9 juin 2023 — Additional copies of this manual may be obtained from ABB. Original instructions. © Copyright 20192023 ABB. All rights reserved. Specifications subject to ...
ROBOTICS Product specification Integrated Vision Trace back information: Workspace 23B version a5 Checked in 2023-06-09 Skribenta version 5.5.019 Product specification Integrated Vision OmniCore Document ID: 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. Specifications subject to change without notice. The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damage to persons or property, fitness for a specific purpose or the like. In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein. This manual and parts thereof must not be reproduced or copied without ABB's written permission. Keep for future reference. Additional copies of this manual may be obtained from ABB. Original instructions. © Copyright 20192023 ABB. All rights reserved. Specifications subject to change without notice. Table of contents Table of contents Overview of this specification .......................................................................................................... 7 1 Integrated Vision 9 1.1 What is Integrated Vision .................................................................................... 9 1.2 Typical applications ........................................................................................... 10 1.3 Required equipment .......................................................................................... 12 2 Overview of the product 13 3 Technical specification 15 3.1 Hardware ......................................................................................................... 15 3.2 Software .......................................................................................................... 19 4 Does Integrated Vision solve your application? 21 5 Stationary camera or mounted on the robot 23 6 Sales options 25 7 Specification of variants and options 27 8 Spare parts 29 Product specification - Integrated Vision 5 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. This page is intentionally left blank Overview of this specification Overview of this specification About this product specification This product specification describes the functionality, performance, and options available for Integrated Vision in terms of: · Application environment setting · Basic concepts · Ease of use of the software application configuration · Interactions with robots, cameras, sensors, conveyors, and other peripheral equipment · Operation and controls · Software and hardware options and licenses Usage Product specifications are used to find data and performance about the product, for example to decide which product to buy. How to handle the product is described in the product manual. Users It is intended for: · Product managers and product personnel · Sales and marketing personnel · Order and customer service personnel References Reference Product specification - OmniCore C line Product specification - OmniCore E line Product specification - OmniCore V line Application manual - Integrated Vision Application manual - Controller software OmniCore Document ID 3HAC065034-001 3HAC079823-001 3HAC074671-001 3HAC067707-001 3HAC066554-001 Revisions Revision A B C Description First revision. Released with RobotWare 7.2. · Added new cameras, DSQC1063 and DSQC1064. Released with RobotWare 7.8. · Updated Camera firmware versions of, DSQC1063 and DSQC1064. Product specification - Integrated Vision 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. Continues on next page 7 Overview of this specification Continued Revision D Description Released with RobotWare 7.10. · Cameras DSQC1098 and DSQC1099 added in sections: Required equipment on page 12, Overview of the product on page 13, Technical specification on page 15, Specification of variants and options on page 27 and Spare parts on page 29. · Section References on page 7 updated with links to OmniCore manuals. · Minor corrections. 8 Product specification - Integrated Vision 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. 