Omron AnyFeeder Series Quick setup guide

AnyFeeder
Integration Guide
AnyFeeder SXM100/140
AnyFeeder SX240/340
R262I-E-01

The information contained herein is the property of Omron Adept Technologies, Inc., and shall not be
reproduced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The
information herein is subject to change without notice and should not be construed as a commitment by
Omron Adept Technologies, Inc. This manual is periodically reviewed and revised.
Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in this document.
Critical evaluation of this manual by the user is welcomed. Your comments assist us in preparation of
future documentation.
Please email your comments to: [e-mail].
Copyright 2017 by Omron Adept Technologies, Inc. All rights are reserved.
Any trademarks from other companies used in this publication are the property of those respective com-
panies.

Table of Contents
Chapter 1: Introduction 5
1.1 Intended Audience 5
1.2 Prerequisites 5
AnyFeeder Components 6
1.3 How Can I Get Help? 7
Websites 7
Related Manuals 7
Support 8
Chapter 2: Safety 9
2.1 Warnings, Cautions, and Precautions 9
2.2 Safety Precautions 10
2.3 What to Do in an Emergency Situation 10
2.4 Additional Safety Information 10
Robot Safety Guide 10
Chapter 3: Component Setup 11
3.1 Robot System with AnyFeeder 11
3.2 Basic Components 12
3.3 Power Required 12
3.4 Data and Air Required 13
3.5 Camera AnyFeeder Setup 13
3.6 AnyFeederInterface Panel LEDs 15
Chapter 4: System Installation 17
4.1 System Cables, without SmartController 17
List of Cables and Parts 18
Cable Installation Overview 19
Optional Cables 20
4.2 System Cables, with SmartController 21
Installing a SmartController Motion Controller 21
List of Cables and Parts 22
Cable Installation Overview 23
Optional Cables 24
4.3 AnyFeeder Connections 24
Electrical Connectors on Interface Panel 24
Installing Cables and Power 25
RS-232 Cable Installation 26
AnyFeeder Integration Guide - Page 3

Table of Contents
Connecting the Servo Power Cable 26
Installing the Pneumatic Line 28
Chapter 5: Configuration with ACE Software 29
5.1 ACE Software 29
5.2 ACESight Overview 29
Initial Configuration 29
5.3 Pick and Place Sequence Wizard 30
Safe and Picture-taking Positions 31
Create Feeder 31
Teach Pick for Arm- or Fixed-Mount Camera 32
Teach Place Position 36
Chapter 6: Fine-Tuning 37
6.1 Configuration Refinement 37
6.2 Multiple Locator Models 37
Other ACESight Vision Tools 44
Chapter 7: Revision History 47
AnyFeeder Integration Guide - Page 4

Chapter 1: Introduction
This manual describes the steps for incorporating an AnyFeeder into your robot system.
The AnyFeeder, combined with a camera, performs flexible feeding so that a robot can pick
and place products. ACE software provides interview wizards, so you can have a fully-integ-
rated system with robot, controls and vision guidance set up quickly, with object finding fea-
tures, automated calibration, and a tool library.
Changing the parts that the AnyFeeder system is handling is accomplished by adding a new
Locator Model to the ACE Sight application. If the new parts are a different thickness than
your existing Models, you will also have to teach a new height from the surface for picking.
1.1 Intended Audience
This guide is intended for an end-user or integrator who is familiar with Omron Adept robots
and the AnyFeeder. It is assumed that you have already selected the robot and AnyFeeder mod-
els that you are going to use, as well as the accessories that will be used with those devices,
such as the type of backlight, if any, for the AnyFeeder. It is also assumed that you have a
working knowledge of ACE.
1.2 Prerequisites
lOmron Adept Technologies, Inc. robot
Either a robot with an eAIB or eMB-40/60R, or one that uses a SmartController EX (run-
ning eV+).
lAnyFeeder
The supported models are SXM100, SXM140, SX240, and SX340.
lRigid mounting surfaces for the robot and AnyFeeder
lHigh-resolution camera with lens
oCamera-mounting structure
oCamera interface cables
lKeyboard, Monitor, and Mouse
(for interfacing with and programming the robot and vision system)
lSmartController EX(option, recommended for Quattro)
lSmartVision MX industrial computer
lPower Supplies for AnyFeeder, SmartController EX, robot, and SmartVision MX
This guide assumes that the robot and any related equipment, such as a conveyor, are
installed and functional. This guide focuses on the introduction of an AnyFeeder into that sys-
tem.
AnyFeeder Integration Guide - Page 5

