Omron Techman Robot Series User manual

Original Instruction
Omron TM Collaborative
Robot: Conveyor
Tracking
User’s Manual
I853-E-03

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 1
This Manual contains information of the Techman Robot product series (hereinafter referred to as the TM AI
Cobot). The information contained herein is the property of Techman Robot Inc. (hereinafter referred to as the
Corporation). No part of this publication may be reproduced or copied in any way, shape or form without prior
authorization from the Corporation. No information contained herein shall be considered an offer or commitment.
It may be subject to change without notice. This Manual will be reviewed periodically. The Corporation will not be
liable for any error or omission.
Mark are the registered trademarks of Techman Robot Inc., The Company reserves the ownership and
copyright of this Instruction and its copies.

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 2
Terms and Conditions Agreement
Warranty Limitations of Liability
Warranties
 Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and
workmanship for a period of twelve months from the date of sale by Omron (or such other period
expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
 Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
 Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the
non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an
amount equal to the purchase price of the non-complying Product; provided that in no event shall
Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the
Products unless Omron’s analysis confirms that the Products were properly handled, stored,
installed and maintained and not subject to contamination, abuse, misuse or inappropriate
modification. Return of any Products by Buyer must be approved in writing by Omron before
shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from
the use of Products in combination with any electrical or electronic components, circuits, system
assemblies or any other materials or substances or environments. Any advice, recommendations or
information given orally or in writing, are not to be construed as an amendment or addition to the
above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 3
Limitation of Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS
IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN
CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a
complete determination of the suitability of the Product in combination with the end product, machine,
system, or other application or use. Buyer shall be solely responsible for determining appropriateness
of the particular Product with respect to Buyer’s application, product or system. Buyer shall take
application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product,
or any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions and the user must correlate it to actual application requirements. Actual
performance is subject to the Omron’s Warranty and Limitations of Liability.

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 4
 Change in Specifications
Product specifications and accessories may be changed at any time based on improvements
and other reasons. It is our practice to change part numbers when published ratings or features
are changed, or when significant construction changes are made. However, some specifications
of the Product may be changed without any notice. When in doubt, special part numbers may be
assigned to fix or establish key specifications for your application. Please consult with your
Omron representative at any time to confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate;
however, no responsibility is assumed for clerical, typographical or proofreading errors or
omissions.

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 5
Revision History Table .................................................................................................................................. 8
2. Introduction ............................................................................................................................................... 9
Scope of Use ............................................................................................................................... 9
Limitations of Use ........................................................................................................................ 9
Warning and Caution Symbols ................................................................................................... 10
Safety Precautions ..................................................................................................................... 10
Validation and Liability ................................................................................................................ 11
Statement of Responsibilities for Cyersecurity Threats............................................................... 11
Limitation of Liability ................................................................................................................... 12
Functional Note Symbols ........................................................................................................... 12
3. Hardware Requirements ......................................................................................................................... 13
TM Dongle ................................................................................................................................. 13
Applicable EtherCAT Coupler and Encoder Modules .................................................................. 13
Code Wheel ............................................................................................................................... 14
Camera ...................................................................................................................................... 14
Lens ........................................................................................................................................ 15
Reference Guide for Light Source Setup .................................................................................... 15
Sensor ....................................................................................................................................... 15
Light Box Design Reference ....................................................................................................... 16
Hardware Connection Diagram .................................................................................................. 16
4. Operating Guide ..................................................................................................................................... 17
Sensor Mode .............................................................................................................................. 17
ETH Mode .................................................................................................................................. 18
5. Software Functions ................................................................................................................................. 19
Conveyor Tracking Setting ......................................................................................................... 19
Encoder Setting ...................................................................................................................... 19
Boundary Setting..................................................................................................................... 20
Advanced Setting .................................................................................................................... 21
CVSensor1 ................................................................................................................................ 22
Main Thread Nodes .................................................................................................................... 24
CVNewObj Node ..................................................................................................................... 24
CVPoint Node ......................................................................................................................... 24
CVCircle Node ........................................................................................................................ 28
6. Quick Walk-Through ............................................................................................................................... 30
Sensor Mode .............................................................................................................................. 30
ETH Mode .................................................................................................................................. 36
Contents

