Omron Vision Sensor FH Series Connection Manual
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Omron Vision Sensor FH Series Connection Manual

Robot nachi-fujikoshi corp. edition
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Vision Sensor
FH Series
Vision System
Robot Connection Guide
NACHI-FUJIKOSHI CORP. Edition
Z464-E1-01

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Summary of Contents for Omron Vision Sensor FH Series

  • Page 1 Vision Sensor FH Series Vision System Robot Connection Guide NACHI-FUJIKOSHI CORP. Edition Z464-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 ......................16 2.1. Cautions for Robot Equipment ..................16 2.2. When using Vision Sensor FH Series 3D Vision Sensor ..........16 Connecting Vision Sensor to Robot Controller ..............18 3.1. Setting Communications for Robot Controller ..............19 3.2.
  • Page 4 6.4. Register the Current Robot Position in the Vision Sensor ..........36 6.5. Executing Measurements on Vision Sensor ..............37 6.6. Getting the Measurement Results ..................38 6.7. Moving Robot to Robot Approach Position at Measurement ......... 39 6.8. Moving Robot to Robot Command Position at Measurement ........41 6.9.

  • Page 5: Introduction

    Introduction Thank you for purchasing the FH Series. This manual contains information that is necessary to use the FH Series. 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 operation.

  • Page 6: 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 7 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 8: 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 9: 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 10: 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 11: 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 12: 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 13: Related Manuals

    3D Robot Vision the FH series 3D series 3D robot vision system. Application robot vision Construction system. Guide <Robot Manual OMRON> Name of Manual Cat. No. Model Purpose Contents Robot Safety Guide When User Describes precautions for I590 want to...

  • Page 15: 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. Z464-E1-01 Revision code Rev. Code Rev. Date Revision Contents Dec. 2021 Original product...

  • Page 16: 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 17: 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 18: 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 19 3D Software OMRON 3D Robot Vision FH-UM3D1 Software Installer Robot controller NACHI-FUJIKOSHI Robot controller CFD Controller Ver.4.29 Robot NACHI-FUJIKOSHI Vertical multi- CFD MZ07-01 joint robot Teaching pendant NACHI-FUJIKOSHI Teaching pendant PC software OMRON Data set output Ver.1.30 or later tool for 3D robot...

  • Page 20: 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 21: 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. Select [Constant setting]-[8 Communication] – [2.Ethernet] – [1 TCP/IP] on the teaching pendant to display the TCP/IP window. Set the IP address, Subnet [CFD/CFDL CONTROLLER INSTRUCTION MANUAL mask, and Gateway of the SETUP MANUAL]...
  • Page 22 Insert the USB memory stick storing the copied robot program to a USB port on the teaching pendant. Select [File]- [1. File Copy] and press [Enter] on the teaching pendant. Select the robot program (all of three) which copied from the USB memory to “¥WORK¥PROGRAM".

  • Page 23: Connecting And Checking Vision Sensor And Robot Controller

    3.2. 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...
  • Page 24 settings of Ethernet is 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 25: 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 'Set network parameter pendant) fh_ip_address = 100 fh_port_no = 9876 fh_retries_connect = 2 Confirm the execute function...
  • Page 26 (Operation of the Teaching pendant) The same operate to compile the user task file (USERTASK- A.990), select the file and press [Execute]. (Operation of the Teaching pendant) Press <Service Utilities>, Select [12 User Task]- [1 User Task] and press [Enter] on the teaching pendant.
  • Page 27 (Operation of the Teaching pendant and Robot controller) [EMERGENCY STOP BUTTON] Select the [PLAYBACK] mode [MODE SELECT SWITCH] on the operation panel with MODE SELECT SWITCH, and on the Teach pendant with TP Robot Controller operate panel selector switch. [CFD/CFDL CONTROLLER INSTRUCTION MANUAL SETUP MANUAL] Press [ENABLE] + [PROG] to set the Designated program...
  • Page 28 (Operation of the Teaching pendant and the Vision Sensor) As shown on the right, when “Robot Error” is show on the Main Window of the Vision Sensor, connection was failed. Check error message and the wiring status on Local Variables [fh_err_message(V11$)] in [Monitor] of the Teaching Pendant.

