Requirements
Device Configuration
- A SCARA robot is used as the manipulator.
The required operation for 6-axis robots stays the same as that for SCARA robots.
A hand suited for the parts is connected. - A camera fixed downward is used.
- The feeder’s backlight is used.
- A hopper is not used.
| Symbol | Items |
|---|---|
| a | Camera (Fixed downward) |
| b | Manipulator |
| c | Part place location (Pallet, Tray, etc.) |
| d | Feeder |
Connections and Adjustments
Make sure to check following:
- Epson RC+ is connected with the controller.
- The manipulator is connected with the controller.
- The feeder is connected with the controller.
- Vision Guide (PV or CV) is connected with the controller.
- The manipulator, camera, and the feeder are installed correctly.
- The adjustments of position, focus, and brightness have been completed.
Parts
- The part ID is "1".
- The part is simply shaped, and its surface features are the same on both sides. Parts are detected by the Vision’s Blob object (detection using area values).
Settings
Make sure to check following:
- The manipulator is registered in the system settings.
- The calibration for the Vision Guide has been completed.
- The tool setting for a robot has been completed.
Other Considerations
Handling of the errors described in the template code for the callback functions is implemented.