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 6
Tables
Table 1: Applicable EtherCAT coupler models ............................................................................................. 13
Table 2: Applicable Encoder Modules ......................................................................................................... 13
Table 3: Camera ......................................................................................................................................... 15
Figures
Figure 1: Code wheel ................................................................................................................................. 14
Figure 2: Hardware connection diagram ..................................................................................................... 16
Figure 3: Create new project ...................................................................................................................... 17
Figure 4: Sensor Mode diagram ................................................................................................................. 18
Figure 5: ETH Mode diagram...................................................................................................................... 18
Figure 6: Conveyor Tracking Setting ........................................................................................................... 19
Figure 7: Encoder setting ............................................................................................................................ 20
Figure 8: Boundary setting .......................................................................................................................... 21
Figure 9: Advanced Setting ......................................................................................................................... 22
Figure 10: CVSensor .................................................................................................................................. 23
Figure 11: Sensor calibration ...................................................................................................................... 23
Figure 12: CVNewObj ................................................................................................................................. 24
Figure 13: CVPoint ..................................................................................................................................... 26
Figure 14: Teach ......................................................................................................................................... 27
Figure 15: Get Point ................................................................................................................................... 28
Figure 16: Get Point ................................................................................................................................... 29
Figure 17: Create new project..................................................................................................................... 30
Figure 18: Start the project ......................................................................................................................... 31
Figure 19: Conveyor Tracking Setting ......................................................................................................... 31
Figure 20: CVSensor .................................................................................................................................. 32
Figure 21: Sensor calibration ...................................................................................................................... 33
Figure 22: Point Node ................................................................................................................................. 33
Figure 23: Select conveyor number ............................................................................................................ 33
Figure 24: Set CVNewObj .......................................................................................................................... 34
Figure 25: Select conveyor number and path ............................................................................................. 34
Figure 26: CVPoint ..................................................................................................................................... 34
Figure 27: Teach ......................................................................................................................................... 35
Figure 28: Get Point ................................................................................................................................... 35
Figure 29: Form a loop ............................................................................................................................... 36
Figure 34: Open new project ...................................................................................................................... 40
Figure 35: Sub-thread ................................................................................................................................. 41

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 7
Figure 36: Vision Job .................................................................................................................................. 41
Figure 37: Input vision job name ................................................................................................................. 42
Figure 38: Load workspace ........................................................................................................................ 42
Figure 39: Pattern matching ....................................................................................................................... 43
Figure 40: Confirm “FIND” pattern .............................................................................................................. 44
Figure 41: Save vision task ......................................................................................................................... 44
Figure 42: Check vison job on list ............................................................................................................... 44
Figure 43: Point Node ................................................................................................................................. 45
Figure 44: Select conveyor ......................................................................................................................... 45
Figure 45: Set CVNewObj .......................................................................................................................... 45
Figure 46: Set conveyor for CVPoint........................................................................................................... 46
Figure 47: Set path ..................................................................................................................................... 46
Figure 48: Get Point ................................................................................................................................... 47
Figure 49: Form a loop ............................................................................................................................... 47

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 8
Revision History Table
Revision
Date
Revised Content
01
April, 2020
Original release
02
August, 2020
Added 1.80 features
03
June, 2023
Added 2.0 features

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 9
1. Introduction
TM Conveyor Tracking can obtain the position and motion of the object on a conveyor using vision and/or
a sensor. The conveyor tracking software runs on TMflow and comes with the Sensor Mode and ETH
mode. The Sensor Mode is the default function mode and does not require a license dongle to activate
it.
To activate the Sensor Mode on TM Conveyor Tracking, users shall open a TM Conveyor Tracking project
and use the features of the mode. To activate the ETH mode, however, users shall insert the TM Dongle
they have purchased into any USB port on the control box. Be careful that during editing, trial runs or
operation, the signal cable must remain connected to the control box. Otherwise, the project cannot be
edited or the robot may stop. Under the ETH mode, the license dongle must remain inserted in the control
box.
How Can I Get Help?
You can access information sources on the corporate website:
http://www.ia.omron.com/
Scope of Use
1. A single robot can support two conveyors.
2. Conveyor speed < 300 ㎜/s, average precision±1 ㎜ (when the workpiece angle variation
within±15˚).
Limitations of Use
1. Functional mode combination per robot: Sensor Mode + Sensor Mode or ETH Mode + Sensor
Mode for maximum two conveyors (ETH +ETH is not supported, and ETH mode requires use of
license dongle)
2. Does not support two robots using one single Encoder + EtherCAT IO
3. Only supports linear conveyor (Does not support circular conveyor).
4. Does not support multiple types of objects.
NOTE:
The precision specifications in this manual only serves as reference. Upon the actual completion of
automation setting, the precision specifications and calibration accuracy are influenced by
environmental factors, workpiece variation, visual patterns, editing, and conveyor stability. Users
still need to take actual tests.
This manual applies to TMflow Version 2.14 or later. There may be differences between the functions and
interfaces of different software versions. Confirm the software version before using and reading this manual. To
confirm the software version, click at the top right of the screen for the information.

