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Mitsubishi MELFA CR750 Series Operating Manual
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Mitsubishi MELFA CR750 Series Operating Manual

Mitsubishi MELFA CR750 Series Operating Manual

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Mitsubishi Industrial Robot
MELFA ROBOT
Sample program operating manual for vision system
CR750/CR751 series controller
CRn-700 series controller
BFP-A8937-C

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Summary of Contents for Mitsubishi MELFA CR750 Series

  • Page 1 Mitsubishi Industrial Robot MELFA ROBOT Sample program operating manual for vision system CR750/CR751 series controller CRn-700 series controller BFP-A8937-C...

  • Page 2: Safety Precautions

    Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. All teaching work must be carried out by an operator who has received special training. CAUTION (This also applies to maintenance work with the power source turned ON.) Enforcement of safety training...
  • Page 3 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. Use the robot within the environment given in the specifications. Failure to do so could CAUTION lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise environment, etc.) Transport the robot with the designated transportation posture.
  • Page 4 Do not stop the robot or apply emergency stop by turning the robot controller's main CAUTION power OFF. If the robot controller main power is turned OFF during automatic operation, the robot accuracy could be adversely affected.Moreover, it may interfere with the peripheral device by drop or move by inertia of the arm.
  • Page 5 Revision history Date of print Specifications No. Details of revisions 2012-11-30 BFP-A8937-* First print 2013-01-07 BFP-A8937-A Error in writing correction. 2016-12-05 BFP-A8937-B Error in writing correction. 2017-04-11 BFP-A8937-C Error in writing correction.

  • Page 6: Table Of Contents

    [Contents] 1. OVERVIEW ........................................1-2 ......................................... 1-2 1.1. VERVIEW ..............................1-2 1.2. ETHOD OF IMAGE RECOGNITION ..........................1-3 1.3. ASIC METHOD OF POSITIONAL CORRECTION 2. CAMERA SETUP......................................2-9 ) ..................2-9 2.1. 1 (U TATIONARY AMERA ORRECTION ETHOD PPER SIDE Program construction ................................

  • Page 7: Overview

    1) “Detailed explanations of functions and operations” (BFP-A8661/BFP-A8869） 2) “Mitsubishi Robot Tool for EasyBuilderInstruction Manual” （BFP-A8820） 1.2. Method of image recognition There are explanations of the following three methods of image recognition in this manual.

  • Page 8: Basic Method Of Positional Correction

    1.3. Basic method of positional correction (1) Stationary Camera Correction Method1 (1 - 1) Result of Image Recognition Result position of vision sensor is outputted as robot coordinate system. Camera Center of robot tool Result of image Workpiece recognition (1 – 2) Camera Calibration The calibration of the camera does the teaching at the tool center of the robot.
  • Page 9 (1 – 3) When the center of hand tool position is not corresponding to the center of robot tool position When the center of hand tool position is offset from the center of robot tool position, the working position of robot is not corresponding to the result position of vision sensor. Center of robot tool Camera...
  • Page 10 (1-4-1) Change the robot tool position to the hand tool position by using the “TOOL” instruction Change the tool position of robot from the center of the J6 axis flange, to the center of the hand tool position by using the “TOOL” instruction. Then the recognition result of camera is outputted as the robot working position.
  • Page 11 (1-4-2) Calculate the corrective position 1) Teach the robot operation position on the workpiece. Then recognize the taught workpiece with the camera. 2) Calculate the relative position between the result position of image recognition and the teaching position as the corrective position. Relative position between Result position of image recognition and teaching position...
  • Page 12 (2) Hand Camera Correction Method (2 -1) Output position of the vision sensor Result position of hand camera is outputted as camera coordinate system. Camera Camera Workpiece Center of camera coordinate Camera Result of image recognition on view camera coordinate system （PCAMDATA) Side view Top view...
  • Page 13 2) Calculate the relative position between the result position of imaging recognition and the teaching position 3) Calculate the operation position of the robot from a relative calculation between the result position of image recognition and the based corrective position. Result position of image recognition with teaching operation （PBVISION）...

  • Page 14: Camera Setup

    2. Camera setup 2.1. Stationary Camera Correction Method 1 (Upper side) 2.1.1. Program construction Program Description Explanation name Operation program Transporting the workpiece. Workpiece coordinate system This program registers the result of workpiece recognition and the – robot coordinate system taught grab orientation at the pick position.

