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Basic Information
Robot setup made totally simple! Introducing true robot vision
CE,UKCA Approved
Features
4 functions reduce robot setup time.
1.Auto calibration function
By simply registering 3 or 4 capture coordinates with the PV260, you can easily convert the camera's coordinate system to the robot's coordinate system.
2.Teaching support function
Improving on previous teaching operations that were carried out while manipulating a dedicated robot pendant, robot teaching can now be done on the PV260 setup screen while viewing the captured image. Intuitive teaching can now be achieved using keypad operation.
3.Robot tool offset function
By simply registering two coordinates for the tool installed on the robot, the tool's coordinate system can be automatically calculated and converted to the robot's coordinate system.
4.Direct communication function
Direct communication is possible with different manufacturer’s robot. PLC programming time can be reduced, because communication can be achieved by simply selecting the robot maker and type.
Robot can be moved using keypad operation. Adjustment of capture position is easy with features such as auto calibration and teaching support.
Robot vision inspection result can be replicated on a PC.
The continuous simulation and data logging functions facilitate setting data creation, corrections and verifications.
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Screw fastening (Desk robot)
Lens adhesion (Cartesian coordinate robot)
Palletizing of IC (SCARA robot)
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System Configuration
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Specifications
Functional specifications
| Item | Specifications | |||||
|---|---|---|---|---|---|---|
| CPU | 32-bit, RISC CPU & DSP | |||||
| Input/output | Cameras | Up to two cameras selected from among 0.3M grey/grey compact/color cameras (640 x 480), 0.3M color compact camera (640 x 478) and 2M grey/color cameras (1,600 x 1,200) can be connected. Up to two 4M grey cameras can be connected. (Note 1) | ||||
| Monitor output | Analog RGB (640 x 480) output | |||||
| Memory card | SD/SDHC memory card | |||||
| PLC communication compatible models (RS-232C) | ・Panasonic Industry : FP series ・OMRON : C, CV, and CS1 series ・Mitsubishi Electric : A, Q, FX, and FX2N series ・Fuji Electric : MICREX-SX SPH series ・Allen-Bradley : SLC500 series | |||||
| Modbus RTU compatible (performance confirmed with Siemens S7-1200) | ||||||
| PLC communication compatible models (Ethernet) | ・Panasonic Industry : FP series, ET-LAN unit ・Mitsubishi Electric : Q series ・Yokogawa Electric : FA-M3 series | |||||
| PLC communication command | Specifiable external command instruction using PLC communication Command input format: polling / parallel input | |||||
| Parallel | 14 inputs / 15 outputs | |||||
| Keypad input | Connector for dedicated keypad (ANPVP**), 1 channel | |||||
| USB | USB 2.0, A-B type (Only PVWIN200) | |||||
| Menu display | Four languages (five fonts), Switchable (Japanese, English, Korean, Traditional Chinese and Simplified Chinese) | |||||
| Monitor display | Split-screen display of up to two camera images, Zoom function (2 to 400%) Image display: Through/Memory/NG object images Display effects: Greyscale/Slice level group/Preprocessing group/Color/Extraction and binary/Grey conversion image, Display area (640 x 480) | |||||
| Processing methods | Greyscale processing/Thresholding processin/Color extraction/Grey conversion | |||||
| Processing resolution | 2M camera (grey/color): 1,600 horizontal x 1,200 vertical pixels 0.3M camera (grey/grey compact/color): 640 horizontal x 480 vertical pixels 0.3M camera (color compact): 640 horizontal x 478 vertical pixels 4M camera (grey): 2,048 horizontal x 2,048 vertical pixels | |||||
| Trigger input | Select from: All cameras or detection trigger | |||||
| Number of connected cameras | Up to two cameras | |||||
| Camera connection | Connection by Power Over Camera Link (PoCL) | |||||
| Capture method | Frame shooting only. Capable of partial capture of one point In partial capture mode, the minimum capture area to be set for the 0.3M/4M camera is one line, and that for the 2M camera is 100 lines. (The area can be set in increments of one line for the grey camera, and two lines for the color camera.) | |||||
| Shutter speed | 30 μs to 1,000 ms (Set in increments of 10 μs) However, 0.3M grey compact camera is 100μs to 500 ms (Set in increments of 10μs) | |||||
