RCXiVY2+ (RCX320 / RCX340)
Yamaha's own unique solution for integrated robot vision.
Integrated Robot Vision System with
Simplicity / Sophistication / Assurance
Yamaha's own unique solution for integrated robot vision
Advanced RCXiVY2+ has been launched.
RCXiVY2+ New features
01 High speed positioning of irregular shaped parts (foods or clothes) NEW
Blob search function
Suitable for pick place or detection of parts with wide tolerance in shape and size, or high speed counting.
Detection speed is 2 to 10 times faster that edge detection.
02 Detection time is shortened up to 45%. NEW
Comparison of search time
03 Suitable for parts detection and high volume parts count NEW
Application examples *Subject to application and conditions.
- Detection of electronics components on PC board
- Detection of accessories in package
- Counting of the number of bottles in pallet
- Detection of food labels
- Detection of screws and washers that secure parts
- Checking drilled holes
- Counting of electronics components
04 Overlap can be eliminated. NEW
Overlapped workpieces are recognized and they can be excluded from the search target.
05 Detection with Speed NEW
Comparison of edge search and blob search
* Only doughnut shape workpieces are detected.
It's easy to use because it's an integrated robot.
01 Robot controller integrated type
Typical Robot Vision setup
- Time consuming robot coordinates alignment.
- Need to calculate compensation for moving camera setup.
- Operation deviation between the camera and robot due to communication time.
- Adjustment of communication format is needed.
- Simple calibration function is incorporated.
- Coordinates are corrected automatically even when the camera moves.
- High-speed connections through dedicated bus line.
- Controller is incorporated to provide the central operation.
- Applicable to all models of YAMAHA robot lineup.
02 Examples of program commands
【VSEARCH】Detect parts with designated camera
Camera and component type to be used for detection and the calibration data to be used can be switched with one command.
【VGETPOS】Acquires the coordinates of the detected workpieces.
The search results can be substituted into the point coordinates directly.
* The order to substitute into VGETPOS can be selected from the following.
1) Score order, 2) X coordinate, and 3) Y coordinate
【LVOLUME】Intensity of light is adjustable from 0 to 100% range
In detection mode intensity of light can be adjusted with one command.
Detection can be repeated with adjusted intensity.
Reduced start-up time
01 3 easy steps for parts registration
From image acquisition, registration takes just three steps.
02 Simple parts judgement process
Usage example of contour setting pen
When a workpiece with a partially different shape needs to be distinguished and recognized or when the top or bottom needs to be judged, the detection can be performed by painting the contours in different colors by combining the contour setting pen with the priority area pen and reduction area pen.
The score may slightly vary depending on the presence status of the protrusion. However, both are detected.
When no edge is detected in the area set as priority area, this is judged as NG and the workpiece is not detected.
When an edge is detected in the area set as unnecessary area, the score is reduced and the workpiece is not detected.
03 Simple calibration
Conventional equipment combining "image processing unit + robot" requires many steps in "calibration" that aligns the camera coordinates with the robot coordinates. With the RCXiVY2+ system, following the wizard to perform the opera-tion will complete the calibration easily within a short time. In addition, even when the setting position deviates, the calibration is executed and restored immediately.
04 Calibration is automated with the dedicated jig.
By automating the calibration using the advanced calibration function, highly accurate calibration can be achieved easily without depending on the operator’s skill.
The hand data can also be created automatically and the time necessary for the calibration is reduced greatly.
Since the dedicated jig is the standard part (option part), the jig does not need to be designed and manufactured and can be used immediately.
05 Setup time reduced greatly
When using third-party vision, a coordinate conversion program needs to be created in the robot controller since the robot coordinate data differs from the vision format.
In RCXiVY2+, vision system is incorporated in robot controller the robot coordinate data can be stored into the robot point data using single process. This ensures very simple operation. Additionally, the unified control of the camera control and light control can be performed using the robot program. Start-up process will be greatly simplified.
Comparison of setup time
06 Easy link with peripheral equipment
One controller provides unified control of robot, gripper, and lighting.
07 System configuration illustration
* Shows a system configuration example of the RCXiVY2+ unit (with light control board option).
* To the STD.DIO, ACIN, and SAFETY connectors not shown.
