Capable of Detecting Irregular Shaped Objects; also Applicable to Food, Pharmaceuticals, Cosmetics, and Clothing

Yamaha Motor Europe announced today that it will launch the RCXiVY2+ vision system, which features a new “blob detection” enabling picking, presence recognition, and high-speed counting of multiple workpieces for irregular shaped objects such as foodstuffs and clothing, on June 1. As the successor to the existing iVY2, in addition to new functionality this new model features a high-performance camera and improved processing capability, enabling up to 45% detection time reduction compared to the current model.
A feature of Yamaha Motor’s vision system is its integration with robots by incorporating a vision board, lighting board, and tracking board in the RCX3 series multi-axis robot controller. This advanced integration enables unitary management of robot control, image processing, lighting control, and conveyor tracking data processing with only the robot program, significantly reducing equipment setup time. The further addition of “blob detection” functionality means that the system can now handle products such as foodstuffs and clothing – which tend to have greater variation in shape and size compared to industrial products – expanding its possible range of applications.

RCX340 Controller and RCXiVY2+

Handles Irregurlar Shaped Products such as Foodstuffs and Clothing

Market Background

The industrial robot market continues to grow due to the declining labor force and rising wages driving requirements for increased factory automation. In addition to the automotive, electrical, and electronics industries, in recent years the utilization of industrial robots has also been increasing in industries such as foodstuffs, clothing, and cosmetics. In response, Yamaha Motor has developed vision systems optimized for detection of irregular shaped objects, which are characteristic of industries such as foodstuffs, pharmaceuticals, clothing, and cosmetics.


New Functions of the RCXiVY2+
  • Blob detection which excels in recognizing irregular shaped objects
    The word “blob” evokes the image of an amorphous lump or mass. Blob detection functions take greyscale images (including variations in light and shade) captured by cameras, and apply certain threshold value criteria, converting them to black and white gradations through binary coded processing. This detection method can then recognize the presence/absence, number, size, etc. of blobs.
    The RCXiVY2+’s blob detection can recognize workpieces between two and ten times faster than in the edge detection functions of previous models. This upgrade means that the new model can handle tasks such as picking, presence recognition, and high-speed counting of multiple workpieces of irregular shaped objects such as foodstuffs and clothing. The combination of the RCXiVY2+ and SCARA robots is ideal for high-speed conveyor tracking.

  • Performance improvement
    The search speed has been improved by 8 to 45% because of the improvement of CPU. In addition, the adoption of a high-performance camera has improved the number of pixels and frame rate.


Other Features
  • Simple auto-calibration function
    High-precision camera calibration can be completed simply by following the easy-to-use wizard.

  • Simple workpiece registration function
    Workpiece registration takes just three steps – image capture, contour setting, and detection position registration.

  • Integrated control of the vision program using only the robot program
    There is no need to create a coordinate conversion program thanks to unified management from the robot program.

  • Also handles moving cameras
    Coordinates can be automatically converted to suit a robot’s movements when a camera is installed on the robot.

  • Wide range of product registration is possible
    254 product types can be registered for use in detection, meaning that changeover work can be carried out simply by changing the product number.

  • Monitoring of detection status while robots are running in automatic mode
    With the RCXiVY2+ Studio and an external monitor, monitoring of detection status while robots are running in automatic mode as well as reference mark detection status during calibration setting are possible.

Basic Specifications Compatible controllers


No. of pixels

728(H) x 544(V) (400,000 pixels)
1,456(H) x 1,088(V) (1.6 megapixels)
2,048(H) x 1,536(V) (3.2 megapixels)
2,592(H) x 1,944(V) (5 megapixels)

Number of set product types

254 product types

No. of connected cameras

Max. 2

Camera connections

GigE camera PoE: Up to IEEE802.3af 1ch 7W

External interface

Ethernet (1000BASE-T) *Used for settings and monitor

External monitor output

*Analog monitors can also be used via a conversion adaptor
Monitor resolution: 1024×768
Vertical period frequency: 60Hz
Horizontal period frequency: 48.4kHz

Power supply

DC 24V ±10 % 1.5 A Max

Exterior dimensions

W45mm x H19mm5 x D130mm (RCXiVY2+ unit only)


0.8Kg (RCXiVY2+ unit only,
when lighting control option is selected)

Detection method

Edge detection (Correlative edge filter, Sobel filter)
Measurement function, blob detection

Image capture Trigger mode

Software trigger, hardware trigger

External trigger inputs



Position detection, coordinate conversion,
automatic point data creation, distortion and tilt correction

Camera installation positions

Set to either fixed cameras (above and below) or robots (Y, Z axes)
Vertical direction with regard to workpieces being photographed is recommended

Included assistance functions

Calibration, image saving function, product type registration, reference mark registration, measurement function registration, blob registration, monitor function

Lighting control option No. of connected lighting units

Max. 2

Light modulation method

PWM modulation control (0-100%)
PWM frequency 62.5kHz/125kHz switchable
Continuous light, strobe light (tracks camera exposure)

Lighting power input

DC 12V or DC 24V (2ch common, external supply)

Lighting output

For DC 12V supply: 2ch, total less than 40W
For DC 24V supply: 2ch, total less than 80W

About YAMAHA Robotics FA Section
Yamaha Factory Automation Section (FA Section), a subdivision of Yamaha Motor Robotics Business Unit in Yamaha Motor Corporation, is focused on delivering flexible, high-accuracy industrial robots for precision automation challenges.

With its roots in the introduction of robot technology to Yamaha motorcycle assembly activities, the division has over 40 years’ experience solving automation challenges from factory-scale to micron-level. Yamaha’s industrial robots are now trusted by leading corporations worldwide, in activities as diverse as semiconductor fabrication and assembling electronic products, domestic appliances, automotive components, and large liquid-crystal panels.

Yamaha FA Section offers a unified range of solutions for robotic assembly, including single-axis robots, SCARA, cartesian, and articulated robots. Innovations such as the LCM100 linear conveyor module; a smoother, space-saving and more versatile successor to conventional belt and roller conveyors continue to set the pace in factory automation. Core robotic technologies as well as key components and complete robot systems are all produced in-house, ensuring consistent quality and control over lead-times.

Headquartered in Hamamatsu, Yamaha FA Section serves customers globally through its worldwide sales network spanning China, Taiwan, Korea, south Asia, north America, Australia/New Zealand, and Europe.

Contact info

Oumayma Grad
Marketing Communications Manager

Hansemannstraße 12
41468 Neuss

Office: +49 2131 2013 538
Mobile: +49 1517 0233 297
Fax: +49 2131 2013 550