| Gain setting range | 1.0 to 5.0 | |||||
| Number of product types | 256 types max. (depends on setting data) | |||||
| Password | Switching from the current operating screen to the setup screen can be password controlled (within 15 characters). Administration classification: invalid/valid (limit setting screen transition and limit regular menu switching) | |||||
| Inspection functions (Checkers) | 1,000 checkers/product type max., including those for geometry calculation and character/figure drawing (depends on setting data) Position adjustment, Position rotation adjustment, Rotation adjustment area size adjustment, Line, Binary window, Grey window, Binary edge, Grey edge, Feature extraction, Smart matching, Contour matching, Flaw detection, Connector (binary window), Connector (grey window), Connector (grey edge), Smart edge (circles), Smart edge (line), Color window, Code Reader * Number of range masks: 16 ranges/checker * Maximum registrable number of smart matching and contour matching templates: 2,000 pcs. | |||||
| Geometry calculation | 1,000 checkers/product type max., including those for inspection functions and character/figure drawing (depends on setting data) Eight calculation functions (distance between two points, intersection of two lines, median lines of two lines, perpendicular distance, approximate straight line, approximate circle, and approximate ellipse) | |||||
| Character/Figure drawing | Up to 10,000 characters/graphics (1,000 checkers x 10)/product type can be displayed on the images (depends on setting data). | |||||
| Inspection operation mode | Sequential processing: After completing the result output, the next image capture for inspection can be started. Parallel processing: After the capture and the synchronized output of results of the previous inspection are completed, the image capture process for the next inspection is ready to start, and then the capture and inspection results output are processed concurrently. | |||||
| Slice level group | 16 group/camera, 256-grey scale (0 to 255) | |||||
| Image preprocess | Preprocessing selections: Grey conversion / Color extraction / Grey preprocessing | |||||
| Grey conversion | Available only when a color camera is connected. For each product type, 16 groups/camera Each R/G/B value setting for grey conversion can be changed within the range of -1,000 to 1,000. | |||||
| Color extraction | Available only when a color camera is connected. Color extraction mode: Selectable between high speed and expansion Number of extractable colors; High speed: A total of 16 colors when one camera is connected and eight colors when two cameras are connected. Expansion: A total of 128 colors when one camera is connected and 64 colors when two cameras are connected. Only eight registered colors can be selected from one checker. | |||||
| Grey preprocessing | For each product type, 16 groups/camera, 10 stages max. Preprocessing filters: 21 types (Dilation, Erosion, Erosion → Dilation, Dilation → Erosion, Auto correction, Grey cut, Area averaging, Correction settings, Median, Smoothing, Sobel, Prewitt, Laplacian, Edge extraction X, Edge extraction Y, Sharpen, Tophat, Dynamic, Grey difference, Rotation, and Reflect) | |||||
| Numerical calculation | 1,000 formulas/product type max., including those for judgement output (depends on setting data) Calculations involving output values of inspection functions | |||||
| Operators | Four fundamental operations (+, -, x, ÷), Bracket operations, Trigonometric functions (14 types), Comparison functions (6 types), Math functions (15 types), Geometry functions (18 types), Coordinate conversion functions (8 types) | |||||
| Statistic data operation items | Scan count/OK count/NG count/Average/Variance/Max./Min./Range/OK average/OK variance/OK judgment max./OK judgment min./OK range/NG average/NG variance/NG judgment max./NG judgment min./NG range User limit: 1,000 items /product type max. | |||||
| Other operation items | Previous data of numerical calculation and judgment results, general-purpose registers | |||||
| Number of reference operators | 16 items/formula max. | |||||
| Judgement output | 1,000 formula/product type max., including those for numerical calculation (depends on setting data) Substitution for and logical calculation of judgement results from checkers and numerical calculations | |||||
| Operators | NOT/AND/OR/XOR/Brackets | |||||
| Number of reference items | 16 items/formula max. | |||||
