The Maintenance, Commissioning of FANUC M-1iA 0.5a Type Selecting Robot and Implementation of Irvision Picture-Recognizing Procedure

* Co esponding au ho : ko so [email protected] The main enance, commissioning o FANUC M-1iA 0.5A ype selec ing obo and implemen a ion o iRVision pic u e- ecognizing p ocedu e Gyula Ko so eczki1,*, Géza Husi2, and Timo ei Is án E dei3 1Mecha onics Depa men , Enginee ing Facul y, Uni e si y o Deb ecen, Hunga y 2Mecha onics Depa men , Enginee ing Facul y, Uni e si y o Deb ecen, Hunga y 3Mecha onics Depa men , Enginee ing Facul y, Uni e si y o Deb ecen, Hunga y Abs ac . The opic o he gi en p ojec is based on he main enance, commissioning and implemen a ion o iRVision pic u e- ecognizing p ocedu e, and he ope a ion o he associa ed p og am o he FANUC M- 1iA 0.5A ype del a ipod designed selec ing obo ha can be ound a he Mecha onics Depa men , Enginee ing Facul y o he Uni e si y o Deb ecen. Keywo ds — FANUC; M-1iA 0.5A; del a ipod; obo ; iRVision; pic u e- ecognizing 1 In oduc ion The pe mea ion o obo s is mo e conside able in e e y a ea o indus y. Wi h he de elopmen o he echnic and g owing o demand he e is need o au oma ed p oduc ion lines. The eloci y and p ecision o hese lines gi es indus ial obo s. Wi h he oppo uni y o his p ojec I could wo k wi h ha kind o indus ial obo I ha e always wan ed o. Tha is why I chose he men ioned FANUC M-1iA 0.5A ype del a ipod designed selec ion obo ha can be ound a he Mecha onics Depa men , Enginee ing Facul y o he Uni e si y o Deb ecen. A e I had comple ed he main enance ope a ions, I measu ed he ool used by he obo . Nex , I op imiza ioned he sphe e o he wo kplace and I measu ed he use ame ha I used du ing he p ojec . A e his ope a ion, I designed se e al ools and elemen s o he obo . These me al elemen s make he wo k desk s onge and ensu e a highe le el o s abili y o he cons uc ion ha suppo s he wo k desk. The subjoined CD con ains he comple e plans. Fu he mo e, I wan ed o know he wo king o he iRVision sys em o FANUC and he implemen a ion o pic u e- ecognizing p ocedu e ha I wan ed o show in my ask. As he esul o hese ope a ions, he sphe e o wo k o he obo was b oadened and he unc ioning became mo e e icien and compe en in educa ional pu poses. 2 Desc ip ion o he sys em 2.1. FANUC M-1iA 0.5A ype obo The obo I used du ing my ask is a del a ipod designed obo , ha possesses 6 deg ees o eedom. This model is e sa ile and nimble, and i can achie e excellen wo k a es on complex componen assembly ope a ions. The obo is capable o wo king a any angle, so i is good choice o hose applica ions ha demand high le el o epea abili y and lexibili y. The scope o he applica ion is elec onics, ood p oduc s indus y, manu ac u e o medical ins umen s op ic and medical indus y and p ecision mechanics [1]. Fig. 1. FANUC M-1iA 0.5A [1] The echnical speci ica ions o he obo : • Numbe o con olled axes: 6 • Maximal each: 280 mm • Repea abili y: +/- 0,02 mm • Mechanical weigh : 23 kg • Maximal load capaci y a w is : 0,5 kg • Maximal eloci y: 4000 mm/s [1] 2.2. FANUC R-30iB Ma e con olle The obo is con olled by FANUC R-30iB Ma e Open- Ai ype o con olle s. I is compac and easy o in eg a e in o single obo p oduc ion cells. Unlike Windows-based con olle s, he R-30iB ypes use ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2018, h p://www.im uo adea. o/auo. m e/ 69 FANUC’s own p op ie y so wa e. This allows ha he sys em is mo e