Chapter 1: Introduction
AnyFeeder Components
SX240 and
SX340 only
Bulk container
Feed platform
Feed platform
front panel
Interface panel
Pneumatic
connector
Handles
Mounting rail
Retainer
Purge flap
Backlight
(under feed
platform)
Figure 1-1. AnyFeeder Parts, Model SX240 shown
There are four different AnyFeeder-models supported:
lAnyFeeder SXM100
lAnyFeeder SXM140
lAnyFeeder SX240
lAnyFeeder SX340
In most respects, the feeders are similar enough that they will be covered together.
In areas where there are significant differences, information is given for each model or presen-
ted separately as appropriate.
Your AnyFeeder package includes:
lAnyFeeder Feeder
l24 VDC Power Cable, 5 m (also called servo cable)
lRS232 Cable, 4.5 m
lUser’s Guide
AnyFeeder Integration Guide - Page 6

Chapter 1: Introduction
You will need to add:
lA Feed Surface
These come in various colors and textures, depending on the parts to be handled.
You may want to add:
lBacklight
This can be red or infra-red.
1.3 How Can I Get Help?
Websites
Refer to one of the following corporate websites:
http://www.ia.omron.com
and
http://www.adept.com
Related Manuals
The following table lists manuals related to this document.
To ensure system safety, make sure to always read and heed the information provided in all
Safety Precautions, Precautions for Safe Use, and Precaution for Correct Use of manuals for
each device which is used in the system.
Table 1-1. Related Manuals
Manual Title Description
AnyFeeder User's Guide Instructions for installation and con-
figuration of an AnyFeeder.
Your robot user’s guide Instructions for installation, use, and
maintenance of your robot.
Robot Safety Guide Contains safety information for our
robots.
SmartController User's Guide Instructions for use of the optional
SmartController motion controller.
SmartVision MX User's Guide Instructions for use of the SmartVision
MX industrial PC.
ACE User’s Guide Describes the installation and use of ACE
software.
ACE Sight Reference Guide Describes V+ and microV+ keywords and
properties.
Also describes framework and tool prop-
erties.
AnyFeeder Integration Guide - Page 7

Chapter 1: Introduction
Support
If, after reading this manual, you are having problems with your AnyFeeder, contact your local
Omron Support.
AnyFeeder Integration Guide - Page 8

Chapter 2: Safety
2.1 Warnings, Cautions, and Precautions
There are six levels of special alert notation used in our manuals.
In descending order of importance, they are:
DANGER: This indicates an imminently hazardous electrical situation which,
if not avoided, will result in death or serious injury.
DANGER: This indicates an imminently hazardous situation which, if not
avoided, will result in death or serious injury.
WARNING: This indicates a potentially hazardous electrical situation which,
if not avoided, could result in injury or major damage to the equipment.
WARNING: This indicates a potentially hazardous situation which, if not
avoided, could result in injury or major damage to the equipment.
CAUTION: This indicates a situation which, if not avoided, could result in
damage to the equipment.
Precautions for Safe Use: This indicates precautions on what to do and what
not to do to ensure using the product safely.
AnyFeeder Integration Guide - Page 9

Chapter 2: Safety
2.2 Safety Precautions
WARNING: An AnyFeeder or industrial robot can cause personal injury or
damage to itself and other equipment if the following safety precautions are not
observed:
lAll personnel who install, operate, program, or maintain the system must read this
guide, the AnyFeeder User’s Guide, the robot user’s guide, and the Robot Safety Guide,
and complete an appropriate Omron training course for their responsibilities in regard
to the feeder.
lAll personnel who install the feeder system must read this guide, read the Robot Safety
Guide, and must comply with all local and national safety regulations for the location in
which the feeder system is installed.
lPower to the feeder and robot must be locked out and tagged out before any main-
tenance is performed.
lUnderstand the specifications of the equipment that is used in the system. Allow some
margin for ratings and performance.
lProvide safety measures, such as installing a safety circuit, in order to ensure safety and
minimize the risk of emergency situations.
2.3 What to Do in an Emergency Situation
Press any E-Stop button (a red push-button on a yellow background) on any robot being used
with the feeder, power-down the feeder, and then follow the internal procedures of your com-
pany or organization for an emergency situation. If a fire occurs, use CO2to extinguish the fire.
2.4 Additional Safety Information
We provides other sources for more safety information:
Robot Safety Guide
The Robot Safety Guide provides detailed information on safety for our robots.
It also gives resources for more information on relevant standards. It ships with each robot.
AnyFeeder Integration Guide - Page 10

