Mitsubishi Industrial Robot / Network Vision Sensor Configuration Tool Example of System Configuration
O pti on Item Robot controller Robot arm MELFA-Vision software Expansion option box Ethernet interface card Basic network Vision sensor vision sensor Breakout cable Network cable set Lens 24-V power supply Personal computer Hub Ethernet cable (straight) Lighting device
Manufacturer Quantity 1 1 <9> <8> 1 Personal computer Mitsubishi 24-V power supply <3> (1) <10>Hub tool Electric <6> 1 <4> CR1-EB3 <5> 1 2A-HR533 1 <6> In-Sight 5000 Series <11> <11> 1 <7> Cognex <4> Cognex 1 Ethernet card (10BASE-T) Cognex 1 <8> C-mounted lens (*9) <2> Robot 1 <9> Cognex - (*10) MELFA-Vision <10> 1 software <1>Robot Controller 2 <11> CRn-500 Series 1 <3> Expansion option * 9) Select from general-purpose C-mounted lenses. (CS-mounted- lens can also be used for 5400R.) <5> Network Vision Sensor 5000 Series
<7>
MODEL 3D-51C-WINE
box CR1-EB3
No. <1> <2>
Model CRn-500 Series All models 3D-51C-WINE
Remarks Software version K6 or later
For CR1 controller Software version 3.20 or later
MITSUBISHI INDUSTRIAL ROBOT
For CR-500 Series
Network Vision Sensor Configuration Tool
MELFA-Vision software
Provided by the customer (*11)
* 10) For the 24 VDC ( 10%) power supply, the vision sensor requires a minimum of 350mA (5403: a minimum of 500mA/5400R: a minimum of 250mA). * 11) The items indicated in need to be provided by the customer.
Applications • Loading/unloading of machining parts
• Placement of processed food on pallets
• Alignment and palletization • Assembly of small of electronic components electrical products
• Alignment of parts
• Mounting of small electronic components
Optional Configuration (COGNEX) Name Ethernet cable Straight out type
Breakout cable (power cable) Straight out type
Camera cable (for 5400R) Straight out type
I/O module Terminal block conversion module I/O extension module (8 inputs/8 outputs)
Model
Quantity
Remarks
CCB-84901-1002-02 CCB-84901-1003-05 CCB-84901-1004-10 CCB-84901-1005-15 CCB-84901-1006-30
1 1 1 1 1
2m 5m 10m 15m 30m
CCB-84901-0101-02 CCB-84901-0102-05 CCB-84901-0103-10 CCB-84901-0104-15
1 1 1 1
2m 5m 10m 15m
CCB-84901-0303-05 CCB-84901-0304-10 CCB-84901-0305-15
1 1 1
5m 10m 15m
CIO-1350 CIO-1450
1 1
Name I/O module cable Straight out type
Power-supply unit 24-V power supply unit
Model
Quantity
Remarks
CCB-84901-0901-02 CCB-84901-0902-05 CCB-84901-0903-10 CCB-84901-0904-15
1 1 1 1
2m 5m 10m 15m
PS-KIT-1
1
100V 24V conversion adapter
Dedicated lighting for In-Sight 5000 Series IFS-DRL-050 Diffused ring light (red) IFS-RRL050 Direct ring light (red) IFS-WRL050 Direct ring light (white) Operation manual (bound) BFP-A8520 MELFA-Vision Operation Manual
1 1 1 1
System Requirements Item Software Supported robot controllers Connectable robots Options (*15)
Specification Robot controller: Version K6 or later (*12) RT ToolBox: Version F3 or later (*13) All CRn-500 Series controllers All robots (*14) An Ethernet interface card (2A-HR533) is required.