s able and i is p o ec ed agains he mos cybe i us and a acks o hacke s. Fu he mo e, i s con olle ad an age is ha he e is no need ame sys em o un [2]. The con olle also sui s he equi emen s o indus ial en i onmen , because i has sui able p o ec ion agains we ness and dus . To use he iRVision sys em easily, an E he ne po can be ound on he con olle . The main pa s a e a swi ch wi h wo posi ion (ON- OFF), an eme gency oggle wi h ed colou and an ope a ion mode change g een oggle ha can be ac ua ed by a small key. This g een oggle is he esponsible o he unning o he cycle p og am [2]. Fig. 2. FANUC R-30iB [3] 2.3. FANUC iPendan Touch The obo can be p og ammed in wo ways. One o hese ways is he Ka el p og am language. To use his one, a PC is needed. The o he oppo uni y is he iPendan Touch hand con olle ha is powe ed by FANUC. As his hand con olle uses block s yle p og am language, he e a e mo e op ions o p og am he obo and i is as e han in case o Ka el language. The iPendan Touch has e gonomic shape, ouch sc een and i s p og amming en i onmen is use - iendly. To u he enla gemen s i con ains unc ion oggles and he e can be opened wo windows on he big colou ul sc een a he same ime. The hand con olle has a 4D designe op ion and USB inpu o connec ex e nal s o e o mouse [4]. The main pa s a e he big colou ul sc een, he keyboa d, he sa e y Deadman swi ch wi h h ee posi ions, an eme gency oggle and a swi ch wi h wo posi ions ha can enable he iPendan Touch. Fig. 3. FANUC iPendan Touch [Own igu e] 2.4. SONY XC-56 ype came a The sys em includes an indus ial monoch oma ic came a ha is powe ed by SONY. This came a is compa ible wi h he iRVision pic u e- ecognizing sys em. I has he du y o accomplish he isual pa o he implemen ed p ocedu e. The main echnical speci ica ions o he came a: • High esolu ion: VGA esolu ion (648 x 494) • High a e scanning: 120 ames / second • Minimum illumina ion: 0,5 lux • High shock and ib a ion esis ance [5] Fig. 4. SONY XC-56 came a [5] 3 The main enance ope a ions 3.1. Rese o he se ial pulsecode Du ing he ask, my i s p oblem was ela ed o he ba e ies o he se ial pulsecode . The obo has 6 mo eable axes. These axes a e mo ed by 6 AC se o mo o s. To gi e hei ac ual posi ion, he e a e inc emen al pulsecode s in he obo . These kinds o pulsecode s need s a iona y elec ic supply. Wi hou his, he esul o he coun ing pe ishes [6]. Tha is why he obo includes 4 Indus ial ALCALYN ba e ies. Howe e , hese ba e ies ha e gone la since he las use o he obo . In his case a special ala m u ns up, namely SRVO-062 BZAL ala m (G oup: i Axis: j). I means Ba e y Ze o Ala m. To sol e his p oblem, changing he ba e ies is no enough, because he e is need o dele e and unlock his one in he sys em. Wi h using o he iPendan Touch, we need o en e in o he menu o he obo wi h pushing o he MENU bu on. A e ha , he e is need o selec NEXT (0) and he SYSTEM (6) op ions. Finally, we can each he in e nal lib a y o he obo wi h pushing o he VARIABLES (2) bu on. Wi h he ITEM unc ion we can sea ch acco ding o se ial numbe s. In his case, he numbe o he sea ched i em is 308. This is $MRC olde . In his olde we need o ind he $SPC_RESET a iable wi h he se ial numbe o 14. I means SERIAL PULSECODER RESET. When i is ound, we ha e o change he alue FALSE o alue TRUE. Comple ing his ope a ion, he e is need o push he Deadman swi ch in o middle posi ion and he RESET bu on a he same ime. As he nex s ep, he e is need o shu down he obo and disconnec o he elec ic ci cui . When we u n on he obo , he axes will be mo eable and we can use he JOINT coo dina e-sys em [7]. ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2018, h p://www.im uo adea. o/auo. m e/ 70 Fig. 5. The $SPC_RESET [Own igu e] 3.2. The MASTERING and he CALIBRATION Following he ese o he se ial pulsecode , i was necessa y o pe o m he MASTERING and he calib a ion p ocedu es. The ac ual posi ion o he obo depends on he alues o he pulsecode s. The co esponding coun alue is ob ained om he o a ional speed o he pulsecode connec ed o he ele an mo o and he o a ion angle wi hin one o a ion. By igh o his p inciple we can gi e alues o he pulsecode s wi h he MASTERING ope a ion. This p ocedu e is accomplished a he ac o ies, use s do no need o pe o m a e e y use. Howe e , i is necessa y a e mo o , pulsecode and cable eplacing, mo eo e , in case o ba e y p oblems [8]. Du ing my ask I accomplished he QUICK MASTERING ope a ion on he obo . This p ocedu e is implemen ed in a posi ion ha is de ined by he use . QUICK MASTERING uses he ac ha he absolu e alue o a o a ion angle wi hin one o a ion will no be los . This kind o MASTERING can be used, i he pulsecode coun alue is los , o example a low ol age de ec s on he backup ba e y o he pulse coun e . Howe e QUICK MASTERING canno be used, a e he se ial pulsecode is eplaced o he mas e ing da a is los om he obo con olle [8]. To accomplish QUICK MASTERING, he e is need o selec he SYSTEM op ion and hen we ha e o choose he MASTER/CAL oppo uni y wi h pushing he bu on 3. He e we can each all o he MASTERING op ions. Fi s o all, i is necessa y o mo e he obo axes in o a andom posi ion. To comple e his ope a ion, we need o selec he JOINT coo dina e-sys em wi h he COORD bu on. The nex s ep is o push he RESET bu on and he Deadman swi ch in o he middle posi ion a he same ime. Wi h his ope a ion, we can unlock he FAULT ala m. To mo e he obo axes, i is needed o push he Deadman swi ch, he SHIFT bu on and one o he di ec ion bu ons a he same ime. These di ec ion bu ons can be ound on he igh side o he iPendan Touch. In his case, he TOOL CENTER POINT (TCP) mo es in o he equi ed di ec ion. The di ec ion bu ons a e he ollowing: • +X; -X; +Y; -Y; +Z; -Z: Mo ing along he axes o he Desca es coo dina e-sys em. • +X ; -X ; +Y ; -Y ; +Z ; -Z : Ro a ing a ound he axes o he Desca es coo dina e-sys em. To selec he QUICK MASTERING, we need o use he na iga ion bu ons and o comple e i , we ha e o p ess ENTER. A e pe o ming his ope a ion, pulsecode s ge coun alues. Howe e , i is no enough o gi e alues o he pulsecode s, because we ha e o sa e hese alues. The e is he CALIBRATING op ion o his pu pose. To pe o m his ope a ion, i is impo an o choose he CALIBRATE oppo uni y [8]. Fig. 6. The MASTER/CAL menu [Own igu e] Du ing my ask I comple ed all o he desc ibed ope a ions. As a esul , I achie ed he aim ha he obo can mo e in WORLD coo dina e-sys em. To de ine and p esen he di ec ions, I c ea ed an illus a ion ha con ains hese di ec ions. The illus a ion can be ound on he cons uc ion ha suppo s he obo . Knowing o he di ec ions enables as e and easie obo p og amming o he use s. 4 The commissioning o he obo 4.1. Measu ing o he ool ame Finishing wi h he main enance, I had he oppo uni y o commission he obo . The i s s ep o commissioning was he measu ing o he ool ame. To wo k he obo p ope ly, he e is necessa y ha we pe o