  • Page 29: 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 30 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 NACHI-FUJIKOSHI CORP. Vision Sensor NACHI-FUJIKOSHI CORP.

  • Page 31: 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] Confirm the execute function 'Set the user task do nothing...
  • Page 32 When change the program by Step 1 or Step 2, must compile the source code. Press <Service Utilities>, Select [9 Program conversion]- [8 Language] and press [Enter] on the teaching pendant. Select [Source -> exe] as the conversion type Select source code files in [Device(src)] - [Memory] –...

  • 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. 'Set Parameter value Initialization function for external variables CallProc fhdefglobal() Set the IP address and the port number of the Vision Sensor to the...
  • Page 36 Set the variables as arguments for the connection function (fhconnect) to the Vision Sensor (FH server) and execute it. '(1) Connect to the FH server WHILE fh_bconnected = 0 'Connect Connection function with CallProc fhconnect() the Vision Sensor (FH server) IF fh_err_number <>...

  • Page 37: 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. '(1) Change the scene of the FH You have to select a scene No. for your application. Scene number fh_sceneno_input = 0 Set the variables as arguments to the scene switching command execution...

  • Page 38: 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. CallProc fhsample_move(fh_move_position[1],fh_move_position[2],fh_move_position[3], fh_move_position[4],fh_move_position[5],fh_move_position[6]) 'Error check Robot motion sample function IF fh_err_number <> fh_success GoTo *CLOSE_SAMPLE ENDIF WARNING  These operations drive the robot.  Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime.

  • Page 39: 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". '(4) Execute measurement and get the measurement results of the FH nonprocedural command fh_res_string = "MEASURE"...

  • Page 40: 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 41: Moving Robot To Robot Approach Position At Measurement

    6.7. Moving Robot to Robot Approach Position at Measurement For a processing to move the robot to the robot approach position at measurement, follow the procedures below. By the procedures at the step 1 in Chapter 6.6, check that the measurement results are stored in the variables(fh_param).
  • Page 42 Set the variable as arguments for the robot motion sample function (fhsample_move) and execute it. CallProc fhsample_move(fh_move_position[1],fh_move_position[2],fh_move_position[3],fh_move_p osition[4],fh_move_position[5],fh_move_position[6]) 'Error check Robot motion sample function IF fh_err_number <> fh_success GoTo *CLOSE_SAMPLE ENDIF WARNING  These operations drive the robot.  Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime.

  • Page 43: 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 1 in Chapter 6.6, check that the measurement results are stored in variables(fh_param).

  • Page 44: 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 7.4.1 fhconnect Connect to the Vision Sensor...
  • Page 45 fh_bconnected V53% Socket connected flag fh_retries_connect V54% Count of connected retries fh_err_number V55% Error number fh_err_con_retry V56% Retry error number fh_socket_no V57% Socket number fh_ip_address V58% IP address of Vision sensor fh_port_no V59% Port of Vision sensor fh_timeout_connect V60% Set the time-out time fh_err_con_timeout V61% Time-out error number...

