Omron FH Series Connection Manual
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Omron FH Series Connection Manual

Vision sensor
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Vision Sensor
FH Series
Vision System
Robot Connection Guide
OMRON Viper Series Edition
Z448-E1-01

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Summary of Contents for Omron FH Series

  • Page 1 Vision Sensor FH Series Vision System Robot Connection Guide OMRON Viper Series Edition Z448-E1-01...
  • Page 2 OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions.

  • Page 3: Table Of Contents

    System Configuration ......................14 2.1. Cautions for Robot Equipment ....................14 2.2. When Using Vision Sensor FH Series 3D Vision Sensor............14 Connecting Vision Sensor to Robot Controller ..............16 3.2. Connecting and Checking Vision Sensor and Robot Controller ..........20 3.3.

  • Page 4: Introduction

    Please read this manual and make sure you understand the functionality and performance of the FH Series before you attempt to use it in a control system. Keep this manual in a safe place where it will be available for reference during...

  • Page 5: Terms And Conditions Agreement

    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.
  • Page 6 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.

  • Page 7: Safety Precautions

    Safety Precautions For details on Safety Precautions, refer to Safety Precautions in the Vision System FH Series 3D Robot Vision Application Construction Guide (Cat. No. Z446).

  • Page 8: Waring

    Waring For details on Waring, refer to Waring in the Vision System FH Series 3D Robot Vision Application Construction Guide (Cat. No. Z446).

  • Page 9: Precautions For Safe Use

    Precautions for Safe Use For details on Precautions for Safe Use, refer to Precautions for Safe Use in the Vision System FH Series 3D Robot Vision Application Construction Guide (Cat. No. Z446).

  • Page 10: Precautions For Correct Use

    Precautions for Correct Use For details on Precautions for Correct Use, refer to Precautions for Correct Use in the Vision System FH Series 3D Robot Vision Application Construction Guide (Cat. No. Z446).

  • Page 11: Regulations And Standards

    Regulations and Standards For details on Regulations and Standards, refer to Regulations and Standards in the Vision System FH Series 3D Robot Vision Application Construction Guide (Cat. No. Z446).

  • Page 12: Related Manuals

    Purpose Contents Z446 FH-5050 When User Describes the soft Vision Sensor FH-SMDA-GS050B want to functions, setup, FH Series know about and operations to use FH 3D Robot Vision the FH series 3D series 3D robot vision system. Application robot vision Construction system.

  • Page 13: Revision History

    Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual. Cat. No. Z448-E1-01 Revision code Rev. Code Rev. Date Revision Contents Feb. 2021 Original product...

  • Page 14: Overview

    Overview 1.1. Overview This manual describes procedures for connections and settings required for constructing robot vision applications by connecting your robot controller to the Vision Sensor FH (hereafter referred to as Vision Sensor). Utilizing this manual and Robot Vision Application Construction Guide can reduce man-hours to connect the Vision Sensor to your robot controller, set the Vision Sensor, and create robot programs.

  • Page 15: Robot Programs Covered In This Manual

    1.3. Robot Programs Covered in this Manual The two types of robot programs covered in this manual are output from the Robot Vision Dataset Output Tool. Each program is used for a different purpose. Program Program Name Detail This program allows the Vision Sensor to give Setup Program fhsetup_main operating instructions to the robot to...

  • Page 16: System Configuration

    This chapter describes the system configuration and target devices to construct robot vision applications. 2.1. Cautions for Robot Equipment none in particular 2.2. When Using Vision Sensor FH Series 3D Vision Sensor 2.2.1. System Configuration Switching hub LAN Cable (Straight cable) Vision Sensor...
  • Page 17 Target Camera Calibration OMRON FH-XCAL-S Target 3D Robot Vision Software OMRON FH-UM3D1 Software Installer Robot Robot controller OMRON 19300-000 controller SmartController EX 1720□-36000 Vertical multi-joint robot 1720□-36020 Viper 650 1720□-36010 Robot OMRON 1720□-38000 Viper 850 1720□-38020 1720□-38010 Teaching OMRON...

  • Page 18: Connecting Vision Sensor To Robot Controller

    3. Connecting Vision Sensor to Robot Controller This chapter describes procedures to connect the Vision Sensor to the robot controller. Please follow the flow below for the settings. The IP address of each device is described below. Vision Sensor : 10.5.5.100 Robot controller: 10.5.5.101 To modify the communication settings for the robot controller, connect the PC...
  • Page 19 3.1.1. Setting Communications for Robot Controller Please follow the procedures below to set the communications for the robot controller. Press [MENU] on the teaching pendant to display the right figure (HOME1 window). Select [Next>] - [Maint] - [Info] and then refer to the IP address for the robot controller on the SYSTEM INFORMATION window.
  • Page 20 The dialog shown on the right will be displayed, set the IP address and the subnet mask for the PC so that the IP address and network part of the referred robot controller are the same, but the host part is different. Launch ACE.
  • Page 21 The right dialog will be displayed, select “SYSTEM SECTION” in the “Section” area and “ipaddress” in the “Statements” area and click [Edit]. The right dialog will be displayed, change the ipaddress and click [Accept]. Set the IP address not to overlap with other devices.