  • Page 15: Robot Tool Setting ("Tl" Program)

    2.1.3. Robot Tool Setting (“TL” program) The tool data of the robot is calculated by adjusting the top of the hand tool to the center of the calibration point. The “TL” program is a program to calculate the tool data of the robot. Figure2-1-3-1 C-axis is 0 degree C Figure2-1-3-2 C-axis is 90 degree C (1) Operation procedure for tool setting...

  • Page 16: Camera Calibration Setting

    Select the [Live Video] of EasyBuilder and display the picture from the vision sensor in real-time. Refer to the “Mitsubishi Robot Tool for EasyBuilder Instruction Manual” for the operation of Mitsubishi Robot Tool for EasyBuilder. 4) Attach the calibration sheet within the field of the vision sensor while checking the live image of EasyBuilder.
  • Page 17 7) Selects the target point (1) At first, select the [Point 0] in [Edit Tool – Mcalib_1] pane and move the User-Defined Point onto the center of the calibration marking in the EasyBuilder view pane. Then press the [Enter] key. (2) Repeat the same procedure for Point1 to Point3 moving to each calibration marker.
  • Page 18 (7) To export the calibration data, click the “Export” button after specifying the file name in the calibration screen. The “Pass: Export Complete” message is displayed in the palette after the export is completed normally. The exported file is preserved in the vision sensor. It is necessary to import the calibration data when making the Job file.

  • Page 19: Make Job Program For Vision Sensor

    2.1.5. Make JOB program for vision sensor Trains the image of the target model. The vision sensor assigns pixel locations to identified workpiece features, that then are to be translated into robot coordinate system data. Please import the calibration data when you make a new job. (1) Example of making Job file Train image Select “Import”...

  • Page 20: Workpiece Recognition And Teaching ("C" Program And "Wk1" Program)

    2.1.6. Workpiece Recognition and Teaching (“C” program and “WK1” program) At first, teach the operation position (pickup position or placement position) of workpiece. Then recognize the taught workpiece by vision sensor and register the result data as based recognition data. (1) Operation procedure 1) Set the workpiece into the search area of vision sensor.

  • Page 21: Setting Of Adjustment Variables ("1" Program)

    2.1.7. Setting of Adjustment Variables (“1” program) This chapter explains operations required to run “1” program. (1) Setting of variables 1) Open the robot program “1” using T/B. 2) Enter the model number in the X coordinate of the position variable “PNO” in the program. 3) Using T/B, close the opened “1”...

  • Page 22: Hand Camera Correction Method

    2.2. Hand Camera Correction Method 2.2.1. Program construction Program Description Explanation name Operation program Transporting the workpiece. Vision calibration program Calibration program for hand camera Workpiece coordinate system This program registers the result of workpiece recognition and the – robot coordinate system taught grab orientation at the pick position.

  • Page 23: Hand Camera Tool Setting ("Tlcam" Program)

    2.2.3. Hand Camera Tool Setting (“TLCAM” program) The relative position of the hand camera is calculated to adjust the center of the field of the hand camera to the center of the calibration point. The “TLCAM” program is a program to calculate the relative position from the tool position of the robot to the center of the field of the hand camera.
  • Page 24 The starting and ending positions of the two user-defined lines depend on the number of pixels of the camera. <Example> In case of “640 X 480” pixel Vertical line Start point : 320, 0 End point : 320, 480 Horizontal line Start point : 0, 240 End point : 640, 240...
  • Page 25 8-3) Move the robot to the position at the center of camera cross lines and adjust- to the sheet by JOG operation using the T/B. 8-4) Next “(4) Only the C axis is …..” execute step feed too. 8-5) The Tool data of the robot is changed to the center of the camera from the center of the robot flange.

  • Page 26: Hand Camera Calibration Setting ("B" Program)

    JOG operation using the T/B. 9-2) Next “(3) Calibration of Hand Camera…..” execute step feed too. 9-3) Explanation of operation procedure of the Mitsubishi N-Point calibration tool is below. (1) Select the [Inspect Part] in [Application Steps] pane. (2) Select the [MCalib_1] in [Palette] pane.
  • Page 27 （５） (6) Mitsubishi N-Point Calibration Mitsubishi N-Point Calibration in this sample creates the calibration data by using four points that become a pair on the screen relating to robot coordinates. (a) Click the data input point line (“Point0” to “Point3”) in “Edit Tool – Mcalib_1” pane.
  • Page 28 (d) Execute step feed to “14 Mov P0*(-10.00,+0.00,+0.00,+0.00,+0.00,+0.00) '2nd point” in robot program “B”. The robot moves to the second position for calibration setting. Then press the “Trigger” button. The camera image is displayed. (e) Click the “Point1” line in “Edit Tool – Mcalib_1” pane and move “User-Defined Point” to center of the calibration sheet.

