Cvcircle Node; Figure 15: Get Point - Omron Techman Robot Series User Manual

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CVCircle Node

CVCircle Node is a circular motion setting node under Conveyor main thread, used for
specific applications, such as a gluing operation where a circular part is placed on a moving
linear conveyor.
When dragging the CVCircle node, users are required to select Conveyor_0 or Conveyor_1.
Conveyor NO.: shows the selected conveyor. It is a fixed number.
Follow Time: Set the stopping time after the CVCircle tracks to position.
Degree: Set the movement path circular angle according to the established arc. Set the degrees
for the movement path based on the arc established by the points.
Teach: Set the steps for objects that pass the sensor on the conveyor (Re-teach is not
necessary if the object remains in the same position under CVPoint and CVCircle)
Get Point 1/2/3: Set CVCircle point. (P1 starting point, P2 midpoint, and P3 end point). 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 the same as the CVPoint.
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

Figure 15: Get Point

If the values in Get Point are unreasonable or the object is beyond the defined range to
work, users must recalibrate the object position (calibration for Sensor Mode, and saving
new source images in the vision job for ETH Mode). If the project has CVPoint Node with
pre-obtained values, users may just enter values to update the pre-obtained values when
adding a new 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.
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