  • Page 22: Connecting And Checking Vision Sensor And Robot Controller

    Connecting and Checking Vision Sensor and Robot Controller Follow the procedures below to connect the Vision Sensor and the robot controller and to check the connection status. 3.2.1. Verifying Ethernet Communication (FH Series Vision Sensor) Connect the Vision Sensor and the robot controller with LAN cables.
  • Page 23 When 32-byte data cannot be sent/received four times and PING command timed out, check whether or not the robot controller is turned on, the wiring was correctly done, or communication settings are correct.

  • Page 24: Verify Commands Sent/Received

    3.3. Verify Commands Sent/Received Execute the setup program on the robot controller and follow the steps below to confirm that commands can be sent and received from the Vision Sensor. (Operation of ACE) Click an icon enclosed in red square Make sure that the High Power button on the Front Panel is flashing, then press and release...
  • Page 25 (Operation of ACE) Right-click [V+ User Module] – [sample] – [fhsetup_main()] from the Workspace Explorer and select [Execute on Task] – [Task 0]. (Operation of the Vision Sensor and ACE) Like shown on the right figure, when [Get] is clicked on the Main Window of the Vision Sensor and the current robot position on ACE's monitor window is...
  • Page 26 (Operation of ACE) After successfully sending and receiving commands from the image sensor and the robot controller, press the [Pause Task] button on ACE to stop the task. Additional Information This manual does not provide operation, installation, and wiring methods for each device.

  • Page 27: Coordinate System

    4. Coordinate System This chapter describes the coordinate system handled by the robot vision application. 4.1. Name of Coordinate System The robot coordinate system of the Vision Sensor uses the name shown in the table below. Coordinate System Meaning Robot Base Coordinate Coordinate system with the robot base as the System origin...
  • Page 28 The orientation of the coordinate axes of each coordinate system depends on the robot. Please refer to the instruction manual for each robot. There are the following differences between the names of the coordinate system in the Vision Sensor and the coordinate system in the OMRON Viper series. Vision Sensor OMRON Viper Series...

  • Page 29: How To Start The Setup Program

    How to Start the Setup Program This chapter describes how to start the setup program. To set the robot vision of the Vision Sensor, the setup program must be running on the robot side. Establish the connection between the Vision Sensor and the robot controller by [3. Connecting Vision Sensor to Robot Controller] (Operation of ACE) Right-click [V+ User Module] –...

  • Page 30: Description Of The Sample Programs

    Description of the Sample Programs This chapter describes design examples of robot programs to construct applications using a sample program (fhsample_main()). You can understand how to implement a robot program to control the Vision Sensor as shown in the following figure. Switching hub Vision Sensor 1) Control command...
  • Page 31 Precautions for Correct Use The implementation procedures for robot programs noted in this chapter are a reference. You should design, implement, and test actually operating robot programs based on your specific environment and applications. In the Main Window or “Layout setup” of the Vision Sensor, check that the “Output” of the current layout is ON.

  • Page 32: Connecting Vision Sensor To Robot Controller

    6.1. Connecting Vision Sensor to Robot Controller For connecting the Vision Sensor to the Robot Controller, follow the procedures below. * Omitted (Refer to the source code) Declare internal variables. Execute the initialization function (fhdefglobal) for external variables. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; (2)Initialaize global variables ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;...

  • Page 33: Switching Scenes On The Vision Sensor

    6.2. Switching Scenes on the Vision Sensor For a processing to switch scenes on the Vision Sensor, follow the procedures below. Set a scene number for the switching destination to a variable. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; (1)Change the scene of the FH You have to select a scene No.

  • Page 34: Register The Current Robot Position In The Vision Sensor

    Set the referenced imaging position to the variables. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; (2)Move the robot to the imaging position You have to configure the following robot position for your application. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; std_img_pos_x = std_img_pos_y = -350 std_img_pos_y = std_img_pos_y = Set the robot imaging position to the variables. std_img_pos_y = std_img_pos_y = Set the variables as arguments for the robot motion sample function...

  • Page 35: Executing Measurements On Vision Sensor

    TYPE "Register the current robot position Done." 6.5. Executing Measurements on Vision Sensor Send the measurement command to the Vision Sensor and receives a response to that command. To send the measurement command to the Vision Sensor, set the command name to "MEASURE"...