Chapter 3: Component Setup
3.1 Robot System with AnyFeeder
This chapter describes the basic parts of a robot system with an AnyFeeder.
The following diagram shows a simple overview of typical components.
Air line
9
Belt or
Target
Front Panel
Robot
Interface Panel
T20 Pendant (option)
RS232
All to SmartController EX, if available, or
to Robot Interface Panel otherwise
SmartVision MX
running ACE
Camera
AnyFeeder
Robot, eCobra
600 shown
SmartController EX
Figure 3-1. Overview of Robot System with AnyFeeder
AnyFeeder Integration Guide - Page 11

Chapter 3: Component Setup
NOTE:More detailed figures, showing connectivity, are shown in System Install-
ation on page 17.
3.2 Basic Components
lRobot
All Omron Adept robots running eV+ are supported.
With an eCobra, the Pro version is required for active conveyor tracking, and either the
Standard or Pro version is required for use of ACE Sight.
lFront Panel
lT20 Pendant - optional
lSmartVision MX
This comes pre-loaded with ACE. It includes the USBlicense dongle.
lSmartController EX - optional
This is recommended when using a Quattro with an AnyFeeder.
lAnyFeeder
The supported models are SXM100, SXM140, SX240, and SX340.
lCamera
If you are using an IR backlight, we recommend you also use an IR lens filter.For Basler
cameras sold by Omron Adept Technologies, Inc., the filter is PN: 09324-000.
lConveyor or other target
3.3 Power Required
lRobot - according to robot user’s guide
This is typically both VAC and 24 VDC.
lAnyFeeder - from user-supplied power supply
24 VDC, 10 A
lCamera - PoE or separate, user-supplied power
lSmartController (option) - from user-supplied power supply
24 VDC, 5 A - this can share a 6 A power supply with the robot
lSmartVision MX - from user-supplied power supply
24 VDC, 6 A
AnyFeeder Integration Guide - Page 12

Chapter 3: Component Setup
3.4 Data and Air Required
lSmartVision MX to SmartController EXif present, otherwise to eAIB or eMB-40/60R
lAnyFeeder to SmartVision MX (RS-232)
lCamera to SmartVision MX
lT20 Pendant (option) to SmartController EX if present, or else eAIB or eMB-40/60R
lFront Panel to SmartController EX if present, or else eAIB or eMB-40/60R
lPneumatic, to the SX240 and SX340 model AnyFeeders.
3.5 Camera AnyFeeder Setup
The camera’s field-of-view needs to cover the entire pick window of the AnyFeeder‘s feed sur-
face.
The AnyFeeder must be mounted such that the robot can reach any part on the pick window
without touching the sides of the AnyFeeder, and without any joints exceeding their limits.
AnyFeeder SXM100
Chipsize
inches
FOV
mm
Resolution
mm/Pixel
Distance
FOV
Lens mm
Lens
mm
Lens
P/N
IR Filter
P/N
Dot
Matrix
1/1.8 110x148 0.092 550 25 09323-
000
09324-
000
4 mm
1/1.8 110x148 0.092 760 35 09323-
100
09324-
000
4 mm
1/1.8 110x148 0.092 1090 50 Custom Custom 4 mm
1 140x140 0.068 655 50 Custom Custom 2 mm
AnyFeeder SXM140
Chipsize
inches
FOV
mm
Resolution
mm/Pixel
Distance
FOV
Lens mm
Lens
mm
Lens
P/N
IR Filter
P/N
Dot
Matrix
1/1.8 150x202 0.125 730 25 09323-
000
09324-
000
4 mm
1/1.8 150x202 0.125 1025 35 09323-
100
09324-
000
4 mm
1/1.8 150x202 0.125 1460 50 Custom Custom 4 mm
1 200x200 0.098 650 35 Custom Custom 4 mm
1 200x200 0.098 935 50 Custom Custom 4 mm
AnyFeeder Integration Guide - Page 13