m his ope a ion. Wi h measu ing o he ool ame, we each he obo he TOOL CENTER POINT. Knowledge o his in o ma ion is essen ial o he obo because he obo ge s in o ma ion abou he geome ic pa ame e s o he ool, which is ound on i . To accomplished he measu ing, i is necessa y o en e in o he MENU o he iPendan Touch. A e ha , we need o selec he SETUP (6) op ion and wi hin ha he FRAMES possibili y wi h he bu on 3. He e he e is need o open he [OTHER] unc ion o each he TOOL FRAME pla o m. Following his p ocedu e, he sys em gi es us a lis abou he p e iously measu ed ools. We ha e he oppo uni y o modi y hese ools bu we can also de ine new ools. To measu e a new ool, we ha e o mo e he cu so on an emp y place and hen wi h he CREATE o de we a e s a he ope a ion. Opening o he [METHOD] unc ion helps us o choose he me hod o he ool measu ing. The sys em o e s o us 4 possibili ies. These a e he Th ee Poin , Six Poin , Two Poin + Z and he Di ec En y. While I was dealing wi h my ask, I used a 3D p in ed ool and I measu ed i wi h he Th ee Poin ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2018, h p://www.im uo adea. o/auo. m e/ 71 me hod. The essence is o his me hod, ha we ouch wi h he a ge ool he chosen e e ence poin om h ee di e en di ec ions and wi h h ee di e en o ien a ions. To comple e he p ocedu e, he e is need o de ine 3 poin s which a e APPROACH POINT 1, 2 and 3. These poin s a e he men ioned ouching poin s. We ha e o mo e he TCP in o he demanded poin s and hen i is necessa y o sa e hem. We can do his wi h pushing he SHIFT bu on and selec ing he RECORD o de a he same ime. We ha e he possibili y o commen he measu ed ool in o he COMMENT space. Fig. 7. Measu ing o he ool ame [Own igu e] 4.2. Op imiza ion o he wo k sphe e The nex pu pose o my ask was he op imiza ion o he wo k sphe e. Thanks o his ope a ion, he scope o he wo k o he obo b oadened and wi h he se ing o he wo k sphe e he p ecision has inc eased. Be o e he p ocedu e, he obo had possessed a wo k sphe e bu om he poin o he iew o my p ojec i had been unsui ed. The i s p oblem I disco e ed ha he wo k able was no ho izon al, because i possessed a he eabou s 20 deg ees. This p oblem made he obo unsui ed o he ask solu ion because I wan ed o implemen a 2D iewed pic u e- ecognizing p ocedu e. To sol e his p oblem, I c ea ed a cons uc ion made o pe o med aluminium. I was compa ible wi h he suppo ing cons uc ion o he obo . To ix he i ings, I used small me al componen s ha ha e sc ew- h eads. Wi h cons aining o slacking he componen s he wo k able p o ed mo eable along he splin s. As he wo k able I used a me al p ac ise able powe ed by KUKA GmbH. I is s able, i includes heigh di e ences and he e a e p ac ise igu es on he su ace. Ano he p oblem I disco e ed ha he maximal each o he obo is 280 mm, so i was no able o each he su ace o he wo k able. To sol e his p oblem, I ha e li ed up he new wo k able. Being s able and adjus able a e e y impo an c i e ions agains he wo k able. I accomplished hese iewpoin s wi h 4 sha s ha possess sc ew h eads. Thei diame e s a e M6 and hey a e 120 mm long. The sc ews a e compa ible wi h he small me al componen s and wi h he whole cons uc ion. They wa an X and Y di ec ion mobili y by he WORLD coo dina e-sys em. To ix he p ac ise able, I used sc ew-nu s and apid space s. Thanks o ha , he posi ion o he p ac ise able is a iable e ically. I means ha he Z posi ion is adjus able. As a esul o he pe o