Robot vision iVY2 (RCX320 / RCX340)
A robot-integrated vision system that only the robot manufacturer Yamaha could create. Robot integration provides overwhelming ease of use.
Yamaha's own unique solution for integrated robot vision
Easy to use, and reduces the number of steps
Adding "eyes" to a robot significantly expands the range of applications.
Various application examples
Labeling device (affixing labels to food packages)
- Industry: food
- Robot used: YK500TW omnidirectional robot
- ADVANTAGE： Even if the incoming workpieces are irregularly spaced or positioned, labels can be affixed at the same position.
Sealant touch-up (engine block sealant)
- Industry: automotive
- Robot used: SXYX Cartesian robot
- ADVANTAGE: Even if the workpiece is skewed from its correct position, the skew and angle are detected, and the application path is automatically compensated.
Screw attachment position detection (television panel screw attachment)
- Industry: electronics
- Robot used: NXY Cartesian robot
- ADVANTAGE: Hole position is detected, and screws are fastened accurately.
Position compensation with upward-facing camera (installing irregularly-shaped parts on a circuit board)
- Industry: electronics
- Robot used: YK150XG SCARA robot
- ADVANTAGE: The roughly-positioned circuit board connector is picked up, the upward-facing camera is used to apply position compensation, and the part is mounted directly on the circuit board.
01 Auto-calibration Requires as little as 5 minutes
Easily complete high-precision calibration just by following a wizard! Even if equipment becomes misaligned, execute auto-calibration and resume operation.
02 Easy workpiece registration Requires as little as 3 minutes
From image acquisition, registration takes just three steps.
03 No need to make time-consuming connection settings. Dramatic reduction in setup time.
Comparison of setup time
04 No need to create a coordinate conversion program.
Dedicated robot language for vision is provided
05 Easy inter-operation with peripheral equipment.
The same controller provides unified control of robot, gripper, and lighting
06 Also supports moving camera.
Even if the camera is mounted on the robot, coordinates are automatically converted according to the robot's movement
01 Conveyor tracking
Ideal for "high-speed packaging" "arrangement" "high-speed transport of multiple types of items" such as pharmaceuticals, cosmetics, and food products.
The vision camera detects the position and orientation of parts moving on the conveyor, and the robot picks them up.
02 Control multiple robots for even more improvement in production efficiency.
03 Approximately double the search speed (compared to previous model)
Even numerous workpieces can be detected at high speed The search speed is approximately double that
The search speed is approximately double that of the previous model. Even a large number of workpieces can be detected at high speed. This can be used for a wide variety of applications, including molded plastic parts or food items.
04 Support for five-megapixel cameras
(Choose from 300,000 pixel, 1.3 megapixel, and 2 megapixel, and 5 megapixel)
05 Support for five-megapixel cameras
06 Decreased number of search detections
07 254 types can be registered
Setup changes require only that part numbers be changed.
08 Monitor output is provided
Monitor the operating status
Monitor the search status while making calibration settings or during automatic operation.
Contents of output
- Selected type / Captured image
- Search result (position, score, scale)
- Executed command
- Time required by command
DVI-I (supports digital monitor or analog monitor)
09 High-precision search even under low light
Edge search engine is built-in
Supports a variety of applications while being minimally affected by the external environment.
01 Preparatory evaluation and advice give you peace of mind
We borrow the workpiece from you, evaluate it, and submit an evaluation report. In addition, we draw on our wealth of experience and evaluation results to provide advice and training regarding selection and installation of robots and peripheral equipment.
02 Choose freely from Yamaha's lineup of robots
A low-cost and convenient robot vision system can be constructed using the models that are optimal for the customer's application.
Robot vision basic specifications
|Specification item||iVY2 unit|
|Number of screen pixels||648(H) × 494(V) (300,000 pixels, VGA)
1280(H) × 966(V) (1,300,000 pixels, SXGA)
1624(H) × 1236(V) (2,000,000 pixels, UXGA)
2592(H) x 1944(V) (5,000,000 pixels, QSXGA)
|Model setting capacity||254 models|
|Number of connectable cameras||Max. 2 cameras|
|Connectable camera||GigE camera PoE support|
|External interface||Ethernet (1000BASE-T)
* For setting and monitor operations
|External monitor output||DVI-I
* Also usable with an analog monitor by using a conversion adaptor.
Monitor resolution: 1024 × 768
|Power supply||DC24V +/- 10% 1.5A Max.|
|Dimensions||W 45 × H 195 × D 130 (iVY2 unit only)|
|Weight||0.8 kg (iVY2 unit only, when the lighting control board option is selected)|
|Search method||Edge search (correlated edge filter, Sobel filter)|
|Image capturing||Trigger mode||S/W trigger, H/W trigger|
|External trigger input||2 points|
|Function||Position detection, automatic point data generation|
|Camera installation position||Fixed to the fixed camera (up, down) or robot (Y-axis, Z-axis).
Perpendicular to the workpiece to be captured.
|Setting support function||Calibration, image save function, model registration*, fiducial mark registration*, monitor function*
* iVY2 Studio function (requires a Windows PC)
|Lighting control options||Number of connectable lighting units||Max. 2 lighting units|
|Modulated light format||PWM modulated light control (0 to 100%), PWM frequency switchable 62.5 kHz/125 kHz|
|Continuous light, strobe light (follows camera exposure)|
|Lighting power input||12VDC or 24VDC
(external supply shared by both channels)
|Lighting output||For 12VDC supply: Total of less than 40W for both channels.
For 24VDC supply: Total of less than 80W for both channels.
Tracking board basic specifications
|Specification item||Tracking board|
|Number of connected encoders||up to two units|
|Encoder power supply||DC5V (less than 500 mA total for two counters) (provided by controller)|
|Applicable encoders||26LS31 / 26C31 equivalent line driver (RS422 compliant)|
|Input phase||A, A, B, B, Z, Z|
|Highest response frequency||2 MHz or lower|
|Counter||0 to 65535|
|Other||disconnection detection function is provided|