1 Integrated Vision 1.1 What is Integrated Vision 1 Integrated Vision 1.1 What is Integrated Vision General The purpose of ABB's Integrated Vision system is to provide a robust and easy-to-use vision system for general purpose Vision Guided Robotics (VGR) applications. The system includes a complete software and hardware solution that is fully integrated with the ABB robot controller and the RobotStudio programming environment. The vision capability is based on the Cognex In-Sight® smart camera family, with embedded image processing and an Ethernet communication interface. RobotStudio is equipped with a vision programming environment that exposes the full palette of Cognex EasyBuilder® functionality with robust tools for 2D part location, part inspection, and identification. The RAPID programming language is extended with dedicated instructions and error tracing for camera operation and vision guidance. A B C xx1900001400 Position A B C D D Description PC (configuration from RobotStudio) FlexPendant ABB Smart camera OmniCore (connect up to 3 cameras) Product specification - Integrated Vision 9 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. 1 Integrated Vision 1.2 Typical applications 1.2 Typical applications Typical usage The Integrated Vision system can reduce the need for hard automation and in some cases solve tasks that can only be implemented using vision technology. Typical applications include part positioning, visual part inspection, sorting, identification, and more. The time from acquiring an image until the image processing has completed typically ranges from 50ms up to 2s or more, depending on the complexity of the task. For more information, see Does Integrated Vision solve your application? on page 21. Locating the part The vision system may be used as an alternative to mechanical fixtures to find the location and angle of the part in 2D. The vision system can be configured to find multiple types of parts even simultaneously in the same scene if needed. Various vision tools are available ranging from simple and fast segmentation models that execute in a few milliseconds and up to complex feature based object recognition models with superior robustness. Inspecting the part The system comes with a large set of easy-to-use inspection tools tuned to a multitude of applications. Choose from simple operations such as brightness or sharpness measurements to complex pattern recognition operations. Multiple inspection tools and logic can be added as needed. Identifying the part With the Integrated Vision system the robot now also has the means to read text, bar codes, matrix codes etc. Thanks to the wide range of capabilities provided by the vision system it replaces an array of traditional sensors used in robotic applications. (A) (B) (C) xx1300002341 Position A Continues on next page 10 Description Find it Product specification - Integrated Vision 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. Position B C Description Verify it Trace it 1 Integrated Vision 1.2 Typical applications Continued Product specification - Integrated Vision 11 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. 1 Integrated Vision 1.3 Required equipment 1.3 Required equipment Software and hardware requirements The following software and hardware is required to run Integrated Vision: · RobotWare version: 7.0 or later · RobotWare option: 3127-1 Vision interface · A PC with RobotStudio installed (for configuration, not required for production) · RobotStudio: To get the latest ABB and Cognex camera firmware support, make sure to always use an up to date version of RobotStudio. · Camera firmware: · - DSQC1020, DSQC1021, and In-Sight Micro 1402: 4.10.05 - DSQC1063 and DSQC1064: 5.07 or 6.2.1 - DSQC1098 and DSQC1099: 6.2.1 - AE3 Smart Gripper: 4.09.04 · FlexPendant Note RobotStudio is downloaded from www.robotstudio.com. Integrated Vision can be used with the free version of RobotStudio. Cameras and RobotStudio connect through the management port of the main computer. 12 Product specification - Integrated Vision 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. 2 Overview of the product 2 Overview of the product Hardware The camera system is based on the Cognex In-Sight® 7000 series, but any Cognex In-Sight® camera can be used. The camera is supplied with 24 VDC and Ethernet from the controller. The kit cameras feature IP67 protection and C-mount lensing. Up to three cameras can be connected to the supplied Ethernet switch. Note The functionality in Integrated Vision is verified with the following cameras (with ABB numbers): · DSQC1020, DSQC1021, and In-Sight Micro 1402 (ABB branded) · DSQC1063 and DSQC1064 · DSQC1098 and DSQC1099 For other camera models all features might not work, for example, color is not supported. Software · Integrated Vision provides easy-to-use vision guidance for the robot controller. · Simple installation and configuration of both cameras and robots from RobotStudio. · Rich toolset of industry proven vision algorithms for various situations. · Find, inspect and categorize parts using dedicated vision