Chapter 3: Component Setup
AnyFeeder SX240
Chipsize
inches
FOV
mm
Resolution
mm/Pixel
Distance
FOV
Lens mm
Lens
mm
Lens
P/N
IR Filter
P/N
Dot
Matrix
1/1.8 250x337 0.201 770 16 09322-
000
09324-
000
8 mm
1/1.8 250x337 0.201 1200 25 09323-
000
09324-
000
8 mm
1/1.8 250x337 0.201 1680 35 09323-
100
09324-
000
8 mm
1 330x330 0.161 485 16 Custom Custom 4 mm
1 330x330 0.161 760 25 Custom Custom 4 mm
1 330x330 0.161 1055 35 Custom Custom 4 mm
1 330x330 0.161 1510 50 Custom Custom 4 mm
AnyFeeder SX340
Chipsize
inches
FOV
mm
Resolution
mm/Pixel
Distance
FOV
Lens mm
Lens
mm
Lens
P/N
IR Filter
P/N
Dot
Matrix
1/1.8 350x472 0.292 1070 16 09322-
000
09324-
000
10
mm
1/1.8 350x472 0.292 1670 25 09323-
000
09324-
000
10
mm
1/1.8 350x472 0.292 2340 35 09323-
100
09324-
000
10
mm
1 470x470 0.230 760 25 Custom Custom 8 mm
1 470x470 0.230 1060 35 Custom Custom 8 mm
1 470x470 0.230 1510 50 Custom Custom 8 mm
AnyFeeder Integration Guide - Page 14

Chapter 3: Component Setup
3.6 AnyFeederInterface Panel LEDs
Electrical
Connectors
Status LEDs
for Digital I/O
Status LED for High Power
Figure 3-2. Interface Panel on AnyFeeder
AnyFeeder Integration Guide - Page 15

Chapter 4: System Installation
4.1 System Cables, without SmartController
The letters in the following figure correspond to the letters in the table of cables and parts. The
numbers correspond to the steps in the cable installation overview table. The tables are on the
pages following the figure.
DC
IN
24V GND
AC
200 -
240V
Ø
1
XBELTIO
XIO
Servo
ENETENET
XSYSTEM
9
Belt or
Target
24 VDC, 6 A
Power Supply
200-240 VAC
10 A, single-phase AC Power
Cable
DC Power
Cable
Front Panel
Cable
Front Panel
T20 Adapter
Cable
XMCP Jumper Plug
XMCP
XFP
XUSR
XUSR Jumper Plug
eAIB
XSYSTEM
Cable
eAIB or eMB-40/60R
Interface Panel
XUSR for:
- User E-Stop/Safety Gate
- Muted Safety Gate
The Jumper Plug is required if
neither of these is used
T20 Bypass Plug
T20 Pendant (option) Either T20 Pendant,T20 Bypass Plug, or
XMCP Jumper Plug must be used
Ethernet to eAIB
or eMB-40/60R
FP Jumper Plug
Either Front Panel or
FP plug must be used
Ethernet to
SmartVision MX
User-supplied
Switch (option)
RS232
eAIB Interface Panel
RS232
24 VDC, 6 A
Power Supply
SmartVision MX
DC Power
Cable
Camera
Connections
on back side
AnyFeeder
SX240 shown
Robot, eCobra
600 shown
9
A
L
M
Q
N2
RS
VU
T
M
G
H
J
B
E
DF
C
K
P
DC Servo Cable
N1
7a 10
8
1
6
79
8
11
3
4a
4
3a
4a
4
2
3
2a
8 mm OD
Air line X12
24 VDC
10 A
Power
Supply
Figure 4-1. System Cable Diagram for AnyFeeder, eCobra with Pendant Shown
AnyFeeder Integration Guide - Page 17