01 Easy-to-use programming software RCXiVY2+ Studio
With programming software “RCXiVY2+ Studio”, all vision related operations such as registration of fiducial marks and workpieces used for calibration (contour settings, various parameter settings, and read range settings), backup, restore operation, and operation monitor can be performed.
- Search trial-run, part type registration
- Reference mark registration (for calibration)
- Up to 254 workpiece types can be registered.
- Workpiece can also be added easily.
- Up to 100 workpieces can be detected at once.
- Data backup
- This software functions as a monitor during program operation.
02 Easy programming
Constructing the most suitable robot vision system for an application.
RCX-Studio 2020 program template function
Program is created automatically simply following step-by-step operating process
RCX3 series programming software RCX-Studio 2020 also has following five templates for vision system:
- Pallet picking using the vision
- Dispensing work using the vision
- Gripping deviation correction using the vision
- Gripping deviation and mounting position correction using the vision
- Gripping deviation and mounting position correction using the vision (without using any master)
03 Wide variety of robot system to choose from most suitable and economical solution for robot vision system
04 Up to 254 types of parts registration
05 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.
06 Monitor output
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)
07 Lens distortion and camera inclination correction function
Mounting accuracy is improved. Camera is installed in the inclined status.
** Up to approx. 15 degrees
08 Also supports moving camera
Even if the camera is mounted on the robot, coordinates are automatically converted according to the robot's movement.
09 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.
Operating conditions: YK500XG / payload 1 kg (total of workpiece and tool) / horizontal movement 250 mm / vertical movement 1 mm / conveyor speed 100 mm/sec
10 Improving productivity by controlling multiple robot systems
Support System as a Robot Manufacturer
01 Verifying application prior to purchase
User’s application is verified using actual sample parts before making a purchase decision.
Based on the evaluation result, recommendation will be made for most suitable and economical solution.
Robot vision basic specifications
|Basic specifications||Applicable controllers||RCX340/RCX320|
|Number of screen pixels||728(H) × 544(V) (400,000 pixels)
1456(H) × 1088(V) (1,600,000 pixels)
2048(H) × 1536(V) (3,200,000 pixels)
2592(H) × 1944(V) (5,000,000 pixels) Note1
|Model setting capacity||254 models|
|Number of connectable cameras||2 cameras|
|Connectable camera||GigE camera PoE: IEEE802.3af 1 ch up to 7W|
|External interface||Ethernet (1000BASE-T) Note2
USB 2.0 2Ch (Up to 5V 2.5W / ch) Note3
|External monitor output||DVI-I Note4
Monitor resolution: 1024 × 768
Vertical periodic frequency: 60 Hz
Horizontal periodic frequency: 48.4 kHz
|Power supply||24 VDC +/-10%, Maximum 1.5 A|
|Dimensions||W45 × H195 × D130 (RCXiVY2+ unit only)|
|Weight||0.8kg (RCXiVY2+ unit only, when the lighting control board option is selected)|
|Operating environment||Compliant with the RCX340/RCX320 controller.|
|Storage environment||Compliant with the RCX340/RCX320 controller.|
|Search method||Edge search (correlated edge filter, sobel filter), Measurement function, Blob search|
|Image capturing||Trigger mode||S/W trigger, H/W trigger|
|External trigger input||2 points|
|Function||Position detection, coordinate conversion, automatic point data generation, distortion and inclination correction|
|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 Note5, fiducial mark registration Note5,
measurement function registration Note5, blob registration Note5, monitor function Note5
|Lighting control options||Number of connectable lighting units||Maximum 2|
|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 output||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.
Note1. Since the rolling shutter is used, the tracking is not supported.
Note2. For setting and monitor operations
Note3. It is planned to support this USB later.
Note4. Also usable with an analog monitor by using a conversion adaptor.
Note5. RCXiVY2+ Studio function (requires a Windows PC)
Tracking board basic Specifications
|Basic specifi cations||Applicable controllers||RCX340/RCX320|
|Number of connected encoders||Up to 2 units.|
|Encoder power supply||5VDC (2 counters total 500 mA or less) (Supplied from controller)|
|Applicable encoder||26LS31/26C31 or equivalent line driver (RS-422 compliance).|
|Input phase||A, A, B, B, Z, Z|
|Max. response frequency||2MHz or less|
|Counter||0 to 65535|
|Other||With disconnection detection function|