| Others | Total judgment conditions, save image conditions, Image output conditions, parallel output setting (8 outputs from OUT0 to OUT7 and 16 outputs from OUT0 to OUT15, or all setting output) | |||||
| Collective moving | Collective movement of set checkers in units of position/rotation adjustment groups Specify the "Move" or "Not move" option for each checker type. However, position and rotation adjustment checkers cannot be moved. | |||||
| Marker | 8 markers/product type max. for each camera, Graphic display on the operation screen, Selectable from six colors | |||||
| Shapes | Rectangle/Circle, Ellipse/Polygon/Line/Cross | |||||
| Data R/W | Two-window display of up to 80 (5x16) cells/product type on screen in table form in RUN mode Substitution of title input, checker conditions/results, numerical calculation results, numerical calculation judgment results, judgment results, statistical results possible. Change of upper/lower limits of numerical computation in the table in RUN mode possible. | |||||
| Select menu | Maximum registrable number of arbitrary setup items in setup screen on menu: 16 items x 50 pages/type. | |||||
| Registration information | Button / Text / Page move / Separator | |||||
| Button allocation method | FUNC key for item / Selection from list | |||||
| Others | Page name registration possible | |||||
| Calibration | Coordinates, coordinate origin, horizontal and vertical coefficients can be set for each camera to obtain actual dimensions for each product type. | |||||
| Processing method | Unit conversion / 1 point coordinate conversion / 2 point coordinate conversion / 3 points coordinate conversion | |||||
| Operation method | Static / Dynamic | |||||
| Standard registration | Arbitrary position / Smart matching / Contour matching / Intersection / Centre of circle / Feature extraction | |||||
| Conversion data | Coordinates, coordinate origin, horizontal and vertical coefficients can be set for each camera to obtain actual dimensions. | |||||
| Others | Comment input | |||||
| Template re-registration settings | Position | Set position/Adjusted position | ||||
| Display | Yes/No | |||||
| Execution mode | All execution | Execution of all checkers | ||||
| Branch execution | Destination blocks (0 to 9) can be set. | |||||
| Designated execution | Blocks to be executed (0 to 9) can be set. | |||||
| External input/output functions (Note 2) | ○: Applicable, ×: Inapplicable | Parallel | Serial | Ethernet | SD memory card | |
| Input | Inspection start instruction | ○ | ○ | ○ | — | |
| Re-inspection start instruction | ○ | ○ | ○ | — | ||
| Product type change instruction | ○ | ○ | ○ | — | ||
| Template re-registration instruction | ○ | ○ | ○ | — | ||
| Display layout switch instruction | ○ | ○ | ○ | — | ||
| Operation/stop switch instruction | ○ | ○ | ○ | — | ||
| Statistics reset instruction | ○ | ○ | ○ | — | ||
| Error reset instruction | ○ | ○ | ○ | — | ||
| Instruction to save setting data in the built-in memory | ○ | ○ | ○ | — | ||
| Instruction to save setting data in the SD memory card | ○ | ○ | ○ | — | ||
| Instruction to read setting data from the built-in memory | ○ | ○ | ○ | — | ||
| Instruction to read setting data from the SD memory card | ○ | ○ | ○ | — | ||
| Instruction to cancel the saving/reading of setting data | ○ | ○ | ○ | — | ||
| Instruction to save the image memory in the SD memory card | ○ | ○ | ○ | — | ||
| Instruction to erase the image memory | ○ | ○ | ○ | — | ||
| Instruction to print the screenshot | ○ | ○ | ○ | — | ||
| Inspection/processing cancellation instruction | ○ | ○ | ○ | — | ||
| Instruction to save the latest inspection image | ○ | × | × | — | ||
| Instruction to read/change the set value | × | ○ | ○ | — | ||
| Instruction to prohibit the keypad screen operation | × | ○ | ○ | — | ||
| Keypad emulation instruction | × | ○ | ○ | — | ||
| PLC communication command read instruction | ○ | × | × | — | ||
| Output | Scanning operation count | ○ | ○ | ○ | ○ | |
| Total judgement output | ○ | ○ | ○ | ○ | ||
| Judgement calculation (JD) result output | ○ | ○ | ○ | ○ | ||
| Numerical calculation result output | ○ | ○ | ○ | ○ | ||
| Image output | × | × | ○ (Note 3) | ○ | ||
| Screenshot output | × | × | ○ (Note 3) | ○ | ||
Notes:
1)The 4M grey camera cannot be used in combination with another type of camera.
The ANPVC82□ dedicated compact camera cable is required to connect the compact cameras.
2)USB cannot be used for the external input/output functions.
3)Image and screenshot output functions via Ethernet are received by dedicated software, Image Receiver for PV.