med changeo e s, I could se he wo k sphe e o he obo op imal. The di ec ions o he mobili y a e p esen ed in igu e 8. Fig. 8. The new wo k sphe e [Own igu e] 4.3. Measu ing o he use ame A e he sui able cons uc ing o he wo k sphe e, I had he oppo uni y o measu e he use ame ha was used by he obo . In addi ion, I laid down he used coo dina e-sys em and I de ined he di ec ions o his. The measu ing o he use ame can be eached om he menu o he iPendan Touch wi h he SETUP (6) op ion. To ge his, he e is need o open he FRAME (3) oppo uni y and hen i is needed o selec he USER FRAME possibili y wi h he opening o he [OTHER] unc ion. He e we can modi y be o e measu ed ames o we can measu e a new one. The [METHOD] unc ion o e s he Th ee Poin , Fou Poin , and he Di ec En y ope a ions. Du ing he solu ing o he ask I pe o med he Th ee Poin me hod. In his case we need o de ine he o igo o he use ame and wo o he poin s which a e in X and Y di ec ions. These di ec ions a e he same wi h he di ec ions o he WORLD coo dina e-sys em. Fig. 9. Measu ing o he use ame [Own igu e] 5 C ea ing o he iRVision p ocedu e The iRVision is he FANUC’s own PLUG & PLAY isual senso sys em. The obo possesses a came a and a pic u e-analysing p ocess ha is connec ed o he came a. These i ems p o ide ision o he obo . I is comple ely in eg a ed in o he R-30iB Ma e con olle . As a esul o his, he iRVision can be used easily and i o e s a high le el o lexibili y o he use s. Thanks o he iRVision sys em, he obo is sui able o selec ing, complex componen assembly ope a ions and i is able o ecognize hings wi h op ional scale, colou and posi ion in 2D and 3D as well [9]. Meanwhile I was dealing wi h my p ojec , I wan ed o implemen a pic u e-analysing p ocedu e ha ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2018, h p://www.im uo adea. o/auo. m e/ 72 ecognizes a gi en 2D coo dina e-sys em wi h he use o he came a. A e ha , i ouches he cen e poin o he coo dina e-sys em and i d aws a ound he wholesale iangle which is placed in his one. Howe e , his iangle is in isible o he obo . To accomplish hese ope a ions, we need a obo p og am ha connec s he iRVision sys em o he obo . The speciali y o he iRVision is ha i has a di ec connec ion o he con olle . In case o compu e connec ion, he e is need an E he ne cable and a PC ha can un Mic oso In e ne Explo e . The i s s ep o he implemen a ion is connec ing he PC o he con olle o he obo wi h E he ne cable. Fo he communica ion, we need o o e w i e he IP 4 add ess o he PC o 192.168.0.11. Following his ope a ion, i is necessa y o open he In e ne Explo e and we can each he main so wa e o he con olle wi h he add ess o 192.168.0.1. The e a e special componen s o he In e ne Explo e which a e essen ial o wo k he sys em. These componen s can be downloaded wi h clicking o he iRVision Se up menu. F om he appea ing menu we should choose he CAMERA SETUP TOOLS oppo uni y wi h he help o [TYPE] op ion. A e ha , wi h using o he CREATE command we can c ea e a new one. He e we can de ine he se ings o he used came a. In addi ion, we ha e o selec ix came a op ion and se he exposi ion ime. The nex s ep is o comple e he calib a ion o he came a wi h he CAMERA CALIBRATION TOOLS unc ion. To do his, we need he FANUC’s own calib a ion g ids. Wi hou his, we canno accomplish he ope a ion. The main poin o he calib a ion is ha he obo op imizes he se ings o he came a i sel o ge he maximal e iciency. Since I