace: In this step, users have to turn on the conveyor again and make the calibration board shift to another position. Then press the PLAY button on the robot stick to start visual navigation. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual...
- Page 40 Figure 32: Shift Workspace Save Result: When the steps above are completed, click Save to save result and name the workspace. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual...
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Page 41: Figure 34: Open New Project
Select the conveyor Choose Conveyor_0 if 1 conveyor is used Choose Conveyor_1 if 2 conveyors are used Select ETH Mode Enter project name and click Open. Figure 34: Open new project Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 42: Figure 35: Sub-Thread
Figure 36: Vision Job 7. In the Vision Job, click the + icon and input the vision job name, and click OK to start new vision job. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 43: Figure 37: Input Vision Job Name
Figure 37: Input vision job name 8. Load Workspace Choose Conveyor Tracking camera, and click Conveyor-tracking in Application Selection. Choose a workspace from the Workspace List. Click Load. Figure 38: Load workspace Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 44: Figure 39: Pattern Matching
The FIND shown in the editing procedure at the left is supposed to come with a triangle in green at top right. If the triangle is in orange, the pattern recognition is not completed. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 45: Figure 40: Confirm "Find" Pattern
12. Back to TMflow and make sure the vision job edited just now is in the list of Vision Job. Click Set > OK to complete the setting. Figure 42: Check vison job on list 13. Switch to the main thread and select a tool for the project. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 46: Figure 43: Point Node
Click the pencil icon of the CVNewObj node for the Time Out setting. For details, refer to 4.3.1. Figure 45: Set CVNewObj 16. Drag a CVPoint node in the project editing page and choose the conveyor number. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 47: Figure 46: Set Conveyor For Cvpoint
Click the pencil icon of the CVPoint Node. Use the conveyor to move the object to the robot’s working area. Hand-guide the robot at the top of the object. Click Get Point, click Get, and click OK to complete CVPoint setting in ETH Mode. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual... -
Page 48: Figure 48: Get Point
Use either the advanced setting of gripping objects to go with the CVPoint's end tool I/O status and the point position setting or the output variables to go with Plug&Play software package to control the end tool to complete the gripping and releasing process. Omron TM Collaborative Robot: Conveyor Tracking User’s Manual...