Chapter 4: System Installation
The pendant is an option, and may not be present in your system. This figure includes the
optional T20 pendant.
List of Cables and Parts
Open the Accessory box and locate the eAIB XSYSTEM cable. Connect the cables and peri-
pherals as shown in the preceding figure. Parts and steps are covered in the following two
tables.
Part Cable and Parts List Part # Part of: Notes
A eAIB XSYSTEM Cable Assembly 13323-000 standard, eAIB
B User E-Stop, Safety Gate n/a n/a user-supplied
C XUSR Jumper Plug 04736-000 13323-000 standard, eAIB
D Front Panel 90356-10358 standard
E Front Panel Cable 10356-10500 90356-10358 standard
F Front Panel Jumper Plug 10053-000 13323-000 standard, eAIB
G XMCP Jumper Plug 04737-000 13323-000 standard, eAIB
H T20 Bypass Plug 10048-000 10055-000 standard, T20
J T20 Adapter Cable 10051-003 10055-000 standard, T20
K T20 Pendant (option) 10055-000 option
L AC Power Cable 04118-000 90565-010 or user-supplied
M 24 VDC Power Cable 04120-000 90565-010 or user-supplied
N1 24 VDC, 6 A Power Supply 04536-000aor user-supplied
N2 24 VDC, 6 A Power Supply 04536-000 90565-010 or user-supplied
P RS232 Cable n/a AnyFeeder
Q Ethernet Cable -> eAIB or eMB-
40/60R
n/a n/a user-supplied
R Ethernet Cable -> SmartVisionMX n/a n/a user-supplied
S Ethernet switch (optional) n/a n/a user-supplied
T Camera and cable n/a n/a user-supplied
U AnyFeeder Servo Cable n/a AnyFeeder
V 24 VDC, 10 A Power Supply n/a n/a user-supplied
X 8 mm OD Air Line n/a n/a user-supplied
a: Only one 04536-000 power supply comes with the 90565-010 kit.
The XUSR, XMCP, and XFP jumpers intentionally bypass safety connections so you can test
the system functionality during setup.
AnyFeeder Integration Guide - Page 18

Chapter 4: System Installation
WARNING: Under no circumstances should you run a robot system, in pro-
duction mode, with all three jumpers installed. This would leave the system
with no E-Stops.
Cable Installation Overview
Power requirements for the SmartVision MX industrial PCare covered in that user guide. For
24 VDC, both the robot and a SmartVision MX can usually be powered by the same power
supply.
Step Connection Part
1 Connect eAIB XSYSTEM cable to XSYSTEM on eAIB or eMB-40/60R. A
2 Connect a user E-Stop or Muted Safety Gate to the eAIB XSYSTEM cable XUSR
connector or
B
2a verify XUSR jumper plug is installed in eAIB XSYSTEM cable XUSR connector. C
3 Connect Front Panel cable to Front Panel and eAIB XSYSTEM cable XFP con-
nector or
D, E
3a if no Front Panel, install FP jumper on eAIB XSYSTEM cable XFP connector.
See NOTE after table.
F
4 Connect T20 adapter cable to eAIB XSYSTEM cable XMCP connector or J, K
4a if no T20, install XMCP jumper
or
T20 Adapter Cable with T20 bypass plug.
G
or
H
5 Connect user-supplied ground to robot. See robot user's guide for location. n/a
6 Connect 200-240 VAC to AC Input on eAIB Interface Panel; secure with clamp. L
7 Connect 24 VDC to DC Input on Interface Panel. N2,
M
7a Connect 24 VDC and shield ground to SmartVision MX. See SmartVision MX
user's guide for location.
N1,
M
8 Connect RS232 cable from SmartVision MX to Anyfeeder. P
9 Connect Ethernet cable between eAIB or eMB-40/60R and SmartVision MX. A
switch can be used between the two.
S
10 Connect camera and cable to SmartVision MX. Use USB PoE 1 on MX. T
11 Connect 24 VDC Servo cable to DC Input on AnyFeeder interface panel. U, V
12 Connect an 8 mm OD air line to the pneumatic connector, SX240, SX340. X
NOTE:A front panel ships with each fixed (non-mobile)robot system, but you can
choose not to use it if you replace its functionality with equivalent circuits. That is
beyond the scope of this guide.
AnyFeeder Integration Guide - Page 19

Chapter 4: System Installation
Optional Cables
NOTE:The following cables are not covered in the steps in the preceding table.
Part Description Notes
XIO Breakout Cable, 12 inputs/
8 outputs, 5 M
Available as option
eAIB XBELT IO Adapter Cable Available as option
The optional eAIB XBELT IO Adapter cable splits the eAIB XBELTIO port into a belt encoder
lead, an Intelligent Force Sensor or IO Blox lead, and an RS-232 lead.
AnyFeeder Integration Guide - Page 20