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 10
Warning and Caution Symbols
The Table below shows the definitions of the warning and caution levels used in our manuals. Pay
close attention to them when reading each paragraph, and observe them to avoid personal injuries or
equipment damage.
DANGER:
Identifies an imminently hazardous situation which, if not avoided, is likely to result in
serious injury, and might result in death or severe property damage.
WARNING:
Identifies a potentially hazardous situation which, if not avoided, will result in minor or
moderate injury, and might result in serious injury, death, or significant property damage.
CAUTION:
Identifies a potentially hazardous situation which, if not avoided, might result in minor
injury, moderate injury, or property damage.
Safety Precautions
 All personnel who install, operate, teach, program, or maintain the system must read the Hardware
installation Manual, Software Manual, and Safety Manual according to the software and hardware
version of this product, and complete a training course for their responsibilities in regard to the
robot.
 All personnel who design the robot system must read the Hardware installation Manual, Software
Manual, and Safety Manual according to the software and hardware version of this product, and
must comply with all local and national safety regulations for the location in which the robot is
installed.
 The TM AI Cobot must be used for its intended use.
 Results of the risk assessment may require the use of additional risk reduction measures.
 Power to the robot and its power supply must be locked out and tagged out or have means to
control hazardous energy or implement energy isolation before any maintenance is performed.
DANGER:
This product can cause serious injury or death, or damage to itself and other equipment, if the
following safety precautions are not observed:
Read Manual Label; Impact Warning

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 11
 Dispose of the product in accordance with the relevant rules and regulations of the country or
area where the product is used.
Validation and Liability
The information contained herein neither includes how to design, install, and operate a complete
robotic arm system, nor involves the peripherals which may affect the safety of the complete system.
The integrators of the robot should understand the safety laws and regulations in their countries and
prevent hazards from occurring in the complete system.
This includes but is not limited to:
 Risk assessment of the whole system
 Adding other machines and additional risk reduction measures based on the results of the risk
assessment
 Using appropriate software safety features
 Ensuring the user will not modify any safety measures
 Ensuring all systems are correctly designed and installed
 Clearly labeling user instructions
 Clearly marked symbols for installation of the robot arm and the integrator contact details
 Making accessible relevant documents, including the risk assessment and this Manual
CAUTION:
This product is a partly complete machine. The design and installation of the complete system
must comply with the safety standards and regulations in the country of use. The user and
integrators of the robot should understand the safety laws and regulations in their countries
and prevent major hazards from occurring in the complete system.
Statement of Responsibilities for Cyersecurity Threats
To maintain the security and reliability of the system, a robust cybersecurity defense program should be
implemented, which may include some or all of the following:
Anti-virus protection
•Install the latest commercial-quality anti-virus software on the computer connected to the control
system and keep the software and virus definitions up-to-date.
•Scan USB drives or other external storage devices before connecting them to control systems and
equipment.
Security measures to prevent unauthorized network access
•Install physical controls so that only authorized personnel can access control systems and equipment.
•Reduce connections to control systems and equipment via networks to prevent access from untrusted
devices.

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 12
•Install firewalls to block unused communications ports and limit communication between systems.
Limit access between control systems and systems from the IT network.
•Control remote access and adopt multifactor authentication to devices with remote access to control
systems and equipment.
•Set strong password policies and monitor for compliance frequently.
Data input and output protection
•Backup data and keep the data up-to-date periodically to prepare for data loss.
•Validate backups and retention policies to cope with unintentional modification of input/output data to
control systems and equipment.
•Validate the scope of data protection regularly to accommodate changes.
•Check validity of backups by scheduling test restores to ensure successful recovery from incidents.
•Safety design, such as emergency shutdown and fail-soft operations in case of data tampering and
incidents.
Additional recommendations
•When using an external network environment to connect to an unauthorized terminal such as a
SCADA, HMI or to an unauthorized server may result in network security issues such as spoofing and
tampering.
•You must take sufficient measures such as restricting access to the terminal, using a terminal
equipped with a secure function, and locking the installation area by yourself.
•When constructing network infrastructure, communication failure may occur due to cable
disconnection or the influence of unauthorized network equipment.
•Take adequate measures, such as restricting physical access to network devices, by means such as
locking the installation area.
•When using devices equipped with an SD Memory Card, there is a security risk that a third party may
acquire, alter, or replace the files and data in the removable media by removing or unmounting the
media.
Limitation of Liability
No safety-related information shall be considered a guarantee by the Corporation that a TM AI Cobot
will not cause personnel injury or property damage.
Functional Note Symbols
The following table defines the functional note symbols used in this manual. Read the paragraphs
carefully.
IMPORTANT:
This symbol indicates the relevant functional details to assist programming and use.

