Omron FH Series Hardware Setup Manual page 17

Safety Precautions
If the 3D Vision Sensor shape is not registered, the 3D Vision Sensor may collide with the
container and be damaged. Please register the 3D Vision Sensor shape when you register
the hand data.
Do not perform camera calibration during the warm-up operation of the 3D Vision Sensor.
Measurement errors occur when the geometric positional relationship between the lighting
section and imaging section of the 3D Vision Sensor changes due to factors such as aging,
temperature changes, or impact on the 3D Vision Sensor. Perform a camera calibration
check on a regular basis and calibrate the camera if necessary.
Do not perform hand-eye calibration during the warm-up operation of the 3D Vision Sensor.
Complete sensor calibration before performing hand-eye calibration.
Caution
Please take fail-safe measures on your side in preparation for an abnormal signal due to sig-
nal conductor disconnection and/or momentary power interruption. An abnormal operation
may result in a serious accident.
If the camera calibration is performed with the target tilted, the measurement error may dete-
riorate. Ensure that the calibration target is placed in a stable position on a flat floor.
If the camera calibration is performed while the target is dirty, the measurement error may
deteriorate. If the camera calibration target is dirty, wring out a wet towel, wipe it clean, and
dry it with a soft cloth before performing the calibration.
If the camera calibration is performed while the 3D Vision Sensor is dirty, the measurement
error may deteriorate. If the 3D Vision Sensor window surface is dirty, wring out a wet towel,
wipe the dirt off, and dry with a dry cloth.
When operating the jog, check the actual robot visually instead of the camera image.
The robot is driven when using the motion sample program. The operation must be done by
shoes who have completed special health and safety training. The system must be operated
so that it can be stopped at any time by an emergency stop button.
If the operation range of hand-eye calibration is not set correctly, the robot may act in an un-
expected position and/or posture that may result in contact with surrounding objects. Make
sure that the calibration trajectory is clear and that there are no obstacles or people in the
vicinity. The system must be operated so that it can be stopped at any time by an emergency
stop button.
When placing the camera calibration target, place it slowly so that your hands do not get
caught on the floor.
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FH Series Vision System Hardware Setup Manual for 3D Robot Vision (Z436-E1)