tools such as pattern matching, caliper measurements and barcode reading. · Save time with dedicated RAPID instructions for camera communication. Integrated Vision is installed as part of the RobotStudio and RobotWare software. The functionality is enabled with a RobotWare option (3127-1 Vision Interface). Product specification - Integrated Vision 13 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. This page is intentionally left blank 3 Technical specification 3.1 Hardware 3 Technical specification 3.1 Hardware Cameras The following tables provide the basic characteristics of the kit cameras provided by ABB. For additional details, see the technical specification of the camera, available on the Cognex website. The ABB kit cameras DSQC1020 and DSQC1021 are electrically and mechanically equivalent to In-Sight 7200 and 7402 respectively. The ABB kit cameras DSQC1063 corresponds to In-Sight 7600 and DSQC1064 corresponds to In-Sight 7601. In-Sight 7601 is basically same camera as In-Sight 7600 but has higher resolution and sensor properties according to table below. DSQC1098 corresponds to In-Sight 7802 and DSQC1099 corresponds to In-Sight 7905. Specifications for DSQC1020, DSQC1021, DSQC1063 and DSQC1064 Specification DSQC1020 DSQC1021 DSQC1063 DSQC1064 Resolution 800x600 1280x1024 800x600 1280x1024 Sensor properties 5.3 mm diagonal, 5.3 8.7 mm diagonal, 5.3 4.5 mm diagonal, 4.5 7.38 mm diagonal, 4.5 x 5.3 m sq. pixels, x 5.3 m sq. pixels, x 4.5 m sq. pixels x 4.5 m sq. pixels monochrome monochrome Job/program memory 512 MB 7.2 GB non-volatile flash memory Image processing memory 256 MB SDRAM 512 MB SDRAM Sensor type 1/1.8-inch CMOS 1/1.8-inch CMOS, global shutter Shutter speed 16 s to 950 ms 14 s to 550 ms 17 s to 750 ms Acquisition Rapid reset, progressive scan, full frame integration Lens type C-mount Protection IP67 with lens cover properly installed IP67 with all cables properly attached (or the provided connector plug installed), the IP67rated cover properly installed, and the Micro SD card cover fastened in place. Power consumption 24VDC ±10%, 2 A 24VDC ±10%, 1.5 A maximum External light - Continuously on; output 24V, 500mA max. External light - Strobe; output 24V, 1A max. at 50% duty cycle (max. on time of 100 ms) C-mount lens, config- 75 mm (2.95") to 83 mm (3.27") x 84.8 mm uration, dimensions (3.34") x 55 mm (2.17") with lens cover in- stalled. 42.7 mm (1.68") x 84.8 mm (3.34") x 55 mm (2.17") without lens cover installed. 81.7 mm (3.21") x 60.5 mm (2.38") x 90.1 mm (3.55") with C-mount cover. 35.7 mm (1.41") x 60.5 mm (2.38") x 90.1 mm (3.55") without C-mount cover. Operating temperature 0°C to 45°C (32°F to 113°F) 0°C to 50°C Product specification - Integrated Vision 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. Continues on next page 15 3 Technical specification 3.1 Hardware Continued Specifications for DSQC1098 and DSQC1099 Specification DSQC1098 DSQC1099 Resolution 1600x1200 2448x2048 Sensor properties 9 mm diagonal, 4.5 x 4.5 m sq. pixels 11.1 mm diagonal, 3.45 x 3.45 m sq. pixels Job/program memory 7.2 GB non-volatile flash memory; unlimited storage via remote network device. Image processing memory 512 MB SDRAM Sensor type 1/1.8-inch CMOS, global shutter 2/3-inch CMOS, global shutter Shutter speed 20 s to 940 ms 21 s to 1,000 ms Acquisition Rapid reset, progressive scan, full frame integration Lens type C-Mount or S-Mount/M12 C-Mount Protection IP67 with all cables properly attached (or the provided connector plug installed), the IP67-rated cover properly installed, and the Micro SD card cover fastened in place. Power consumption 24VDC ±10%, 1.5 A maximum C-mount lens, configuration, dimensions 35.7 mm (1.41") x 60.5 mm (2.38") x 49.4 mm (1.94") x 60.5 mm (2.38") x 90.1 mm (3.55"). 90.1 mm (3.55"). 81.7 mm (3.21") x 60.5 mm (2.38") x 95.3 mm (3.21") x 60.5 mm (2.38") x 90.1 mm (3.55") with C-Mount cover 90.1 mm (3.55") with C-Mount cover accessory. accessory. 102.7 mm (4.04") x 60.5 mm (2.38") x 116.3 mm (4.58") x 60.5 mm (2.38") x 90.1 mm (3.55") with C-Mount cover 90.1 mm (3.55") with C-Mount cover accessory. accessory. 77.5 mm (3.05") x 88.9 mm (3.50") x 131.7 mm (5.19") x 68.0 mm (2.68") x 97.2 mm (3.83") with Illumination ac- 90.1 mm (3.55") with C-Mount cover cessory. accessory. 161.7 mm (6.37") x 68.0 mm (2.68") x 90.1 mm (3.55") with C-Mount cover accessory and C-Mount cover extender accessory. 