MELFA-Vision Software
*12) With the versions K5 and earlier, vision sensor communication can be established by a combination of existing commands "OPEN/PRINT/INPUT/CLOSE". Versions K7 and later can communicate with a vision sensor to high-speed by improved command. *13) The version F2 or earlier does not support the dedicated MELFA-BASIC IV vision sensor commands, and thus errors occur in syntax check. If you are using RT ToolBox Version F2 or earlier, disable the syntax check. *14) Take note that if the tracking function is used, robot models that can be used will be limited. *15) An expansion option box is needed to use CR1/CR1B controllers with vision sensors. Install the Ethernet interface card (2A-HR533) in Option slot 1.
HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
Nagoya works, Mitsubishi Electric Corporation, has acquired certification for systems of environmental management under ISO 14001, and for quality management systems under ISO 9001.
http://Global.MitsubishiElectric.com/
EC97J1113
L(NA)-09023ENG-A 0703(MEE)
This brochure has been issued in Mar. 2007. The contents of this brochure are subject to change for improvements without notice. Contact with Mitsubishi when referring to this brochure.
Date of issue:Mar. 2007
MELFA-Vision Software Simplified connectivity to Cognex vision sensors, MELFA-Vision Provides ultimate ease of use! Though a joint development with Cognex, we have significantly improved the function and performance of our vision capabilities. With these user-friendly sensors, any one can create vision sensor applications with ease! What Is
Product Configuration
Network Vision Sensor?
A network vision sensor is an optional function that adds vision to a robot. Having "vision," robots can discriminate works to find those that require processing. Accordingly, robots equipped with a network vision sensor can perform various functions, such as transferring, processing, assembling, inspecting and measuring.
Features
Model
Item
Easy setup using MELFA-Vision software. • Easy programming using dedicated robot language commands. • Robots can be monitored remotely through Ethernet® communication to report image status.
(COGNEX provided by customer)
•
Specification Robot controller: Version K6 or later (*13) RT ToolBox: Version F3 or later (*14) All CRn-500 Series controllers All robots (*15) An Ethernet interface card (2A-HR533) is required.
Software Supported robot controllers Connectable robots Options (*16)
•System cost reduction through shared use of vision sensors Three robots and seven vision sensors can be combined into one system via Ethernet® connection.
*13) With the versions K5 and earlier, vision sensor communication can be established by a combination of existing commands "OPEN/PRINT/INPUT/CLOSE". Versions K7 and later can communicate with a vision sensor to high-speed by improved command. *14) The version F2 or earlier does not support the dedicated MELFA-BASIC IV vision sensor commands, and thus errors occur in syntax check. If you are using RT ToolBox Version F2 or earlier, disable the syntax check. *15) Take note that if the tracking function is used, robot models that can be used will be limited. *16) An expansion option box is needed to use CR1/CR1B controllers with vision sensors. Install the Ethernet interface card (2A-HR533) in Option slot 1.
•Extended variations available •
Remarks -
System Requirements
•Easy setup
•
Type 3D-51C-WINE
MELFA-Vision software
Standard and high-speed processing models High-resolution, color, and remote-head camera models
MELFA-Vision software MODEL 3D-51C-WINE
Specifications/Functions •Standard job programs supporting various types of operations are provided. Using these programs, even a first-time users can design vision sensor
•
Example of System Configuration
systems with ease. MELFA-Vision software is the only tool needed to easily and quickly customize vision applications. We have also developed original commands for network vision sensors to further simplify creation of required programs. You can be made easy to customize job by using dedicated software.
[1] MELFA-Vision is the only application required to set up vision sensors and robot controllers. [2] Easy calibration function that supports various camera installation positions. [3] Log function that allows the user to check sensor images at error occurrences on a personal computer.
2) Network vision templates (job library)
3) Enhanced position detection function High-speed image processing function can detect moving parts, including those rotated 360˚, at high speed.
Capture Image processing Interface Power supply Weight Environmental
Certification Lineup
*2) High-resolution, color and remote-head camera models correspond from Version1.1 of MELFA-Vision. *3) These performance values do not consider image capture speed (communication time). *4) The image capture speed is based on an exposure time of 8 ms and full image frame capture. *5) A lens cover (supplied with the sensor) conforming to the protection specifications under the NEMA standards is required. *6) One high-speed output is used for the flash. *7) I/O and Ethernet cables: The maximum bending radius is 38 mm. *8) The maximum operating temperature of the remote head is possible for 5400R up to 50˚C.