General specifications
| Item | Specifications |
|---|---|
| Rated operating voltage | 24 V DC |
| Operating voltage range | 21.6 to 26.4 V DC (including ripples) |
| Rated current consumption | 1.2 A max. |
| Ambient temperature during use | 0 to +45 ℃ 32 to +113 ℉ (However, no condensation or no freezing) |
| Storage ambient temperature | -20 to +60 ℃ -4 to +140 ℉ (However, no condensation or no freezing) |
| Ambient humidity during use | 35 to 85 % RH (at 25 ℃ 77 ℉, However, no condensation or no freezing) |
| Storage ambient humidity | 35 to 85 % RH (at 25 ℃ 77 ℉, However, no condensation or no freezing) |
| Noise immunity | 1,000 V, Pulse width: 50 ns, 1 μs (using the noise simulator method) |
| Vibration resistance | 10 to 55 Hz, 1 sweep/min, double amplitude of 0.75 mm 0.03 in, 30 minutes each in the X, Y, and Z directions |
| Shock resistance | 196 m/s2, 5 times each in the X, Y and Z directions |
| Insulation resistance (initial value) | 100 MΩ or higher (measured by a 500 V DC megger)(Note 1) Input and output terminals -- Power and ground terminals Input and output terminals -- Non-energized metal part Power terminal -- Non-energized metal part |
| Breakdown voltage (initial value) | 500 V AC for 1 min (600 V AC for 1 sec), Cutoff current: 10 mA (Note 1) Input and output terminals -- Power and ground terminals Input and output terminals -- Non-energized metal part Power terminal -- Non-energized metal part |
| Battery life | 10 years approx. (at 25 ℃ 77 ℉) |
| Weight | 0.5 kg approx. (including terminal blocks) |
| Pollution degree | 2 |
Note :
1) The evaluation was carried out with the primary side power supply varistor and capacitor removed from the internal circuit of the unit.
Camera specifications
| Item | Specifications | ||
|---|---|---|---|
| Type/Part No. | 4M grey / ANPVC1470 | 2M grey / ANPVC1210 | 0.3M grey / ANPVC1040 |
| Capture element | 2/3-inch CCD fixed image element | 1/1.8-inch CCD fixed image element | 1/3-inch CCD fixed image element |
| Pixels | 2,048 horizontal x 2,048 vertical pixels | 1,600 horizontal x 1,200 vertical pixels | 640 horizontal x 480 vertical pixels |
| Pixel size: 3.45 μm x 3.45 μm (Square pixels) | Pixel size: 4.4 μm x 4.4 μm (Square pixels) | Pixel size: 7.4 μm x 7.4 μm (Square pixels) | |
| Frame rate | 16 frames/sec max. | 30 frames/sec max. | 120 frames/sec max. |
| Lens mount | C mount | ||
| Ambient temperature during use (Note 1) | 0 to +40℃ +32 to +104 ℉ | 0 to +40℃ +32 to +104 ℉ | 0 to +45℃ +32 to +113 ℉ |
| Ambient humidity during use (Note 1) | 35 to 85% RH (at 25 ℃ 77 ℉) | ||
| Vibration resistance | 10 to 55 Hz, 1 sweep/min, double amplitude of 1 mm 0.04 in, 30 minutes each in the X, Y, and Z directions | ||
| Shock resistance | 490.3 m/s2, 1 time each in the X, Y and Z directions | 700 m/s2, 3 times each in the X, Y and Z directions | |
| Weight (Excluding the lens) | 125 g approx. | 65 g approx. | 65 g approx. |
| Item | Specifications | |||
|---|---|---|---|---|
| Type/Part No. | 0.3M color compact / ANPVC6030 | 0.3M grey compact / ANPVC5030 | 2M color / ANPVC2260 | 0.3M color / ANPVC2040 |
| Capture element | 1/3-inch CMOS fixed image element | 1/3-inch CMOS fixed image element | 1/1.8-inch CCD fixed image element | 1/3-inch CCD fixed image element |
| Pixels | 640 horizontal x 478 vertical pixels | 640 horizontal x 480 vertical pixels | 1,600 horizontal x 1,200 vertical pixels | 640 horizontal x 480 vertical pixels |
| Pixel size: 6.0 μm x 6.0 μm (Square pixels) | Pixel size: 6.0 μm x 6.0 μm (Square pixels) | Pixel size: 4.4 μm x 4.4 μm (Square pixels) | Pixel size: 7.4 μm x 7.4 μm (Square pixels) | |
| Frame rate | 90 frames/sec max. | 90 frames/sec max. | 30 frames/sec max. | 120 frames/sec max. |
| Lens mount | NF mount (Note 2) | C mount | ||
| Ambient temperature during use (Note 1) | 0 to +40℃ +32 to +104 ℉ | 0 to +40℃ +32 to +104 ℉ | 0 to +40℃ +32 to +104 ℉ | 0 to +45℃ +32 to +113 ℉ |
| Ambient humidity during use (Note 1) | 35 to 85% RH (at 25 ℃ 77 ℉) | |||
| Vibration resistance | 10 to 200 Hz, 1 sweep/10 min, 30 minutes each in the 3 directions | 10 to 55 Hz, 1 sweep/min, double amplitude of 1 mm 0.04 in, 30 minutes each in the X, Y, and Z directions | ||
| Shock resistance | 700 m/s2, 1 time each in the X, Y and Z directions | 700 m/s2, 3 times each in the X, Y and Z directions | ||
| Weight (Excluding the lens) | 30 g approx. | 30 g approx. | 65 g approx. | 65 g approx. |
Notes :
1) However, no condensation or no freezing
2) Comes with C mount adapter.
