iVY system

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iVY system (Robot with vision processing function)

“Search and take” and “Track and take” without teaching This vision system aims to be a system that anyone, on their own, can use from the very beginning

iVY system

Many robot users might think, “We tried vision recognition but it seems to take a lot of work” or “we tried it before and making adjustments was a tough job”. But the YAMAHA iVY System eliminates those problems. Anyone can make setups on the YAMAHA iVY System and it also cuts down on the number of job steps!

Merits of iVY system installation


iVY system Feature

Easy for anyone to use? supports wide spectrum of applications

Gives you a ready-to-go robot controller equipped with an image processing function by just setting an iVY board in your 4-axis robot controller RCX240 or RCX240S. Putting "eyes" in your robot allows you to search and take workpieces, find deviations in workpiece position and make corrections even in the case of large errors, expanding the range of applications.

Super simple calibration (Coordinate matching alignment tasks)

Conventional equipment combining "image processing equipment + robot" requires an extreme amount of time and trouble due to the task of "calibration" that aligns the camera coordinates with the robot coordinates. On the iVY system however the operator only has to follow conversation-type instructions from the programming box so operation is simple and finishes in a short time. The iVY system also automatically corrects these coordinates even if the robot installation position has changed during tasks such as clamping upward, clamping downward, clamping robot Z axis, and clamping the Scara robot Y arm.

Vision is also easily controllable on the robot program

The robot program executes all vision control tasks including camera switching, image loading, and work piece search. Writing programs is simple compared to ordinary vision systems because control is all-inclusive from robot movement to camera control. Moreover, debugging is also efficient so the total number of required man-hours can be drastically reduced.

Examples of Robot vision language Command names Functions

Command names Functions
VCAPTURE Load image from camera
VSEARCH Search for the specified part type
VMONITOR Switch the monitor mode ON or OFF
VGETCNT Acquire the number of parts that were found
VGETPOS Acquire the position data
VGETTIME Acquire the time required by the executed search command
VGETSCR Acquire judgment values for the detected work
VSAVEIMG Store images in BMP format
Stable edge search for great results

Ordinary machine vision equipment uses gray search (normalized correlative search) which is easily affected by dirt, notches on the workpiece and lighting conditions which limit its usable applications and work environment. The iVY system however contains an edge search engine that makes searches using the contour shape of the part. This contour (edge) search is strongly resistant to outside effects and so instantly opens up a whole range of applications.

Handles workpice without teaching

Teaching an accurate position to the robot is essential when attempting to handle work by robot and if an offset or deviation occurs in the work position then correctly handling the work is impossible. In the iVY system however after rough positioning, image recognition is used to make an accurate position adjustment. The work can be moved without teaching so the man-hours needed for startup are reduced and flexible adjustments such as work piece changes or additions can be made.

High-speed connections over a dedicated bus line

Connecting a bus line directly to the CPU board in the robot controller yields data transfer speeds some 5,000 times higher than serial data transfer on ordinary machine vision equipment! Programming is also easy because the time lag occurring during communications or data transfer does not have to be considered. It also easily handles conveyor tracking tasks that require high-speed processing.

Includes dedicated "iVY Studio" software

The iVY system also includes dedicated "iVY Studio" software. This single software registers the work (sets edges, sets all types of parameters, set data loading range) and reference marks used for calibration, and also performs all tasks involving vision including backup and restore, operation monitor control, etc.

Support software iVY Studio

Makes searches, registers part types

Registers reference marks (for calibration)

Registers up to 40 workpieces

Easily adds workpieces

Detects up to 40 workpieces at the same time

Data backup

Functions as a monitor during program operation