<10>Hub
<7> <8> <11>
[1] NVOPEN : Provides a set of commands integrating various vision sensor steps, such as logging in to the vision sensor system [2] NVPST : Provides a set of operation commands for starting a vision program, acquiring processing results, and more.
Standard 5100 Magnification ratio Camera
HighPerformance 5400
<11> <5>
<3> MELFA-Vision software
Ethernet card (10BASE-T)
<2> Robot
MODEL 3D-51C-WINE
<1>Robot Controller CRn-500 Series <4> Expansion option box CR1-EB3
• Lineup of network vision sensors (COGNEX)
Specification Ver. 3.2 or later Vision program storage area :32MB Image processing area :64MB 256 [greytones] (greyscale level) 16,777,216 [greytones] (Color Level) Pattern matching / Blob / Edge/Bar code/2D codes / Text comparison / Histogram / Color Ethernet (10/100BaseT) TCP/IP Communication lines: 3 lines 24VDC 10% 297.6 [g] (lens cover mounted, no lens) Ambient temperature : 0 -45˚C (operation) -30 -80˚C (storage) Ambient humidity : 95% (no condensation allowed) Protection : IP67 (When lens cover installed) CE, UL, CUL, FCC In-Sight 5100/5400/5400C/5401/5403/5400R
[1] Up to seven vision sensors can be controlled with a single robot controller. [2] One vision sensor can be controlled from up to three robot controllers. [3] All robot controllers and vision sensors can be debugged on a single personal computer.
<12> Personal computer tool
5) Dedicated commands for network vision sensors (MELFA-BASIC IV)
Templates (job library) supporting pattern matching, blob and color functions are ready to use.
Item Firmware Version Memory
<9> 24-V power supply
4) Ethernet® connection interface
1) “Network vision support software MELFA-Vision”
• Network vision sensor unit specifications (COGNEX)
<6> Network Vision Sensor 5000 Series
Color 5400C (*2)
High-Resolution 5401 5403 (*2) (*2)
Remote-Head 5400R (*2)
Average performance with x1 x 2.5 x 2.5 x2 x2 x2 standard edition as 1 (*3) 640 x 480 640 x 480 640 x 480 1024 x 768 1600 x 1200 640 x 480 Resolution 1/3 inch 1/3 inch 1/3 inch 1/3 inch 1/3 inch 1/1.8 inch CCD sensor size Color 0.032 to 1000 0.032 to 1000 0.032 to 1000 0.032 to 1000 0.027 to 1000 0.025 to 1000 Exposure[ms] Image capture speed 60 60 60 20 15 40 (frames/sec.) (*4) NEMA 6/IP67 Standard Camera (*5) 45 45 45 45 45 45/50 (*8) Ambient temperature Display option VGA board PC I/O option (*7) Trigger/high-speed output /2 /2 /2 /2 /2 /2 count (*6) I/O breakoutexpansion module Ethernet I/O support (512 input max./512 output) Interface (*7) Ethernet Integrated lighting option Lighting C C C C C C/CS Lens mounting C or CS 350mA 350mA 350mA 350mA 500mA 250mA Power supply The maximum current
Item Robot controller Robot arm MELFA-Vision software Expansion option box Ethernet interface card Basic network Vision sensor vision sensor set (*9) Breakout cable Network cable Lens 24-V power supply Lighting device Hub Ethernet cable (straight) Personal computer
No. <1> <2> <3> <4> <5> <6> <7> <8> <9> <10> <11> <12>
Model CRn-500 Series All models 3D-51C-WINE CR1-EB3 2A-HR533 In-Sight 5000 Series C-mounted lens (*10) - (*11) -
Manufacturer
Mitsubishi Electric
Cognex
-
Quantity 1 1 1 (1) 1 1 1 1 1 1 1 1 2 1
Remarks Software version K6 or later
For CR1 controller Software version 3.20 or later
Provided by the customer (*12)
* 9) This product is the software for connection and setting of the Mitsubishi Electric robot controller and the Cognex vision sensor. The specification of the vision sensor itself and specification change are outside the responsibility range of Mitsubishi Electric. * 10) Select from general-purpose C-mounted lenses. (CS-mounted lens can also be used for 5400R.) * 11) For the 24 VDC ( 10%) power supply, the vision sensor requires a minimum of 350mA (5403: a minimum of 500mA/5400R: a minimum of 250mA). * 12) The items indicated in need to be provided by the customer.