91.1 mm (3.59") x 88.9 mm (3.50") x 97.2 mm (3.83") with illumination accessory. Operating temperature 0°C to 50°C (32°F to 122°F) Ethernet ports Occupies 1-3. Lenses It is important to select the correct lens before ordering a vision system. To select the correct lens, use Cognex Lens Advisor, see: http://www.cognex.com/ExploreLearn/UsefulTools/LensAdvisor/?id=8341 When using the Lens Advisor, select product and model as follows: · DSQC1020: In-Sight 7200 · DSQC1021: In-Sight 7402 · DSQC1063: In-Sight 7600 - VGA · DSQC1064: In-Sight 7601 (In-Sight 7601 does not exist in Lens Advisor so when calculating lens for In-Sight 7601, use In-Sight 7801 it has the same resolution and field of view as In-Sight 7601) Continues on next page 16 Product specification - Integrated Vision 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. 3 Technical specification 3.1 Hardware Continued · DSQC1098: In-Sight 7802 · DSQC1099: In-Sight 7905 ABB can provide lenses with focal length 8 mm, 12.5 mm, 16 mm, and 25 mm. Lenses with other focal lengths can be purchased from Cognex, if needed. Example of selecting lens Below is an example showing how to calculate the proper lens to be used, knowing the working distance between camera and work piece, and the required field of view. The example uses DSQC1021. Camera Maximum distance between camera and product Minimum field of view DSQC1021 500 mm 200 x 200 mm The example specifies that the FOV must be at least 200 mm in both vertical and horizontal directions. Since the image is rectangular rather than square, it means that the shortest dimension, the height, must be greater than 200 mm. In this case an 8 mm lens would also work, but the resolution of the camera would not be fully utilized since the field of view would be larger than needed. YuMi-specific stationary vision Camera The following table provides the basic characteristics of the YuMi-specific stationary camera, In-Sight Micro 1402. Specification Resolution Sensor properties Job/program memory Image processing memory Sensor type Shutter speed Acquisition Lens type Protection Power consumption Dimensions Operating temperature In-Sight Micro 1402 1280x1024 8.7 mm diagonal, 5.3 x 5.3 m sq. pixels 128 MB non-volatile flash memory; unlimited storage via remote network device 256 MB 1/1.8-inch CMOS 16 s to 1,000 ms Rapid reset, progressive scan, full frame integration CS-mount and C-mount (with 5 mm extension, included) IP51 with cables and lens attached 6.49 W maximum per Class 2 PoE 30 x 30 x 60 mm (1.18 x 1.18 x 2.36 in) without mounting block 30 x 38.2 x 60 mm (1.18 x 1.50 x 2.36 in) with mounting block 0°C to 45°C (32°F to 113°F) Product specification - Integrated Vision 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. Continues on next page 17 3 Technical specification 3.1 Hardware Continued Lens HF 12.5HA-1B is the lens used together with the YuMi-specific stationary camera In-Sight Micro 1402. The following table details the basic specifications of the lens. Specification HF 12.5HA-1B Focus length (mm) 12.5 Iris range F1.4-F16 Operation Focus: manual Iris: manual Angle of view (H x V) 2/3": 38"47' x 29"35' 1/2": 28"43' x 21"44' 1/3": 21"44' x 16"23' Focusing range (from front of the - 0.1 lens) (m) Object dimensions at M.O.D. (H 2/3": 78 x 58 x V) (mm) 1/2": 57 x 42 1/3": 42 x 32 Back focal distance (in air) (mm) 15.09 Exit pupil position (from image -31.3 plane) (mm) Filter thread (mm) M25.2 x 0.5 Mount C Mass (g) 45 18 Product specification - Integrated Vision 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. 3 Technical specification 3.2 Software 3.2 Software RobotStudio RobotStudio is equipped with an additional tab that can be launched when connected to a robot controller with the option Integrated Vision. A graphical interface provides point-and-click instructions to assemble a vision task or job. The vision tab offers a rich set of vision tools that can be used to solve a wide variety of applications. Rapid snippets are available to get off to a quick start. xx1900001414 Note The ABB kit cameras cannot be programmed with Cognex In-Sight Explorer. Robot controller The RobotWare option Integrated Vision enables a set of dedicated instructions for communicating with the camera in an efficient manner. The instructions include commands for acquiring images, queue handling for the output as well as generic instructions for changing various parameters during runtime. Product specification - Integrated Vision 19 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. This page is intentionally left blank 4 Does Integrated Vision solve your application? 