  • Page 36: Getting The Measurement Results

    6.6. Getting the Measurement Results The Vision Sensor measurements are received using "fhrunrecvval". In this sample program, it is assumed that the Vision Sensor measurements are sent in the order "TJG X Y Z W P R". In order to receive the measurement results from the Vision Sensor, we execute "fhrunrecvval"...
  • Page 37 The depth of the container, the height of the workpiece position and the length of the hand are taken into account to determine the approach distance to the workpiece. Approach distance Set the referenced robot approach distance to the variable and add the robot approach distance to the measurement results acquired at step 2 in Chapter 6.6.

  • Page 38: Moving Robot To Robot Command Position At Measurement

    6.8. Moving Robot to Robot Command Position at Measurement For a processing to move the robot to the robot command position at measurement, follow the procedures below. By the procedures at step 2 in Chapter 6.6, check that the measurement results are stored in variables.

  • Page 39: Disconnecting Vision Sensor From Robot Controller

    6.9. Disconnecting Vision Sensor from Robot Controller For a processing to disconnect the Vision Sensor from the Robot Controller, follow the procedures below. Execute the disconnection function to the Vision Sensor. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; 4. Example: Finalization sequence ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; (1)Disconnect from the FH server ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;...

  • Page 40: Function Reference

    Function Reference This chapter describes the functions for building a robot vision application 7.1. List of Functions This is a list of functions that can be used by the actual driving robot program. Function Name Description Reference fhdefglobal Initialize a global variable. Chapter 7.3.1 fhconnect Connect to the Vision Sensor...

