Omron FH Series Connection Manual
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Omron FH Series Connection Manual

Robot vision system denso wave incorporated edition
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Vision Sensor
FH Series
Vision System
Robot Connection Guide
DENSO WAVE INCORPORATED Edition
Z458-E1-01

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Summary of Contents for Omron FH Series

  • Page 1 Vision Sensor FH Series Vision System Robot Connection Guide DENSO WAVE INCORPORATED Edition Z458-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 3.1. 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. Z458-E1-01 Revision code Rev. Code Rev. Date Revision Contents Jun. 2021 Original product...

  • Page 14: Overview

    Overview Overview 1.1. 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

    Robot Programs Covered in this Manual 1.3. 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

    System Configuration This chapter describes the system configuration and target devices to construct robot vision applications. 2.1. Cautions for Robot Equipment None. 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 Software OMRON 3D Robot Vision FH-UM3D1 Software Installer Robot controller DENSO Robot controller RC8A Ver.2.1.0 Robot DENSO Vertical multi- VS-068 joint robot Teaching pendant DENSO Teaching pendant TP-RC7/8 PC software OMRON Data set output Ver.1.10 or later tool for 3D robot...

  • 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 (Ethernet1) : 10.5.5.100 Robot controller : 10.5.5.101 Modify the default IP address of the...

  • 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. Set the Mode selector switch on the teaching pendant to [MANUAL]. Touch the [F6 Setting] button on the basic screen of the teaching pendant to display the "Setting (main)"...
  • Page 20 The dialog shown on the right will be displayed, select [Internet protocol version 4 (TCP/IPv4) and open the property. 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...
  • Page 21 controller for creating a new project]. Enter the project name and project save destination on the "Project name" screen and click the [Next] button. On the "Communication Setting" window, select "Ethernet" and enter the robot controller's IP address. After this selection, confirm that the robot controller and PC are connected by a LAN cable, and click the [Next]...
  • Page 22 on the basic screen of the teaching pendant to display the "Setting (main)" window. Select [F5 Communication and Token] - [F3 Data Communication]. The "Data Communication Setting" menu is displayed. Touch the [Ethernet #4-7,8- 15] button, then select [Client #8] and touch the [Edit] button.
  • Page 23 Additional Information This manual does not provide operation, installation, and wiring methods for each device. For details, refer to manuals noted in Related Manuals.

  • Page 24: 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) (Operation of the Vision Sensor) Move the mouse cursor to lower left of the window to display [Start].
  • Page 25 correctly done. When 32-byte data cannot be sent/received four times and PING command timed out, check whether the robot controller is turned on, the wiring was correctly done, or communication settings are correct.

  • Page 26: 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 the Teaching pendant) Set the Mode selector switch on the teaching pendant to [MANUAL].
  • Page 27 (Operation of the Teaching pendant) On the basic screen of the Teaching Pendant, press the [F1 Program] Button. Select "DENSO_FHRobotSample.pcs " from the displayed list of programs and press the [F4 Start] Button. The Program Start Confirmation screen will display. Select [Single-Cycle] and press [OK].
  • Page 28 * For the program default, the DENSO Robot motion figure (Fig) is used. Motion figure (Fig): -1 If needed, change the ”#define FIG_NO -1” header DENSO_FHRobotSample.pcs. (Operation of the Teaching pendant and the Vision Sensor) As shown on the right, when “Robot Error”...
  • Page 29 Additional Information This manual does not provide operation, installation, and wiring methods for each device. For details, refer to manuals noted in Related Manuals.

  • Page 30: 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 31 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 DENSO WAVE INCORPORATED. Vision Sensor DENSO WAVE INCORPORATED Local Coordinate System...

  • Page 32: 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 the Teaching pendant)

  • Page 33: 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. 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 34 Precautions for Correct Use The implementation procedures for robot programs noted in this chapter are a reference. You should design, implement, and test 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 35: 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. Declare internal variables. * Omitted (Refer to the source code) Execute the initialization function (fhdefglobal) for external variables. Initialization function for external variables Ethernet client number Setting is the same as step 7 in Chapter 3.1.

  • Page 36: 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. Scene number Set the variables as arguments to the scene switching command execution sample function (fhsample_chgscn) to the Vision Sensor and execute it.

  • Page 37: Register The Current Robot Position In The Vision Sensor

    Set the variables as arguments for the robot motion sample function (fhsample_move) and execute it. Robot motion sample function WARNING  These operations drive the robot.  Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime. 6.4.

  • Page 38: Executing Measurements On Vision Sensor

    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" and execute "fhrunsendcmd". nonprocedural command nonprocedural command transmission function To receive the response to the measurement command from the Vision Sensor, execute "fhrunrecvres".

  • Page 39: 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 40 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. Set the robot approach distance to the variable. Add the robot approach distance to the measurement results Set the variable as arguments for the robot motion sample function (fhsample_move) and execute it.