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 13
NOTE:
This symbol indicates the relevant functional use tips to assist programming efficiency.
2. Hardware Requirements
TM Dongle
Use the purchased TM Dongle to activate ETH Conveyor Tracking function.
Applicable EtherCAT Coupler and Encoder Modules
Refer to tables below regarding compatible EtherCAT couplers and encoder modules.
EtherCAT
Coupler Model
VIPA:
053 -1EC00
Beckoff:
EK1100
OMRON:
NX-ECC201
OMRON:
NX-ECC202
OMRON:
NX-ECC203
Rated voltage
DC24 V
DC24 V
DC24 V
DC24 V
DC24 V
Rated current
950mA
570mA
417mA
417mA
417mA
Support
Encoder Module
Model
VIPA:
050-1BA00
Beckoff:
EL5151/EL5152
OMRON:
NX-EC0112/NX-EC0122/NX-EC0132/NX-EC0142/ NX-
EC0212/NX-EC0222
Table 1: Applicable EtherCAT coupler models
Encoder
Module
Model
VIPA: 050-
1BA00
Beckoff:
EL5151/
EL5152
OMRON:
NX-EC0112
OMRON:
NX-EC0122
OMRON:
NX-EC0132
OMRON:
NX-EC0142
OMRON:
NX-EC0212
OMRON:
NX-EC0222
Rated
voltage
DC24 V
DC24 V
DC24 V
DC24 V
DC24 V
DC24 V
DC24 V
DC24 V
Rated
current
75mA
130mA
35 mA
39 mA
39 mA
44 mA
35 mA
39 mA
Number
of
encoder
1
1or2
1
1
1
1
2
2
ON
voltage
15-28.8V
15-30V
19.6-28.8V
19.6-28.8V
19.6-28.8V
19.6-28.8V
19.6-28.8V
19.6-28.8V
OFF
voltage
0-5V
0-5V
0-4V
0-4V
0-4V
0-4V
0-4V
0-4V
Table 2: Applicable Encoder Modules

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 14
NOTE:
 Equipment needs to be connected to external power supply for proper use. For
detailed product information, visit the product’s official website.
 Suggested Encoder Model: E6C3-CWZ5GH
IMPORTANT:
Techman Robot Inc. is not liable for any incompatibility issue due to use of equipment not
listed above.
Code Wheel
Reference specifications: wheel resolution 300 ㎜ （or 95.49 ㎜ in diameter）。
*If a different sized wheel is used, go to 4.1.1 Encoder Setting to adjust the parameters for perimeters.
Make sure that the code wheel is flat against the conveyor to ensure its accuracy.
Figure 1: Code wheel
Camera
For detailed information about the cameras, please visit the official website of the cameras.
Specifications
Camera
Model
Basler acA2440-20gc
Basler acA2500-20gc
Basler acA2500-14gc
Shutter
Global
Rolling
Sensor
Color 2/3 inch
Color 1 inch
Color 1/2.5 inch
Connection
interface
GigE interface
Remark
When conveyor speed < 300
㎜/s, the average tolerance
is ±1 ㎜.
When conveyor speed < 300
㎜/s, the average tolerance is ±1
㎜.
Rolling shutter camera is
recommended to be used at
low speed (conveyor speed
< 100 ㎜/s) and when
precision requirement is
lower.

