Omron FH Series Robot Connection Manual
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Omron FH Series Robot Connection Manual

Vision sensor
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Vision Sensor
FH Series
Vision System
Robot Connection Guide
OMRON TM Series Edition
Z447-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 TM Series Edition Z447-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

    Robot Programs Covered in this Manual ................13 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 3.1. Setting Communications for Robot controller................. 17 3.2.

  • 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. Z447-E1-01 Revision code Rev. Code Rev. Date Revision Contents Feb. 2021 Original product...

  • Page 14: Overview

    1. 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 Project Name Detail Setup Program FHSETUPMAIN This program allows the Vision Sensor to give 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 [RobotBase] and [NOTOOL] have been selected for the robot controller's coordinate system. 2.2. When Using Vision Sensor FH Series 3D Vision Sensor 2.2.1. System Configuration Switching hub LAN Cable (Straight cable)
  • Page 17 3D Camera OMRON 3D Vision Sensor FH-SMDA-GS050B Ethernet cable FHV-VNBX□M Camera Cable OMRON super bending FHV-VNLBX□M resistance I/O cable super FH-VSDX-BX□M Camera I/O cable OMRON bending resistance FH-VSDX-LBX□M Handeye Calibration OMRON FH-XCAL-R Target Calibration target Camera Calibration OMRON FH-XCAL-S Target...

  • 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 change the robot's communication settings, connect the monitor,...

  • Page 19: Setting Communications For Robot Controller

    3.1. Setting Communications for Robot controller Please follow the procedures below to set the communications for the robot controller. Connect a monitor, keyboard, and mouse to the robot's control box, and turn on the robot's power. Click [Get Control] on the robot startup screen to make the settings available.
  • Page 20 Click [OK] and Click an icon enclosed in red square on the right figure to close to Network setting. Copy the "TM_Export" folder in the "RobotProgram" folder of the data output from the Data Set Output Tool for Robot Vision to the USB memory. Change the device name of the USB memory to "TMROBOT".
  • Page 21 In Robot List , select FHRobotVision and click [OK]. Select all files that appear in Project, Component. Click [Import] at the bottom right. When the import is complete and "Import complete" is displayed, click [OK]. Additional Information The device name of the USB flash drive is “TMROBOT”. The program cannot be read with any other device name.

  • 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 TMflow) On the robot controller side, select [Project]. (Operation of TMflow) Like shown on the right figure,...
  • Page 25 (Operation of TMflow) Select [RecvString] to open the Network Settings dialog. Make sure that [Choose Device] is set to FH. Click [Edit Device] to open the Device Settings screen. Set the IP address and port number of the Vision Sensor. Click [Done] to save the settings.
  • Page 26 (Operation of Robot Stick) Press the [Play/Pause] button on the robot stick to run the project. When the project is in the running state, the robot's ring will flash green. (Operation of the Vision Sensor and TMflow) Like shown on the right figure, when [Get] is clicked on the Main Window of the Vision Sensor and the current...
  • Page 27 (Operation of the Vision Sensor) Like shown on the right figure, If the [Robot Error] button turns red, the connection has failed. Check the wiring and others. (Operation of Robot Stick) When the Vision Sensor and the robot controller have exchanged commands, press the [Stop] button on the robot stick to stop the project.

  • Page 28: 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 29 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 TM series. Vision Sensor OMRON TM Series...

  • Page 30: How To Start The Setup Program

    5. 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 TMflow) Like shown on the right figure,...

  • Page 31: Description Of The Sample Programs

    6. Description of the Sample Programs This chapter describes design examples of robot programs to construct applications using the sample program. 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 32 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 33: Initialization Of The Sample Program

    6.1. Initialization of the Sample Program This section describes how to initialize global variables, set the IP address and port number of the Vision Sensor. Open [FHSAMPLEMAIN] sub- flow in the Project Edit page. The [fhdefglobal] component is placed at the beginning of the flow.

  • Page 34: Switching Scenes On The Vision Sensor

    6.2. Switching Scenes on the Vision Sensor Sends a scene switching command to the Vision Sensor and receives the response to that command. Select the [ChangeScene] node on the flow and click the fhrunsendcmd Component pencil icon to open the settings screen.
  • Page 35 If the error code is 0 (zero), proceed to the next node. The [RecvResponse] node fhrunrecvres Component receives the response to the scene switching command. Check for the error in the [RecvResponse] node. The error is stored in the global variable [g_FHRobotVision_OMRON_er rCode].

  • Page 36: Moving Robot To Robot Image Position

    6.3. Moving Robot to Robot Image Position Move the robot to the imaging position and register the imaging position in the variable. Move the robot to the imaging position. Click [Point Manager] to open the dialog box. Select [imgPos] and click the pencil icon.
  • Page 37 Click [X] to close the Point Manager dialog. At the [imgPos] point node, the robot moves to the imaging position. Point Node WARNING  These operations drive the robot.  Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime. In the base list, select [RobotBase] as the current base.