4 Does Integrated Vision solve your application? When deciding to deploy a vision solution it is of critical importance to evaluate if the expected result can be achieved. The best way to make sure that required results can be achieved is to perform a test, and the closer the test setup is to the intended installation the better the result. As good practice, the following requirements shall be identified/quantified and verified: Requirement Description Samples Collect good and bad samples of the actual customer product to be used for evaluation. Accuracy What accuracy is required? The overall number combines robot accuracy, influence by part variation, lighting etc. Tolerance Can the part vary in size? Uniformly or irregularly? Cycle time The vision system requires processing time. Depending on the application this may or may not affect the cycle time. Part positioning Make sure you know the perspective from which the camera will observe the object. A simple thing like looking at the object from the side may affect the result. Variations Apart from the verified variables, can something else change? in the process Lighting needs Lighting is extremely important. Shield out ambient light and applying light that brings out the desired features of the part. Experimentation is the only reliable method. Physical space Taking all factors into consideration such as field of view, lighting solu- constraints tion, point of view does everything fit together? Product specification - Integrated Vision 21 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. This page is intentionally left blank 5 Stationary camera or mounted on the robot 5 Stationary camera or mounted on the robot General Depending on the application requirements and physical constraints the camera may be mounted in different ways. Generally it can be said that mounting the camera on a fixed structure is more efficient unless requirements are such that the camera must be carried by the robot. When mounted on a robot the camera may be subjected to substantial force. For special considerations, see Hardware on page 15. Stationary A stationary camera generally provides faster cycle times since the robot does not have to stop on its path to acquire an image. Setup and calibration is generally easier with fixed cameras since the point from which the image is acquired is fixed. When mounting the camera on a fixed structure it is important that the camera is not subject to vibrations which can cause motion blur. Mounted on the robot When placing a camera on a moving position it is the responsibility of the user to make sure that the camera is not subjected to mechanical forces greater than what is specified in the camera specification. The cables are of a flexible type, but wear depends greatly on both the cable routing and the programmed robot path. CAUTION When using a robot held camera, or by other means moving camera, it is important to have a good cable routing. When routing the cables caution has to be taken to avoid mechanical stress on the connectors, allowing sufficient bend radius for the cables, and minimizing the wear on the cables. It is also recommended to fit the cables with extra wear protection at the attachment points and at especially exposed areas. Product specification - Integrated Vision 23 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. This page is intentionally left blank 6 Sales options 6 Sales options Licensing Integrated Vision is licensed as RobotWare option 3127-1. The software option enables the RAPID programming interface and FlexPendant operator panel. The vision programming tool in RobotStudio is free to use. Product specification - Integrated Vision 25 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. This page is intentionally left blank 7 Specification of variants and options 7 Specification of variants and options Options Option Description Remark Description 3127-1 Integrated Vision inter- Requires 24V 8Amps [3015-1] face The option provides the software option that enables use of the RAPID vision instructions and the FlexPendant operator panel. The controller is also fitted with the necessary hardware to enable connection of up to three cameras. Integrated Vision cameras 3128-1 (1-3) Medium resolution Requires Vision interface [3127-1] Camera DSQC1063 as specified in camera Requires 5 Port Ethernet switch [3014- section Cameras on page 15. 1] and occupies 1-3 Ethernet port(s) 10 m cables for EtherNet and Power I/O included with each camera. 3129-1 (1-3) High resolution camera Requires Vision interface [3127-1] Camera DSQC1064 as specified in Requires 5 Port Ethernet switch [3014- section Cameras on page 15. 1] and occupies 1-3 Ethernet port(s) 10 m cables for EtherNet and Power I/O included with each camera. 