Visual Fields
0.3M color and grey camera
ANPVC2040, ANPVC1040
2M color and grey camera
ANPVC2260, ANPVC1210
4M grey camera
ANPVC1470
0.3M color and grey compact camera
ANPVC6030, ANPVC5030
The X-direction (horizontal) visual field is the Y-direction visual field multiplied by 1.3.
* Please use these values as reference purposes only. Check the details with the PV200 User’s Manual.
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Dimensions
Unit: mm in- Controller unit
- Cameras
- Camera cables
- Camera lenses
- Adapter rings
- Monitor/Monitor cable
- Camera attachment bracket (For 4M grey camera)
- Operation keypad
- Digital power supply units for LED lighting
Controller unit
Main unit (Controller)
Cameras
0.3M color/grey camera
2M color/grey camera
0.3M grey compact camera
0.3M color compact camera
4M grey camera
Camera cables
Camera cable
Flexible camera cable
Camera lenses
0.3M camera lenses
ANB842NL
ANB843L
ANB845NL
ANB846NL
ANB847L
ANM88161
ANM88251
ANM88501
2-megapixel camera lenses
ANPVL162
ANPVL252
ANPVL502
Adapter rings
Adapter ring
Monitor/Monitor cable
XGA monitor (10.4 inches)
VGA/XGA monitor cable
Camera attachment bracket (For 4M grey camera)
Camera attachment bracket
Operation keypad
Operation keypad
Digital power supply units for LED lighting
ANB86001
ANB86003
寸法図
単位mm
本体（コントローラ）
ANPV0262ADP
カメラ
0.3Mカラー・グレーカメラ ANPVC2040・ANPVC1040
2Mカラー・グレーカメラ ANPVC2260・ANPVC1210
0.3Mグレー小型カメラ ANPVC5030
0.3Mカラー小型カメラ ANPVC6030
4Mグレーカメラ ANPVC1470
カメラケーブル
カメラケーブル
耐屈曲カメラケーブル
小型カメラ用カメラケーブル
レンズ
0.3Mカメラ用レンズ
ANB842NL
ANB843L
ANB845NL
ANB846NL
ANB847L
ANM88161
ANM88251
ANM88501
メガピクセルカメラ用レンズ
ANPVL162
ANPVL252
ANPVL502
カメラ用レンズ
(単位：mm)
| 0.3Mカメラ用レンズ（注1） | ||||||||
|---|---|---|---|---|---|---|---|---|
| f=6 | f=8.5 | f=16 | f=25 | f=50 | ||||
| ANB842NL | ANB843L | ANB845NL | ANM88161 | ANB846NL | ANM88251 | ANB847NL | ANM88501 | |
| F値 | 1.2 | 1.5 | 1.4 | 1.4 | 1.4 | 1.6 | 1.4 | 2.8 |
| øA | 42 | 42 | 31 | 30.5 | 31 | 30.5 | 48 | 30.5 |
| L | 46 | 40 | 33 | 31.21 | 37.3 | 31.5 | 48 | 38.5 |
| B | -(注2) | -(注2) | -(注2) | 21 | -(注2) | 21 | -(注2) | 21 |
| C | -(注2) | -(注2) | -(注2) | 19.8 | -(注2) | 20.05 | -(注2) | 20.6 |
| メガカメラ用レンズ | |||
|---|---|---|---|
| f=16 | f=25 | f=50 | |
| ANPVL162 | ANPVL252 | ANPVL502 | |
| F値 | 1.4 | 1.4 | 2.8 |
| øA | 34 | 34 | 34 |
| L | 35.9～38.0 | 47.1～52.2 | 63.0～77.4 |
| B | 22.5 | 22.5 | 22.5 |
| C | 22 | 22 | 22 |
(注1):ANB843L、ANM88161、ANM88251は0.3M小型カメラと組み合わせての使用はできません。
(注2):固定用ネジ(ナベ小ネジM1.4)の突起が最大2mmあります。
中間リング
中間リング
モニタ／モニタケーブル
XGAモニタ(10.4インチ)
VGA・XGAモニタケーブル
カメラ取付金（ANPVC1470用）
キーパッド
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