  • Page 29: Workpiece Recognition And Teaching ("C" Program And "Wk1" Program)

    (j) To export the calibration data, click the “Export” button in the calibration screen. The information is displayed in the palette pane after the export is completed normally. ( j ) ( j ) （１） 2.2.5. Workpiece Recognition and Teaching (“C” program and “WK1” program) At first, teach the operation position (pickup position or placement position) of the workpiece.
  • Page 30 < Notes when teaching the work recognition position “PCVS*”. > The focus at camera tool adjustment position has been adjusted to be the upper surface of operation table. If workpiece is put at the camera recognition area, the focus is not appropriate at the upper surface of workpiece.

  • Page 31: Stationaly Camera Correction Method 2 (Lower Side)

    2.3. Stationaly Camera Correction Method 2 (Lower side) 2.3.1. Program construction Program Description Explanation name Operation program Transporting the workpiece. Vision calibration program Calibration program for hand camera Workpiece coordinate system This program registers the result of workpiece recognition and the –...

  • Page 32: Robot Tool Setting ("Tl" Program)

    2.3.3. Robot Tool Setting (“TL” program) The tool data of the robot is calculated by adjusting the top of the hand tool to the center of camera viewing field. Move the robot to the position of height for which the focus is suitable. The tool position of the robot hand is calculated to adjust the center of the viewing field of camera and the top of the robot tool.
  • Page 33 8) Operate the step execution according to the comment directions in the robot program. 8-1) Move the robot to the position that aligns the center of cross line of camera and the top of the caliblation jig of the robot by using JOG operation with the T/B. Drag and Drop the ”MELFA_CalibH.job“...

  • Page 34: Camera Calibration Setting ("B" Program)

    JOG operation with the T/B. 9-2) Next “(3) Calibration of Hand Camera…..” execute step feed to. 9-3) Explanation of operation procedure of the Mitsubishi N-Point calibration tool is below. (1) Select the [Inspect Part] in [Application Steps] pane.
  • Page 35 (6) Mitsubishi N-Point Calibration Mitsubishi N-Point Calibration in this sample create the calibration data by using four points that become a pair on the screen relating to robot coordinates. (a) Execute step feed to “15 Mov P0*(+10.00,+0.00,+0.00,+0.00,+0.00,+0.00) '1st point” in robot program “B”.
  • Page 36 (j) Execute step feed to “18 Mov P0*(+0.00,-10.00,+0.00,+0.00,+0.00,+0.00) '4th point” in robot program “B”. The Robot moves to fourth calibration point. (k) Click the “Point3” line in “Edit Tool – Mcalib_1” pane and move “User-Defined Point” to center of calibration jig. Then press the “Enter” key. (l) Press the “Get position”...

  • Page 37: Workpiece Recognition And Teaching ("C" Program And "Wk1" Program)

    2.3.5. Workpiece Recognition and Teaching (“C” program and “WK1” program) This method is used to correct the gap of the workpiece that the robot is holding. At first, teach the pickup position and the placement position of workpiece. Then, the workpiece that the robot is holding is recognized with a fixed camera and the result is registered.

  • Page 38: Calculation Procedure Of Correction Value Of Holding Workpiece

    2.3.6. Calculation procedure of correction value of holding workpiece The figure below is a diagram showing the procedure to correct the deviation of the workpiece the robot is holding. Notch 1. Gripping 3.The work piece Workpiece 2. Recognize the workpiece the workpiece to the corrected position...
  • Page 39 <STEP 2> From the result of vison recognition, Calculate the robot position (PVHND) Robot assuming the wokpiece is gripped at a correct position in the robot hand. The position of vision recognition. (Robot tool position) PVHND PVHND=PHVSDATA2*PBFLNG PHVSDATA2 The position of robot that Workpiece assuming the workpiece PBFLNG...

This manual is also suitable for:

Melfa cr751 seriesMelfa crn-700 series