  • Page 38: Register The Current Robot Position In The Vision Sensor

    6.4. Register the Current Robot Position in the Vision Sensor To register the current robot position to the Vision Sensor, use "fhsample_regpos". The [RegistCurPos] node registers the current robot fhsample_regpos Component position to the Vision Sensor. Check for the error in the [RegistCurPos] node.
  • Page 39 Make sure that [cmdName] is Number of command [MEASURE]. arguments By executing the [MEASURE] node, measurement command Non-procedure is sent to the Vision Sensor. Communication Commad Check for the error in the [MEASURE] node. The error is stored in the global variable [g_FHRobotVision_OMRON_err Code].

  • Page 40: Getting The Measurement Results

    Check the execution result (command response) of the [RecvResponse] node. The result of the execution is stored in the global variable [g_FHRobotVision_OMRON_pa ram[0]]. If the result of the execution is 1 (OK), then proceed to the next node. 6.6. Getting the Measurement Results The Vision Sensor measurements are received using "fhrunrecvval".

  • Page 41: Moving Robot To Robot Command Position At Measurement

    proceed to the next node. Check the TJG of the Vision Sensor measurement result. The TJG of the Vision Sensor measurement result is stored in the global variable [g_FHRobotVision_OMRON_pa ram[0]]. If TJG is OK (1), proceed to the next node, otherwise exit the program.
  • Page 42 The approach position is the point of access to the Robot Command position. The approach distance is the offset value in the Z direction(mm) in the robot base coordinate system. The [SetApproPos] node calculates the approach Set Node position by adding the approach distance in the Z+ direction from the robot command position.

  • Page 43: Component Reference

    7. Component Reference This chapter describes the functions for building a robot vision application 7.1. List of Components This is a list of functions that can be used by the actual driving robot program. Component Name Description Reference fhdefglobal Initialize a global variable. Chapter 7.3.1 fhsampleregpos Register the current robot coordinates to the...

  • Page 44: Component Details

    7.3. Component Details 7.3.1. fhdefglobal  Function Initialize a global variable.  Input Parameters None  Output Parameters None  Exit Process This component has one exit node as follows NoError : Normal termination.  Remarks Define the global variables that are necessary to use the robot application. ...
  • Page 45 7.3.2. fhsampleregpos  Function Register the current robot position to the Vision Sensor.  Input Parameters Setting Node Setting Target Data Type Description SendString ChooseDevice device Communication Settings for the Vision Sensors WaitTime Communication waiting time(ms) RecvString ChooseDevice device Communication Settings for the Vision Sensors WaitTime Communication waiting time(ms)
  • Page 46 -1301 ERROR:fhrecvstring():NO_DATA:-1301 Receive data length 0 -1302 ERROR:fhrecvstring():STRING_LEN:-1302 Receive data length over  Precautions None  Example In the following example, the current robot position is registered to the Vision Sensor. Registration of the current robot position in the Vision Sensor...
  • Page 47 7.3.3. fhrunsendcmd  Function Send a no-procedure command to the Vision Sensor  Input Parameters Setting Node Setting Target Data Description Type SendString ChooseDevice device Communication Settings for the Vision Sensors WaitTime Communication waiting time(ms) inputArgument cmdArgNum Number of no-procedural command arguments to be sent to the Vision Sensor (0 to 5) cmdName String...
  • Page 48 *1: “SP” is space *2: The command argument n depends on the number of non-procedural command arguments.  Return Value Err. No. Error Message Description normal termination -1506 ERROR:fhrunsendcmd():Invalid Command The number of non- Argument No.:-1506 procedural command arguments is out of the input range.
  • Page 49 7.3.4. fhrunrecvres  Function fhrunrecvres  Input Parameters Setting Node Setting Target Data Type Description RecvString ChooseDevice device Communication Settings for the Vision Sensors WaitTime Communication waiting time(ms)  Output Parameters Variable Name Data Description Type g_FHRobotVision_OMRON_param float[] param[0] : Command Response Results (1: Command response "OK"...
  • Page 50  Precautions None  Example In the following example, the response to the measurement command is received and if the command response is not OK, the program is terminated. Send MEASURE Command Receives a command response to “MEASURE” command. Check if the error number is 0. The expression "g_FHRobotVision_OMRON_param[0] == 1"...
  • Page 51 7.3.5. fhrunrecvval  Function Receive numerical data from the Vision Sensor  Input Parameters Setting Node Setting Target Data Type Description RecvString ChooseDevice device Communication Settings for the Vision Sensors WaitTime Communication waiting time(ms)  Output Parameters Variable Name Data Description Type g_FHRobotVision_OMRON_param...
  • Page 52  Return Value Err. No. Error Message Description normal termination -1301 ERROR:fhrecvstring():NO_CONNECT:-1301 Unconnected state -1301 ERROR:fhrecvstring():NO_DATA:-1301 Receive data length 0 -1302 ERROR:fhrecvstring():STRING_LEN:-1302 Receive data length over  Precautions The maximum length of the string to be received is 127 bytes (not including the delimiter). if more than 128 bytes are received, an error is returned.
  • Page 53  Example In the following example, the robot moves after receiving the measurement result of the Vision Sensor (grasping position X, Y, Z, W, P, R). Receive the results of the Vision Sensor measurements Check if the error number is 0. Store the received results in a Point Move Robot...
  • Page 54 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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