B-83304EN-6/01 6.

VISION PROCESSES

6.3 DEPALLETIZING VISION PROCESS

The Depalletizing Vision Process is a vision process that performs vertical-direction position offset in
addition to the regular two-dimensional position offset. The height of the workpiece is measured based
on the apparent size of the workpiece captured by the camera.

6.3.1 Setting up a Vision Process

If you open the setup page of [Depalletizing Vision Process], a screen like the one shown below appears.

If you tap [Tree] tab, a screen like the one shown below appears.

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Camera Calibration
Select the camera calibration you want to use.

Camera Setup
The name of the camera specified for the selected camera calibration is displayed.

Setting the Exposure Time

Set the camera's exposure time to be applied when running the vision process. For detailed information
about the individual items to be set, see Subsection 3.7.15, Setting Exposure Mode.

Multiple Locator Find Mode

If you have created more than one locator tool, select how to execute those tools.

Find Best
All the locator tools will be executed, and the best result will be chosen. This is effective when you
want to identify the type or put location reliability before processing time.

Find First
The locator tools will be executed sequentially from the top until the specified number of workpieces
has been found. The subsequent locator tools will not be executed once the number of found
exceeds the specified number. For your information, the duplicate check is executed every time
one locator tool is executed, the number of found, which is compared to the specified number, does
not included duplicated workpieces.

App. Z Mode
Specify how to calculate the height of the workpiece.

Calc. From Found Scale

The Z-direction height of the workpiece will be calculated from the found workpiece size.
When [Use layer height] is checked, the number of the layer at which the workpiece is placed is
determined from the size of the workpiece found by the vision process. The position of the
workpiece is calculated based on the height information corresponding to the layer. The height can
be calculated stably even when there is a little size measurement error because the same height
information is used for each individual layer.
When [Output layer] is checked, the determined layer of the workpiece can be output to the vision
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register as a measurement value. Specify the number of the measurement value to which to output
the tier in [No.].

Use Register Value

The value stored in the specified register of the robot controller will be used as the Z-direction
height.

Number to Find
Enter the maximum number of workpieces to be found per measurement. The specifiable range is 1 to
100.

Offset Frame
A 2D vision process measures the displacement of a workpiece on a plane. The plane is called offset
plane. The offset plane is defined as a plane parallel to the XY plane of the offset frame. Here, specify
the offset frame. If you have chosen [Fixed Frame Offset] for [Offset Mode], specify a user frame as the
offset frame. If you have chosen [Tool Offset] for [Offset Mode], specify a user tool. The following
are examples of the offset frame in the case of Fixed Frame Offset.

Z
Z
User
User
X
X
X

When the workpiece is moved horizontally When the workpiece is moved on an inclined plane:

NOTE
The Z height of the offset plane is specified as [Reference Height] discussed
below. Here, you determine the gradient of the offset plane.

Image Logging Mode

Specify whether to save images to the vision log when running the vision process. Note that when the
vision log is disabled on the Vision Config page, images are not saved.

Do Not Log
Do not save any images to the vision log.

Log Failed Image

Save images only when the vision operation fails.

Log All Image

Save all images.

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CAUTION
The execution of the next vision process cannot start until the image logging
operation for the preceding vision process execution is completed. The time
required to save images depends on the type of storage device in use. Use this
function after checking whether the delay of saving the images is acceptable for
your application.

Setting the Sorting Parameters

Set the sorting parameters to be applied when more than one workpiece has been found. For details, see
Subsection 3.7.16, Sorting.

Delete Duplicates If <

The position and angle of each found result is checked to see whether the result is the same as another
result. If there are multiple found results within the specified pixels and angle, the results are assumed
to indicate the same workpiece and only the found result with the highest score is output.

Reference Data
The reference data is used to calculate offset data from the found result. The reference data mainly
consists of two types of data described below.

App. Z Coordinate
This item is used to determine the Z-direction height of the workpiece. If you have chosen [Use
Register Value] in [App Z Mode], specify the number of the register of the robot controller that
stores the Z-direction height. If you have chosen [Calculate From Found Size] in [App Z Mode],
specify two sets of Z-direction height and size data used as the reference.

Reference Position
Position of the workpiece found when the robot position is taught. The offset data is the difference
between the actual workpiece position found when running the vision process and the reference
position.

A vision process might have more than one set of reference data. Under normal conditions, only one set
of reference data is used. However, for example, if there are two types of workpiece, the vision process
uses two sets of reference data because it needs to set the parameters and reference position to determine
the Z-direction height for each workpiece.

Adding reference data

You can add or delete reference data as follows.

1 Tap button.
2 In [Model ID], enter the model ID for which to use the reference data.

Deleting reference data

You can delete reference data as follows, if there is more than one set.

1 Select the reference data you want to delete using the index drop-down list
2 Tap button.
3 A popup message is displayed to confirm. Press F4 OK.

Register Number
Use this item when [Use Register Value] is chosen in [App. Z Mode]. Specify the number of the
register that stores the workpiece height.
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Layer error threshold

The layer at which the workpiece is placed is automatically determined based on information of the found
size and height corresponding to the reference layer taught in advance. The calculated layer may have a
margin of error depending on the found size. Set a value between 1% and 50% as the permissible
calculation error in [Layer error threshold]. For example, assume that a value of 20% is specified.
When the height of the workpiece calculated from the found size is within a range between 20% of the
reference height for the layer, the layer is determined. If the height is outside the range, an alarm is
issued because the layer cannot be determined.

Setting the Reference Height and Size

Use this item when [Calculate From Found Scale] is chosen in [App. Z Mode]. Set the relationship
between the actual Z-direction height of the workpiece and the apparent size of the workpiece captured by
the camera.
1 Place one workpiece, and touch up the workpiece surface using touch-up pins. Enter this height
data in [Reference Height 1].
2 Press F3 SNAP and then press F4 FIND to find the workpiece. Then, tap the [Set Scale] button and
set [Reference Scale 1].
3 Place n workpieces, and touch up the workpiece surface using touch-up pins. Enter this height data
in [Reference Height 2].
4 Press F3 SNAP and then press F4 FIND to find the workpiece. Then, tap the [Set Scale] button and
set [Reference Scale 2].

Setting the Reference Layer

Use this option when [Use layer height] is checked in [App. Z Mode]. Enter the number of the tier
containing the workpiece with which the reference height and size are set.

Reference Position Status

If the reference position is set, [Trained] is displayed in green; otherwise, [Not Trained] is displayed in
red.

Reference Position X,Y,Z,R

The coordinates of the set reference position are displayed.

Offset Limit
Specify the condition used to check whether the calculated offset value is within the specified range. By
default, [None selected] is set, in which case the offset limit check is not made. For information about
the offset limit check conditions, see Section 8.2, OFFSET LIMIT.

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