Mitsubishi Industrial Robot / Network Vision Sensor Configuration Tool
O pti on
Applications • Loading/unloadingof machining parts
• Placement of processed food on pallets
• Alignment and palletization of electronic components
MITSUBISHI INDUSTRIAL ROBOT
For CR-500 Series
Network Vision Sensor Configuration Tool
MELFA-Vision software • Assembly of small electrical products
• Alignment of parts
• Mounting of small electronic components
External Dimensions of Network Vision Sensor (COGNEX) <Network vision sensor 5100/5400/5400C/5401/5403>
Unit: mm (inch) 84.0 (3.34)
41.6 (1.64) 39.1 (1.54) 17.53 (0.686)
Optical axis
5.5 (0.22)
25.0 (0.98) TYP, 4 locations
98.1 (3.86)
25.4 (1.00) Plastic lens cover (optional)
TYP, 2 locations
124.7 (4.91)
109.4 (4.31)
33.0 (1.30)
Optical axis
30.0 (1.18)
Optical axis
72.6 (2.86)
41.2 (1.62)
Optical axis
31.0 (1.22)
A
Optical axis
5.7 (0.22)
TYP, 2 locations
61.6 (2.43)
C mount (1 - 32 screws)
M4 - 4.0-mm deep hole x 4
M4 - 8.0-mm deep hole x 4
A
3.2 (0.12)
36.0 (1.42) 19.8 22.4 (0.77) (0.88)
19.8 (0.78)
50.0 (1.97)
Optical axis
35.0 (1.38) View A-A
Optional Configuration (COGNEX) Name Ethernet cable Straight out type
Breakout cable (power cable) Straight out type
Camera cable (for 5400R) Straight out type
Model
Quantity
Remarks
CCB-84901-1002-02 CCB-84901-1003-05 CCB-84901-1004-10 CCB-84901-1005-15 CCB-84901-1006-30
1 1 1 1 1
2m 5m 10m 15m 30m
CCB-84901-0101-02 CCB-84901-0102-05 CCB-84901-0103-10 CCB-84901-0104-15
1 1 1 1
2m 5m 10m 15m
CCB-84901-0303-05 CCB-84901-0304-10 CCB-84901-0305-15
1 1 1
5m 10m 15m
Name I/O module Terminal block conversion module I/O extension module (8 inputs/8 outputs) I/O module cable Straight out type
Model CIO-1350 CIO-1450
CCB-84901-0901-02 CCB-84901-0902-05 CCB-84901-0903-10 CCB-84901-0904-15 Dedicated lighting for In-Sight 5000 Series IFS-DRL-050 Diffused ring light (red) IFS-RRL050 Direct ring light (red) IFS-WRL050 Direct ring light (white)
Quantity
Remarks
1 1 1 1 1 1
2m 5m 10m 15m
MELFA-Vision Software
1 1 1
HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
Nagoya works, Mitsubishi Electric Corporation, has acquired certification for systems of environmental management under ISO 14001, and for quality management systems under ISO 9001.
http://Global.MitsubishiElectric.com/
EC97J1113
L(NA)-09027ENG 0703(MEE)
This brochure has been issued in Mar. 2007. The contents of this brochure are subject to change for improvements without notice. Contact with Mitsubishi when referring to this brochure.
Date of issue:Mar. 2007