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 15
Table 3: Camera
IMPORTANT:
Techman Robot Inc. is not liable for any incompatibility issue due to use of equipment
not listed above.
Lens
It is strongly recommended to use an industrial-grade C/CS Mount lens. The lens focal distance
should be set based on the real-world applications.
Lens selection example (object is 500 ㎜ away from the camera)
Reference for calculation:
 When using a 12 ㎜ lens, the field is 232 x 174 ㎜2; pixel resolution is 232/2590 ~ 0.09 ㎜
/pixel.
 When using an 8 ㎜ lens, the field is 351 x 263 ㎜2; pixel resolution is 351/2590 ~ 0.14 ㎜
/pixel.
Reference Guide for Light Source Setup
To obtain decent image quality and rapid imaging time, it is strongly recommended that the light source
intensity of the image range can reach to 2500 Lux, with uniformity higher than 90% to avoid light
reflection.
At light levels below 2500 LUX, it may be necessary to increase the camera exposure time and
decrease the conveyor belt speed.
For example (when the camera is 500 ㎜ from the focus object):
When the light intensity is 2500 Lux, exposure time setting should be set as 0.5 ㎳, and the conveyor
speed shall be set to 300 ㎜/sec;
Calculation of Uniformity：
Divide the camera field into a 3 x 3 grid as in the following figure. Measure the brightness in the
center of each cell and obtain the maximum and minimum value,
Substitution：
Uniformity = |1 −(𝑀𝑎𝑥 − 𝑀𝑖𝑛)
(𝑀𝑎𝑥 + 𝑀𝑖𝑛)|×100%
Sensor
Choose the most appropriate sensor based on the object material that needs to be detected.

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 16
When using Sensor Mode, it is strongly recommended using the official TM AI Cobot Calibration Set for
positioning. When setting CVPoint is required, switch back to the specific tool for your application.
NOTE:
To purchase TM Calibration Set, contact your local distributor or dealership.
Light Box Design Reference
For relevant details about reference design of light box, contact your local distributor or dealership.
Hardware Connection Diagram
The diagram below shows the recommended hardware connection.
For details about the supply voltage of the power socket, refer to the robot in use.
Camera
Sensor
Code wheel Encoder
EtherCAT Coupler
Power supply
Encoder Module
Light source
TM AI Cobot
Power Socket
TM Control Box
EtherCAT
24V(DC)
Digital input
GigE
Conveyor
Figure 2: Hardware connection diagram

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 17
3. Operating Guide
Under the Sensor Mode, click New > New Flow on the top-left corner of TMflow, click Conveyor Tracking
and select Conveyor_0 (using only one conveyor) or Conveyor_1 (using two conveyors), then choose
Sensor Mode to create a conveyor tracking project. To use the ETH mode, insert the TM dongle into the
control box before activating TMflow, and after TMflow is activated, click New > New Flow > Conveyor
Tracking > Conveyor_0 or Conveyor_1 > ETH Mode to create a conveyor tracking project.
Select “Conveyor_0” or “Conveyor_1”
 Conveyor_0: application requires only one conveyor
 Conveyor_1: application requires two conveyors
IMPORTANT:
To start any new Conveyor Tracking project with one connected conveyor, choose Conveyor_0
or Conveyor_1.
TM Conveyor Tracking supports two operating modes:
 Sensor Mode: detect the objects passing through the sensor beam (default mode)
 ETH Mode: obtain object position through camera imaging (requires a license dongle)
Figure 3: Create new project
Sensor Mode
Sensor Mode consists of a robot and external sensors. The sensor will detect objects passing through
the sensor beam. Application diagram of Sensor Mode is presented in Figure 4.

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 18
Figure 4: Sensor Mode diagram
ETH Mode
ETH Mode is composed of a robot, an external camera, and light sourcing devices. Application diagram
of ETH Mode is shown in Figure 5.
Figure 5: ETH Mode diagram
* Currently, TM Conveyor Tracking only supports Sensor Mode by default. For purchase of ETH Mode license, consult with
your local representatives.

Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 19
4. Software Functions
Conveyor Tracking Setting
After opening the Conveyor Tracking project, click the pencil icon of the Start Node to set the encoder
parameters, working boundary, camera and advanced conveyor parameters such as vectors. Further
description will be discussed in the following.
Figure 6: Conveyor Tracking Setting
Encoder Setting
Encoder setting allows users to set resolution and encoder wheel perimeters.
Encoder Resolution: Encoder resolution by Pulse/Rev
Wheel Resolution: encoder wheel circumference (㎜).
Reverse (Reverse rotation): when the conveyor is operating, the speed indicator should be in
positive values. If shown in negative values, select “Reverse”.
The officially designated encoder model is the Omron E6C3- CWZ5GH 2000P/R 2M. However,
settings shall be based on the actual encoder hardware used by users.