Table Of Contents - Omron FH Series Robot Connection Manual

Introduction ............................................................................................................................................ 2
Terms and Conditions Agreement ....................................................................................................... 3
Safety Precautions ................................................................................................................................ 5
Waring ..................................................................................................................................................... 6
Precautions for Safe Use ...................................................................................................................... 7
Precautions for Correct Use ................................................................................................................. 8
Regulations and Standards .................................................................................................................. 9
Related Manuals .................................................................................................................................. 10
Revision History ...................................................................................................................................11
1. Overview ....................................................................................................................................... 12
1.1. Overview................................................................................................................................. 12
1.2. Instructions for Building a 3D Robot Vision Application ......................................................... 12
1.3. Robot Programs Covered in this Manual ............................................................................... 13
2. System Configuration .................................................................................................................. 14
2.1. Cautions for Robot Equipment ............................................................................................... 14
2.2. When Using Vision Sensor FH Series 3D Vision Sensor....................................................... 14
3. Connecting Vision Sensor to Robot Controller ........................................................................ 16
3.1. Setting Communications for Robot controller......................................................................... 17
3.2. Connecting and Checking Vision Sensor and Robot Controller ............................................ 20
3.3. Verify Commands Sent/Received .......................................................................................... 22
4. Coordinate System ...................................................................................................................... 26
4.1. Name of Coordinate System .................................................................................................. 26
5. How to Start the Setup Program ................................................................................................ 28
6. Description of the Sample Programs ......................................................................................... 29
6.1. Initialization of the Sample Program ...................................................................................... 31
6.2. Switching Scenes on the Vision Sensor ................................................................................. 32
6.3. Moving Robot to Robot Image Position .................................................................................. 34
6.4. Register the Current Robot Position in the Vision Sensor ..................................................... 36
6.5. Executing Measurements on Vision Sensor .......................................................................... 36
6.6. Getting the Measurement Results .......................................................................................... 38
6.7. Moving Robot to Robot Command Position at Measurement ................................................ 39
7. Component Reference ................................................................................................................. 41
7.1. List of Components ................................................................................................................ 41
7.2. Error Message ........................................................................................................................ 41
7.3. Component Details ................................................................................................................. 42
CONTENTS
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