3141-1 2MPx resolution camera Requires Vision interface [3127-1] Camera DSQC1098 as specified in section Cameras on page 15. 10 m cables for EtherNet and Power I/O included with each camera. 3136-1 5MPx resolution camera Requires Vision interface [3127-1] Camera DSQC1099 as specified in section Cameras on page 15. 10 m cables for EtherNet and Power I/O included with each camera. Camera lenses 3130-1 (1-3) 8 mm camera lens Requires Medium resolution camera Camera lens with focal length 8 mm [3128-1] or High resolution camera as specified in section Lenses on [3129-1]. page 16. 3131-1 (1-3) 12.5 mm camera lens Requires Medium resolution camera Camera lens with focal length 12.5 [3128-1] or High resolution camera mm as specified in section Lenses on [3129-1]. page 16. 3132-1 (1-3) 16 mm camera lens Requires Medium resolution camera Camera lens with focal length 16 mm [3128-1] or High resolution camera as specified in section Lenses on [3129-1]. page 16. 3133 (1-3) 25 mm camera lens Requires Medium resolution camera Camera lens with focal length 25 mm [3128-1] or High resolution camera as specified in section Lenses on [3129-1]. page 16. 3137-1 8 mm-5 MPx Cam Lens Requires Vision interface [3127-1] Requires 2 MPx resolution camera [3141-1] or 5 MPx resolution camera [3136-1]. Camera lens with focal length 8 mm as specified in section Lenses on page 16. 3138-1 12.5 mm-5 MPx Cam Lens Requires Vision interface [3127-1] Camera lens with focal length 12.5 Requires 2 MPx resolution camera mm as specified in section Lenses on [3141-1] or 5 MPx resolution camera page 16. [3136-1]. Product specification - Integrated Vision 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. Continues on next page 27 7 Specification of variants and options Continued Option 3139-1 3140-1 Description Remark Description 16 mm-5 MPx Cam Lens Requires Vision interface [3127-1] Camera lens with focal length 16 mm Requires 2 MPx resolution camera as specified in section Lenses on [3141-1] or 5 MPx resolution camera page 16. [3136-1]. 25 mm-5 MPx Cam Lens Requires Vision interface [3127-1] Camera lens with focal length 25 mm Requires 2 MPx resolution camera as specified in section Lenses on [3141-1] or 5 MPx resolution camera page 16. [3136-1]. YuMi-specific option Option Description Remark Description YuMi-specific stationary vision 1521-1 (1-2) High res. PoE cam- Requires IRB 14000-0.5/0.5 [435-131] This option provides a package specif- era ic to IRB 14000, including camera, lens, adapter, cables and so on. Camera ISM1402 and related lens as specified in sections YuMi-specific stationary vision on page 17. 28 Product specification - Integrated Vision 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. 8 Spare parts 8 Spare parts Spare parts for Integrated Vision Article number 3HAC053944-001 3HAC053944-002 3HAC053944-003 3HAC053944-004 3HAC053953-001 3HAC053954-001 3HAC075182-001 3HAC075207-001 3HAC087074-001 3HAC087075-001 3HAC087266-001 3HAC087267-001 3HAC087268-001 3HAC087269-001 3HAC075443-002 3HAC051736-004 3HAC051753-003 3HAC051753-004 Description 8 mm C-mount lens 12.5 mm C-mount lens 16 mm C-mount lens 25 mm C-mount lens DSQC1020 Camera Std Resolution for C-mount lens DSQC1021 Camera High Resolution for C-mount lens DSQC1063 Camera Std Resolution for C-mount lens DSQC1064 Camera High Resolution for C-mount lens DSQC1098 Integrated vision camera 2MPx DSQC1099 Integrated vision camera 5MPx 8 mm camera lens, LMC-ML-M0822UR 12.5 mm camera lens, LMC-ML-M1218UR 16 mm camera lens, LMC-ML-M1616UR 25 mm camera lens, LMC-ML-M2516UR Ethernet cable 10 m Ethernet cable 15 m Power cable 10 m Power cable 15 m Spare parts for YuMi-specific stationary vision Article number 3HAC053166-001 3HAC053167-001 3HAC053168-001 3HAC053227-001 3HAC024254-009 Description Cognex camera, ISM1402-11 Cognex LFC-12.5F lens Standard Ethernet cable 5 m PoE adapter Ethernet cable, straight con. 3 m Product specification - Integrated Vision 29 3HAC073385-001 Revision: D © Copyright 20192023 ABB. All rights reserved. ABB AB Robotics & Discrete Automation S-721 68 VÄSTERÅS, Sweden Telephone +46 10-732 50 00 ABB AS Robotics & Discrete Automation Nordlysvegen 7, N-4340 BRYNE, Norway Box 265, N-4349 BRYNE, Norway Telephone: +47 22 87 2000 ABB Engineering (Shanghai) Ltd. Robotics & Discrete Automation No. 4528 Kangxin Highway PuDong New District SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics & Discrete Automation 1250 Brown Road Auburn Hills, MI 48326 USA Telephone: +1 248 391 9000 abb.com/robotics © Copyright 20192023 ABB. All rights reserved. Specifications subject to change without notice. 3HAC073385-001, Rev D, enXEP 4.25.502