Table Of Contents - Omron Techman Robot Series User Manual

Collaborative robot: conveyor tracking

Table of Contents

Contents

Revision History Table .................................................................................................................................. 8

2. Introduction ............................................................................................................................................... 9

Scope of Use ............................................................................................................................... 9

Limitations of Use ........................................................................................................................ 9

Warning and Caution Symbols ................................................................................................... 10

Safety Precautions ..................................................................................................................... 10

Validation and Liability ................................................................................................................ 11

Statement of Responsibilities for Cyersecurity Threats............................................................... 11

Limitation of Liability ................................................................................................................... 12

Functional Note Symbols ........................................................................................................... 12

3. Hardware Requirements ......................................................................................................................... 13

TM Dongle ................................................................................................................................. 13

Applicable EtherCAT Coupler and Encoder Modules .................................................................. 13

Code Wheel ............................................................................................................................... 14

Camera ...................................................................................................................................... 14

Lens ........................................................................................................................................ 15

Reference Guide for Light Source Setup .................................................................................... 15

Sensor ....................................................................................................................................... 15

Light Box Design Reference ....................................................................................................... 16

Hardware Connection Diagram .................................................................................................. 16

4. Operating Guide ..................................................................................................................................... 17

Sensor Mode .............................................................................................................................. 17

ETH Mode .................................................................................................................................. 18

5. Software Functions ................................................................................................................................. 19

Conveyor Tracking Setting ......................................................................................................... 19

Encoder Setting ...................................................................................................................... 19

Boundary Setting..................................................................................................................... 20

Advanced Setting .................................................................................................................... 21

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