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Denso FZ Series Manual

Denso FZ Series Manual

Vision sensor
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11[文書のタイトルを入力]
OMRON
Vision Sensor
MODEL: FZ Series

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Summary of Contents for Denso FZ Series

  • Page 1 11[文書のタイトルを入力] OMRON Vision Sensor MODEL: FZ Series...

  • Page 2: Introduction

    Introduction This document is a user's manual for the provider to use "OMRON Vision Sensor FZ Series" connected to the DENSO robot controller RC8 series. Note that some functions may be unavailable on the FZ series. For details and handling of the connected device, refer to the user’s manual of "OMRON Vision Sensor FZ Series".

  • Page 3: Table Of Contents

    Contents Introduction ................................... 2 Important ....................................2 Notice to Customers ................................2 1. Outline of This Product (Provider) ..........................4 2. How to Connect ................................6 3. Communication Settings for Robot Controller and Device Used ................. 7 4. Provider Execution Procedure ............................ 10 5.

  • Page 4: Outline Of This Product (Provider)

    1.2 Features of provider This provider is provided to use the FZ native commands required to access FZ series in the robot program. Use of this provider allows customers to establish communication with a robot easily without creating a communication program for FZ series.
  • Page 5 画像センサ／FZ シリーズ 1.3 Mechanism of provider This provider offers various programs required to control the target device as a single provider. Just activate the license to use the provider. Once provider implementation is declared on a desired program file, the functions prepared by the provider can be used as commands in the user program.

  • Page 6: How To Connect

    To connect to the robot controller via Ethernet, use a crossover LAN cable. Also, when a switching hub/router is used, use the cable suitable for the switching hub/router specifications. (The provider for FZ does not support RS-232C.) [FZ series] [Robot controller]...

  • Page 7: Communication Settings For Robot Controller And Device Used

    (1) Press [F6 Setting] - [F5 Communication and Token] - [F2 Network and Permission] to display the [Communication Settings] window. Set the IP address and subnet mask so that the robot controller and FZ series are within the same subnet mask.
  • Page 8 画像センサ／FZ シリーズ 3.1.2 Ethernet (TCP/IP) communication settings for FZ - Operation procedure Select Mode - [System] - [Communication specifications] - [Serial] - [Ethernet] to open the setting window. Set the IP address and subnet mask so that the robot controller and FZ are within the same subnet mask.
  • Page 9 画像センサ／FZ シリーズ [Output settings] [Flow edit] - [External output of results] - [Serial data output] - [Output format] Communication method: Ethernet ・ Output form: ASCII ・ Minus: - ・ 0 suppress: Available ・ Field separator: Comma ・ Record separator: Delimiter ・...

  • Page 10: Provider Execution Procedure

    画像センサ／FZ シリーズ 4. Provider Execution Procedure The basic process of the provider is implementation (declaration) -> execution. This provider takes a connection process at the time of implementation. The operation can be repeated as many times as needed. A program example is shown below.