didn’ possess wi h calib a ion g ids, I used he basic se ings o he came a. A e all hese ope a ions, he e is need o c ea e a new pic u e- ecognizing p ocedu e, namely VISION PROCESS TOOLS and wi hin his a 2-D SINGLE – VIEW VISION PROCESS. The name o he p ocess I c ea ed is “KRESHAROMSZOG”. In his oppo uni y, we ha e o de ine he came a calib a ion, he exposi ion ime and he c i e ions o he inding o he sea ched componen s. Fu he mo e, he e is need o selec he p e iously measu ed use ame and we ha e o de ine a e e ence posi ion. The menu con ains a GPM LOCATOR TOOLS op ion. Wi h using o i , we can each a ious objec s o he obo . To each hem, we ha e o ake a pic u e wi h he SNAP command. Following his ope a ion he e is need o ace he objec ha we wan o each o he obo . In addi ion, we ha e he possibili y o mask he pa s which a e unimpo an om he poin o iew i sea ching, as I did in case o he iangle. This ope a ion can be comple ed wi h he TRAINING MASK command. Impo an ools a e he CONTRAST TRESHOLD, ORIENTATION AND SCALE OPTIONS. Wi h he i s one, we can sea ch by colou s. In case o he second one, we ha e he oppo uni y o ind objec s in a ious o ien a ions. The hi d one enables us o sea ch objec s by hei scales. Wi h he end and sa ing o he edi ion comes in o exis ence he pic u e- ecognizing p ocedu e ha can be es ing s aigh . Meanwhile he es ing, he so wa e shows isually he p og ess and he esul o he sea ching. Wi h comple ing o he p esen ed s eps, my p ocedu e could be accomplished success ully. I augh he coo dina e-sys em o he obo as a sea chable objec . Fig. 10. The sea ched and ound objec [Own igu e] 6 The associa ed obo p og am 6.1. Desc ip ion o he p og am code As he las s ep o my ask, I wan ed o c ea e an associa ed obo p og am o he pic u e- ecognizing p ocedu e. Thanks o ha , he obo can use he men ioned p ocedu e in p ac ice. Wi h unning he p og am, he obo is able o ecognize he augh coo dina e-sys em which is can be ound on he wo k able o he obo in any posi ion bu in gi en o ien a ion. Fu he mo e, he obo can ouch he o igo o he coo dina e-sys em and a e ha i can d aw a ound he iangle in he coo dina e-sys em. In his case he iangle is in isible o he obo , so he posi ion o he iangle depends on he ound coo dina e-sys em. The p og amming happened wi h he using o iPendan Touch. I is much mo e sui able and as e han he usage o Ka el p og am language. In pu suance o his as he i s s ep, I de ined he p e iously measu ed ool ame and use ame in line 1 and 2. As he hi d s ep, I implemen ed a iew poin o he p ocedu e. In his poin he TCP do no dis u b he ision o he came a. The ype o he mo ion is linea (L), he eloci y is 100 m/s and a he end o he mo ion, he obo s ops (FINE). In line 4, I connec ed he pic u e- ecognizing p ocedu e o he obo p og am wi h he VISION RUN_FIND command. The pu pose o he sea ching, I ga e he name o he isual p ocess which is (KRESHAROMSZOG). The came a o he obo checks he wo k able acco ding o he pic u e- ecognizing p ocedu e o ind a augh objec . In case o success ul de ec ing, he obo sa es he coo dina es o he objec in o an OFFSET ile in line 5. Howe e , i i does no ind any hing, i c ea es a jump (JMP) on o a ma ked label (LBL [1]) o skip o e he pa o he p og am code which belongs o he inding. Wi h he commands which can be ound in lines 6-8, he obo ouches he o igo o he coo dina e-sys em. A e ha , wi h he commands in lines 9-14, he obo ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2018, h p://www.im uo adea. o/auo. m e/ 73 d aws a ound he iangle acco ding o P [4], P [5], P [6], P [7], P [5] and P [4] poin s. Finally he LBL [1] can be ound in line 15, and wi h line 16 and he [END] command he obo e u ns in o he P [1 : VIEW] poin and inishes he p og am. The p og am code is he nex : 1 : UFRAME_NUM=2 2 : UTOOL_NUM=3 3 : L P [1 : VIEW] 100mm/sec FINE 4 : VISION RUN_FIND ’KRESHAROMSZOG’ 5 : VISION GET_OFFSET : ’KRESHAROMSZOG’ VR [1] JMP LBL [1] 6 : L P [2 : APRCH] 80mm/sec FINE : VOFFSET , VR [1] 7 : L P [3 : PICK] 80mm/sec FINE : VOFFSET , VR [1] 8 : L P [2 : APRCH] 80mm/sec FINE : VOFFSET , VR [1] 9 : L P [4] 100mm/sec FINE : VOFFSET , VR [1] 10 : L P [5] 100mm/sec FINE : VOFFSET , VR [1] 11 : L P [6] 100mm/sec FINE : VOFFSET , VR [1] 12 : L P [7] 100mm/sec FINE : VOFFSET , VR [1] 13 : L P [5] 100mm/sec FINE : VOFFSET , VR [1] 14 : L P [4] 100mm/sec FINE : VOFFSET , VR [1] 15 : LBL [1] 16 : L P [1 : VIEW] 100mm/sec FINE [END] 6.2. The lowcha diag am Fig. 11. The lowcha diag am [Own igu e] 7 Conclusion The pu pose o my ask was o accomplish he main enance and he p ac ice o ien ed commissioning o he obo . Fu he mo e, I wan ed o es and submi he iRVision sys em o he obo wi h he help o he associa ed p og am. As a esul , I go a sys em ha wo ks well and I accomplished he pu poses. The e s e o he possibili ies, o example c ea ing a ious a ge speci ic ools o implemen a ion o ex e nal ligh sou ce and con eyo line. Mo eo e , he ecalib a ion o he came a is mo e impo an o make he p ecision and e iciency be e and o imp o e he scope o he wo k. Howe e , he so wa e pa can be b oadened wi hou any p oblem wi h new pa o p og am codes and unc ions. Acknowledgemen The publica ion was suppo ed by he p ojec EFOP- 3.6.1-16-2016-00022. This p ojec was co- unded by he Eu opean Union, om he Eu opean Social Fund. Re e ences 1 FANUC Hunga y K ., „M-1iA/0.5A,” [Online]. A ailable: h p://www. anuc.eu/hu/hu/ obo ok/ obo sz%c5%b 1 %c5%91-lap/m1-so oza /m-1ia-05a. [Accessed: 27.11.2017.]. 2. FANUC Hunga y K ., „R-30iB con olle .” [Online]. A ailable: h p://www. anuc.eu/hu/hu/ obo ok/ a oz%c3%a9 kok/ -30ib- ez%c3%a9 l%c5%91. [ Accessed: 27.11.2017.]. 3. Robo Wo x, „FANUC R-30iB Open Ai Cabine ,” [Online]. A ailable: h ps://www. obo s.com/ anuc/con olle / -30ib- open-ai -cabine . [Accessed: 27.11.2017.]. 4. FANUC Hunga y K ., „iPendan Touch,” [Online]. A ailable: h p://www. anuc.eu/hu/hu/ obo ok/ a oz%c3%a9 kok/ -30ib- ez%c3%a9 l%c5%91/ipendan - ouch. [Accessed: 27.11.2017.]. 5. SONY, „XC56,” [Online]. A ailable: h ps://p o.sony.com/bbsc/ss /p oduc -XC56/. [Accessed: 27.11.2017.]. 6. D . P. Boza, D . J. Pin é , Manu ac u ing au oma iza ion (Gyá ásau oma izálás) Győ , 2011. 7. FANUC Robo ics Ame ica, Inc., „M-1iA Ope a o Manual,” [Online]. A ailable: h ps://www.sc ibd.com/documen /350205121/M- 1iA-Ope a o -Manual-B-83084EN-08. [Accessed: 27.11.2017.]. 8. FANUC Robo ics Ame ica, Inc., „R-30iA Ma e CONTROLLER,” [Online]. A ailable: h p://www.msamc.o g/aimss/documen a ion/pd /m anuals/l _ma e_manuals/R30iA%20Ma e%20Con olle .pd . [Accessed: 27.11.2017.]. 9. FANUC Hunga y K ., „Visual senso sys em,” [Online]. A ailable: h p://www. anuc.eu/hu/hu/ obo ok/ a oz%c3%a9 kok/l%c3%a1 %c3%a1s. [Accessed: 27.11.2017.]. ANNALS OF THE UNIVERSITY OF ORADEA Fascicle o Managemen and Technological Enginee ing ISSUE #2, AUGUST 2018, h p://www.im uo adea. o/auo. m e/ 74