  • Page 41: 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 42: 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 43: Function Details

    7.3. Function Details fhdefglobal 7.3.1.  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 44 7.3.2. fhconnect  Function Connect to the Vision Sensor  Syntax fhconnect(fh_socket, retries_connect,timeout_connect,err_no)  Parameters Argument Input/Output Data type Description fh_socket Input Integer The socket number of connect to Vision Sensor. retries_connect Input Integer Number of connections retries (0 to 99) timeout_connect Input Integer Connection Timeout Time (0 to 99sec)
  • Page 45  Example In the following example, we will connect to the Vision Sensor with IP address "10.5.5.100" and port number "9876". *Socket number 8 was already set as IP address "10.5.5.100" and port number "9876". fh_socket = 8 retries_connect = 2 timeout_connect = 4 Call fhconnect(fh_socket, retries_connect, timeout_connect, err_no)
  • Page 46 7.3.3. fhclose  Function Disconnects from the Vision Sensor  Syntax fhclose(fh_socket, err_no)  Parameter Parameter Name Input/Output Data type Description fh_socket Input Integer Number of sockets already connected to the Vision Sensor err_no Output Integer Error number Store the result of the execution of this function.
  • Page 47 7.3.4. fhsample_chgscn  Function Switching the scene of the Vision Sensor.  Syntax fhsample_chgscn(fh_socket, retries_recv, timeout_recv, scene_no, err_no)  Parameter Argument Input/Output Data type Description fh_socket Input Integer Number of sockets already connected to the Vision Sensor retries_recv Input Integer Number of receive retries (0 to 99) timeout_recv Input...
  • Page 48 -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. retries_recv = 2 timeout_recv = 4 scene_no = 0 Call fhsample_chgscn(fh_socket, retries_recv, timeout_recv, scene_no, err_no)
  • Page 49 7.3.5. fhsample_regpos  Function Register the current robot position to the Vision Sensor.  Syntax fhsample_regpos(fh_socket, retries_recv, timeout_recv, err_no)  Parameter Argument Input/Output Data type Description fh_socket Input Integer Number of sockets already connected to the Vision Sensor retries_recv Input Integer Number of receive retries (0 to 99) timeout_recv Input...
  • Page 50  Precautions None  Example In the following example, the current robot position is registered to the Vision Sensor. retries_recv = 2 timeout_recv = 4 Call fhsample_regpos(fh_socket, retries_recv, timeout_recv, err_no)
  • Page 51 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(fh_socket, retries_rev, timeout_recv, param(), err_no)  Parameter Argument Input/Output Data type Description fh_socket Input Integer Number of sockets already connected to the Vision Sensor retries_recv Input...
  • Page 52 -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  Precautions The measurement result received from the Vision Sensor will be stored in the param().To get the measurement result with this function, Result Output (Message) must be placed in the flow, and the settings must be as follows...
  • Page 53  Example In the following example, a measurement command is sent to the Vision Sensor, and after receiving the measurement result from the Vision Sensor, the robot moves to the position of the measurement result. retries_recv = 2 timeout_recv = 4 Call fhsample_trig(fh_socket, retries_rev, timeout_recv, param(), err_no) res_cmd_pos_x = param(0) res_cmd_pos_y = param(1)
  • Page 54 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 Argument Input/Output Data type Description pos_x Input Double Moving target robot coordinates X pos_y Input Double Moving target robot coordinates Y pos_z Input Double Moving target robot coordinates Z...
  • Page 55  Example In the following example, Move the robot to the (X,Y,Z,W,P,R) = (300,0,200,180,0,180) pos_x = 300 pos_y = 0 pos_z = 200 pos_w = 180 pos_p = 0 pos_r = 180 Call fhsample_move(pos_x, pos_y, pos_z, pos_w, pos_p, pos_r, err_no)
  • Page 56 7.3.8. fhrunsendcmd  Function Send a no-procedure command to the Vision Sensor  Syntax fhrunsendcmd(fh_socket, cmd_arg_num, cmd_name, cmd_arg(), err_no)  Parameter Argument Input/Output Data type Description fh_socket Input Integer Number of sockets already connected to the Vision Sensor cmd_arg_num Input Integer Number of no-procedural command arguments to be sent to the Vision...
  • Page 57 <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.  Return Value Err. No. Error Message Description normal termination -1506 ERROR:fhrunsendcmd():Invalid Command The number of no-...
  • Page 58 fhrunrecvres 7.3.9.  Function Receive a command response from the Vision Sensor  Syntax fhrunrecvres(fh_socket, retries_recv, timeout_recv, cmd_res, err_no)  Parameter Argument Input/Output Data type Description fh_socket Input Integer Number of sockets already connected to the Vision Sensor retries_recv Input Integer Number of receive retries (0 to 99) timeout_recv...
  • Page 59 ERROR:fhrecvstring():NO_DATA:-1301 Receive data length 0 -1302 ERROR:fhrecvstring():STRING_LEN:-1302 Receive data length over -1303 ERROR:fhrecvstring():RETRY:-1303 Receive retry count 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.
  • Page 60 7.3.10. fhrunrecvval  Function Receive numerical data from the Vision Sensor  Syntax fhrunrecvval(fh_socket, retries_recv, timeout_recv, param(), err_no)  Parameter Argument Input/Output Data type Description fh_socket Input Integer Number of sockets already connected to the Vision Sensor retries_recv Input Integer Number of receive retries (0 to 99) timeout_recv Input...
  • Page 61  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 62 - 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. fh_socket = 8 retries_recv = 2 timeout_recv = 4...
  • Page 64 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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