  • Page 11: Command Description

    This page contains a description of commands. The commands are classified into connection commands, FZ commands, and proprietary extension commands. For the detailed operation of FZ commands, refer to the reference manuals for the OMRON FZ and FQ2 series. Table 5-1 List of commands FZ series Refer Command Usage...
  • Page 12 画像センサ／FZ シリーズ Table 5-2 FZ provider supported commands FZ series Non-procedure Provider commands FZ3/4/FZM1 FZ5/FH FQ-M/FQ2 commands SCENE SCENE SCNGROUP SCNGROUP MEASURE MEASURE TRIGGER GETRESULT SCRSWITCH SCRSWITCH LAYOUTNO LAYOUTNO UNITDATA UNITDATA CLRMEAS CLRMEAS － CLEARPACKET － SETTIMEOUT － GETTIMEOUT －...
  • Page 13 画像センサ／FZ シリーズ cao.AddController Usage Implements the provider to a variable and makes a connection to FZ. Syntax cao.AddController ( <Controller name>,<Provider name>, <Provider running machine name>,<Option> Argument: <Controller name> Assign a name (The name is used for control). <Provider name> "CaoProv.OMRON.FZ" <Provider running machine name>...
  • Page 14 画像センサ／FZ シリーズ <ImplVar>.SCENE Usage Acquires the scene number currently in use. Syntax <ImplVar>.SCENE Return value: The scene number currently in use (integer). Description The scene number currently in use is acquired. Example Dim caoCtrl as Object Dim iResult as Integer caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2") iResult = caoCtrl.SCENE...
  • Page 15 画像センサ／FZ シリーズ <ImplVar>.SCENE Usage Changes the scene number to be used. Syntax <ImplVar>. SCENE <Scene number> Argument: <Scene number> Scene number (integer). Description The scene number to be used is changed. Example Dim caoCtrl as Object caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2") caoCtrl.SCENE 2 'To scene number 2...
  • Page 16 画像センサ／FZ シリーズ <ImplVar>.SCNGROUP Usage Acquires the scene group number currently in use. Syntax <ImplVar>.SCNGROUP Return value: The scene group number currently in use (integer). Description The scene group number currently in use is acquired. Example Dim caoCtrl as Object Dim iResult as Integer caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2") iResult = caoCtrl.SCNGROUP...
  • Page 17 画像センサ／FZ シリーズ <ImplVar>.SCNGROUP Usage Changes the scene group number to be used. Syntax <ImplVar>.SCNGROUP <Scene group number> Argument: <Scene group number> Scene group number (integer). Description The scene group number to be used is changed. Example Dim caoCtrl as Object caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2") caoCtrl.SCNGROUP 4 'To scene group number 4...
  • Page 18 画像センサ／FZ シリーズ <ImplVar>.MEASURE Usage Executes measurement once and receives the result. Syntax <ImplVar>.MEASURE Return value: Measurement result (Variant type). Description Measurement is executed once and the measurement result specified in the serial data output setting is received. If the serial data output is not set, the command waits until the timeout period passes.
  • Page 19 画像センサ／FZ シリーズ <ImplVar>.TRIGGER Usage Send MEASURE command. Syntax <ImplVar>.TRIGGER Return value: None Description Send MEASURE command. To obtain the result of serial data output, use GETRESULT command. Use this command when serial data output is not set. Example Dim caoCtrl as Object Dim vntResult as Variant caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2") caoCtrl.TRIGGER...
  • Page 20 画像センサ／FZ シリーズ <ImplVar>.GETRESULT Usage Get the result of the serial data output. Syntax <ImplVar>.GETRESULT Return value: Measurement result (serial data output) (Variant type) Description Get the result of the serial data output. Example Dim caoCtrl as Object Dim vntResult as Variant caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2") caoCtrl.TRIGGER vntResult = caoCtrl.GETRESULT...
  • Page 21 画像センサ／FZ シリーズ <ImplVar>.SCRSWITCH Usage Switches between the adjustment screen and the operation screen. Syntax <ImplVar>.SCRSWITCH Description The adjustment screen is switched to the operation screen and vice versa. Example Dim caoCtrl as Object caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2") caoCtrl.SCRSWITCH...
  • Page 22 画像センサ／FZ シリーズ <ImplVar>.LAYAOUTNO Usage Get the currently used layout number. Syntax <ImplVar>.LAYAOUTNO ( <lTargetNumber> Argument: < lTargetNumber > T (integer). arget Number 0 : Local 1 : Remote Return value: Layout Number (integer). FH : 0 – 7 FZ5 : 0 or 1 Description Get the currently used layout number.
  • Page 23 画像センサ／FZ シリーズ <ImplVar>.LAYAOUTNO Usage Switch the currently used layout number. Syntax <ImplVar>.LAYAOUTNO <lTargetNumber>, <lLayoutNo> Argument: < lTargetNumber > T (integer). arget Number 0 : Local 1 : Remote <lLayoutNo> Layout (integer). Number FH : 0 – 7 FZ5 : 0 or 1 Return value: None Description...
  • Page 24 画像センサ／FZ シリーズ <ImplVar>.UNITDATA Usage Acquires the parameters and measurement values of a specified processing unit. Syntax <ImplVar>.UNITDATA ( <Processing unit number>, <External reference table>, Argument: <Processing unit number> Specify the processing unit number (integers 0 to 999). <External reference table> Specify the external reference table (integer). Return value: An acquired measurement value is stored (character string).
  • Page 25 画像センサ／FZ シリーズ <ImplVar>.UNITDATA Usage Changes the parameters of a specified processing unit. Syntax <ImplVar>.UNITDATA ( <Processing unit number>, <External reference table>, <Setting data parameter> Argument: <Processing unit number> Specify the processing unit number (integers 0 to 999). <External reference table> Specify the external reference table (integer). <Setting data parameter>...
  • Page 26 画像センサ／FZ シリーズ <ImplVar>.CLRMEAS Usage Clears all the measurement values in the current scene. Syntax <ImplVar>.CLRMEAS Description All the measurement values in the current scene are cleared. Example Dim caoCtrl as Object caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2") caoCtrl.CLRMEAS...
  • Page 27 画像センサ／FZ シリーズ <ImplVar>.RAW Usage Sends a command and receives a response. Syntax <ImplVar>.RAW ( <Command to send>, [<Reception count>] Argument: <Command to send> Specify a command with a character string (character string). [<Reception count>] Specify a reception count (integer). Default: 1 Return value: A received response is stored (Variant type).
  • Page 28 画像センサ／FZ シリーズ <ImplVar>.CLEARPACKET Usage Clear currently receiving all packets. Syntax <ImplVar>.CLEARPACKET Argument: None Return value: None. Description Clear currently receiving all packets. Example Dim caoCtrl as Object Dim vntResult as Variant caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2") vntResult = caoCtrl.CLEARPACKET...
  • Page 29 画像センサ／FZ シリーズ <ImplVar>.SETTIMEOUT Usage Set the communication timeout value. Syntax <ImplVar>.SETTIMEOUT <lTime> Argument: Time-out time (msec) (integer) Return value: None. Description Set the communication timeout value. Example Dim caoCtrl as Object caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2") caoCtrl.SETTIMEOUT 1000...
  • Page 30 画像センサ／FZ シリーズ <ImplVar>.GETTIMEOUT Usage Get the communication timeout value. Syntax <ImplVar>.GETTIMEOUT Argument: None Return value: Time-out time (msec) (integer) Description Get the communication timeout value. Example Dim caoCtrl as Object Dim lTimeout as Long caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2") vntResult = caoCtrl.GETTIMEOUT lTimeout = caoCtrl.GETTIMEOUT...