  • Page 41: Function Details

    7.3. Function Details 7.3.1. fhdefglobal  Function Initialize a global variable.  Syntax fhdefglobal()  Parameters None  Remarks Define the global variables that are necessary to use the robot application.  Return Value None  Precautions Be sure to call this function before using any other function. ...
  • Page 42 7.3.2. fhconnect  Function Connect to the Vision Sensor  Syntax fhconnect($ip_address, $port_no, retries_connect, timeout_connect, socket_no, err_no)  Parameters Parameter Name Input/Output Data type Description $ip_address Input String IP address of the Vision Sensor $port_no Input String Port number of the Vision Sensor retries_connect Input Real...
  • Page 43  Precautions Only one Vision Sensor can be connected to the robot controller. If you want to connect to another Vision Sensor, disconnect from the connected Vision Sensor.  Example In the following example, we will connect to the Vision Sensor with IP address "10.5.5.100"...
  • Page 44 7.3.3. fhclose  function Disconnects from the Vision Sensor  Syntax fhclose(socket_no, err_no)  Parameter Parameter Name Input/Output Data type Description socket_no Input Real Number of sockets already connected to the Vision Sensor err_no Output Real Error number Store the result of the execution of this function.
  • Page 45 7.3.4. fhsample_chgscn  Function Switching the scene of the Vision Sensor.  Syntax fhsample_chgscn(socket_no, retry_count, time_out, scene_no, err_no)  Parameter Parameter Name Input/Output Data type Description socket_no Input Real Number of sockets already connected to the Vision Sensor retry_count Input Real Number of receive retries (0 - 99) time_out...
  • Page 46 -1304 ERROR:fhrecvstring():TIMEOUT:-1304 Receive timeout time is over. -1601 ERROR:fhsample_chgscn():No Calling in the unconnected Connection:-1601 state -1800 ERROR:fhsample_chgscn():Scene Change Response NG Failed:-1800  Precautions None  Example In the following example, we will switch to scene 0. retry_count = 2 time_out = 4 scene_no = 0 CALL fhsample_chgscn(socket_no, retry_count, time_out, scene_no, err_no)
  • Page 47 7.3.5. fhsample_regpos  Function Register the current robot position to the Vision Sensor.  Syntax fhsample_regpos(socket_no, retry_count, time_out, err_no)  Parameter Parameter Input/Output Data Description Name type socket_no Input Real Number of sockets already connected to the Vision Sensor retry_count Input Real Number of receive retries (0 - 99)
  • Page 48 None  Example In the following example, the current robot position is registered to the Vision Sensor. retry_count = 2 time_out = 4 CALL fhsample_regpos(socket_no, retry_count, time_out, err_no)
  • Page 49 7.3.6. fhsample_trig  Function Sends measurement commands to the Vision Sensor and receives the measurement results from the Vision Sensor  Syntax fhsample_trig(socket_no, retry_count, time_out, param[], err_no)  Parameter Parameter Input/Output Data Description Name type socket_no Input Real Number of sockets already connected to the Vision Sensor retry_count Input...
  • Page 50 for the receive timeout count -1303 ERROR:fhrecvstring():RETRY:-1303 Receive retry count overrun -1304 ERROR:fhrecvstring():TIMEOUT:-1304 Receive timeout time is over. -1502 ERROR:fhmeasureresult():PARAM_NUM:- Abnormal number of 1502 parameters -1601 ERROR:fhsample_trig():No Connection:- Calling in the 1601 unconnected state -1800 ERROR:fhmeasureresult():TRIG_NG:-1800 Response NG -1801 ERROR:fhmeasureresult():TJG_NG:-1801 Overall judgment NG ...
  • Page 51  Example In the following example, a measurement command is sent to the Vision Sensor, and after receiving the measurement result from the image sensor, the robot moves to the position of the measurement result. retry_count = 2 time_out = 4 CALL fhsample_trig(socket_no, retry_count, time_out, param[], err_no) res_cmd_pos_x = param[0] res_cmd_pos_y = param[1]...
  • Page 52 7.3.7. fhsample_move  Function Move the robot  Syntax fhsample_move(pos_x, pos_y, pos_z, pos_w, pos_p, pos_r, err_no)  Parameter Parameter Name Input/Output Data Description type pos_x Input Real Moving target robot coordinates X pos_y Input Real Moving target robot coordinates Y pos_z Input Real...
  • Page 53  Example In the following example, Move the robot to the (X,Y,Z,W,P,R) = (300,0,200,0,180,0) pos_x = 300 pos_y = 0 pos_z = 200 pos_w = 0 pos_p = 180 pos_r = 0 CALL fhsample_move(pos_x, pos_y, pos_z, pos_w, pos_p, pos_r, err_no)
  • Page 54 7.3.8. fhrunsendcmd  Function Send a no-procedure command to the Vision Sensor  Syntax fhrunsendcmd(socket_no, cmd_arg_num, $cmd_name, $cmd_arg[], err_no)  Parameter Parameter Input/Output Data Description Name type socket_no Input Real Number of sockets already connected to the Vision Sensor cmd_arg_num Input Real Number...
  • Page 55 If the number of no-protocol command arguments is out of the input range, an error is returned. <Format> No-protocol Command Command Command SP(*1) … command argument 1 argument 2 argument n(*2) *1: “SP” is space *2: The command argument n depends on the number of non-procedural command arguments.
  • Page 57 7.3.9. fhrunrecvres  Function fhrunrecvres  Syntax fhrunrecvres(retries_recv, timeout_recv, socket_no, cmd_res, err_no)  Parameter Parameter Name Input/Output Data Description type retries_recv Input Real Number of receive retries (0 - 99) timeout_recv Input Real Receive timeout time (0 to 99sec) socket_no Input Real Number of sockets already connected to...
  • Page 58 overrun -1304 ERROR:fhrecvstring():TIMEOUT:-1304 Receive timeout time is over.  Precautions None  Example In the following example, a command response is received from the Vision Sensor, and if the received command response is not OK (0), the program is terminated. retry_count = 2 time_out = 4 CALL fhrunrecvres(retry_count, time_out, socket_no, cmd_res, err_no)
  • Page 59 7.3.10. fhrunrecvval  Function Receive numerical data from the Vision Sensor  Syntax fhrunrecvval(retries_recv, timeout_recv, socket_no, param[], err_no)  Parameter Parameter Name Input/Output Data Description type retries_recv Input Real Number of receive retries (0 - 99) timeout_recv Input Real Receive timeout time (0 to 99sec) socket_no Input Real...
  • Page 60  Return Value Err. No. Error Message Description normal termination -1300 ERROR:fhrecvstring():RETRY:-1300 Out of the range of receive retry count input ERROR:fhrecvstring():TIMEOUT:-1300 Out of the input range for the receive timeout count -1301 ERROR:fhrecvstring():NO_DATA:-1301 Receive data length 0 ERROR:fhrecvstring():NO_CONNECTION:-1301 Calling in the unconnected state -1302 ERROR:fhrecvstring():STRING_LEN:-1302...
  • Page 61 *1: The output data format should be set as follows - Data type: Number - Digits of integer: 6 - Digits of decimal: 4  Example In the following example, the program receives a sequence of numbers sent by the Vision Sensor and exits the program if the first received data is not 1.
  • Page 62 The Netherlands Hoffman Estates, IL 60169 U.S.A. Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 847-843-7900/Fax: (1) 847-843-7787 © OMRON Corporation 2021 All Rights Reserved. OMRON (CHINA) CO., LTD. OMRON ASIA PACIFIC PTE. LTD. In the interest of product improvement, Room 2211, Bank of China Tower, No.

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