  • Page 31: Error Code Of Fz Provider

    In the FZ provider, specific error codes shown below are designated. Error number Explanation 0x80100010 FZ status code Refer to the FZ series user's manual of OMRON, for about error handling procedure. About the ORiN2 commonness error, please refer to the chapter of the error code of "ORiN2 Programming guide".

  • Page 32: Operation Panel Screen

    画像センサ／FZ シリーズ 7. Operation Panel Screen This provider provides the following operation panel screen. This operation panel uses the provider to check operations, etc. after connecting to the device. See the following as an application example of the operation panel. Displaying the operation panel establishes connection to FZ (implements the provider).

  • Page 33: Sample Program

    画像センサ／FZ シリーズ 8. Sample Program Sub Main On Error Goto ErrProc ‘Declare error process routine Dim caoFZ as Object ‘Declare provider variable Dim vntResult as Variant ‘Declare variable Dim pTargetPos as Position ‘Declare P-type variable takearm keep = 0 pTargetPos = P11 caoFZ = cao.AddController("FZ", "CaoProv.OMRON.FZ"...

  • Page 34: Revision History

    Revision History DENSO Robot Provider User’s Manual OMRON Vision Sensor FZ Series Supported Version Content Ver.1.1.2 First version Ver.1.0.0 Ver.1.2.2 and Change in the specification of the Measure command and Ver.1.0.1 later addition to the setup Ver.1.4.* and Addition of commands "UNITDATA" and "RAW"...

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