  • Page 46: Function Details

    7.4. Function Details fhdefglobal 7.4.1.  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 47 7.4.2. fhconnect  Function Connect to the Vision Sensor  Syntax fhconnect()  Parameters Parameter Name Input/O Type Data type Description utput ip_address Input Variable Integer The least significant byte of IP address of the Vision Sensor. (1 to 254) Port_no Input Variable...
  • Page 48 ERROR: fhconnect():PORT:-1200 Out of Port Input Range ERROR: fhconnect():SOCKET:-1200 Out of Socket number Input Range -1202 ERROR: fh_connect ():RETRY:-1202 Connection retry count over -1203 ERROR: fh_connect ():NO_CONNECT:-1203 Failed to connect to server -1204 ERROR: fh_connect ():TIMEOUT:-1204 Connection timeout time is over.
  • Page 49 7.4.3. fhclose  Function Disconnects from the Vision Sensor  Syntax fhclose()  Parameter Parameter Name Input/O Type Data type Description utput fh_socket_no Input Variable Integer Connected Socket Number (1 to 16) fh_err_number Output Variable Integer Error Number (0:normal,Except 0:abnormal) ...
  • Page 50 7.4.4. fhsample_chgscn  Function Switching the scene of the Vision Sensor.  Syntax fhsample_chgscn(scene_no)  Parameter Argument Input/Output Type Data Description type scene_no Input Parameter Integer Scene number to switch to (0 to 127) fh_socket_no Input Variable Integer Connected Socket Number (1 to 16) fh_err_number Output Variable...
  • Page 51  Example In the following example, we will switch to scene 0. fh_sceneno_input = 0 CallProc fhsample_chgscn(fh_sceneno_input)
  • Page 52 7.4.5. fhsample_regpos  Function Register the current robot position to the Vision Sensor.  Syntax fhsample_regpos()  Parameter Parameter Name Input/O Type Data type Description utput fh_socket_no Input Variable Integer Connected Socket Number (1 to 16) fh_err_number Output Variable Integer Error Number (0:normal,Except 0:abnormal) ...
  • Page 53 7.4.6. fhsample_trig  Function Sends measurement commands to the Vision Sensor and receives the measurement results from the Vision Sensor  Syntax fhsample_trig()  Parameter Parameter Name Input/O Type Data type Description utput fh_socket_no Input Variable Integer Connected Socket Number (1 to fh_param Output Variable...
  • Page 54  Precautions The measurement result received from the Vision Sensor will be stored in the double type of global variable “fh_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 Result Output (Message) Processing Item The destination of the received measurement results...
  • Page 55 7.4.7. fhsample_move  Function Move the robot  Syntax fhsample_move(pos_x, pos_y, pos_z, pos_w, pos_p, pos_r)  Parameter Argument Input/Output Type Data type Description pos_x Input parameter Single Moving target robot coordinates X pos_y Input parameter Single Moving target robot coordinates Y pos_z Input parameter Single...
  • Page 56  Precautions The robot program will stop when error occurred, please stop the user task program 990 before you run the robot program.  Example In the following example, Move the robot to the (X,Y,Z,W,P,R) = (0,-240,600,-180,0,90) pos_x = 0 pos_y = -240 pos_z = 600 pos_w = -180...
  • Page 57 7.4.8. fhrunsendcmd  Function Send a no-procedure command to the Vision Sensor  Syntax fhrunsendcmd(cmd_arg_num, cmd_name, cmd_arg[1-5])  Parameter Argument Input/Output Type Data Description type cmd_arg_num Input parameter Integer Number of no-procedural command arguments to be sent to the Vision Sensor (0 to 5) cmd_name Input...
  • Page 58 arguments.  Return Value Err. No. Error Message Description normal termination -1506 ERROR:fhrunsendcmd():Invalid Command The number of no- Argument No.:-1506 procedural command arguments is out of the input range. -1601 ERROR:fhsendstring():NO_DATA:-1601 Send string length 0 ERROR: fh_send():NO_CONNECTION:-1601 Calling in the unconnected state -1602 ERROR:fhsendstring():STRING_LEN:-1602...
  • Page 59 fhrunrecvres 7.4.9.  Function Receive a command response from the Vision Sensor  Syntax fhrunrecvres() As Integer  Parameter Argument Input/Output Type Data Description type fh_socket_no Input Variable Integer Connected Socket Number (1 to 16) . fh_err_number Output Variable Integer Error Number (0:normal,Except 0:abnormal) ...
  • Page 60  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. CallProc L3% = fhrunrecvres() IF fh_err_number <> fh_success GOTO *CLOSE_SAMPLE EndIF IF L3% <>...
  • Page 61 7.4.10. fhrunrecvval  Function Receive numerical data from the Vision Sensor  Syntax fhrunrecvval()  Parameter Argument Input/Output Type Data Description type fh_socket_no Inpute Variable Single Connected Socket Number (1 to fh_param[10] Output Variable Single The analysis result of the received numeric elements (10) fh_err_number Output Variable Integer...
  • Page 62 -1302 ERROR:fh_recv():STRING_LEN:-1302 Receive data length over -1502 ERROR:fhparseval():PARAM_TOO_LONG:- Abnormal parameter 1502 length ERROR:fhparseval():PARAM_NUM:-1502 Abnormal number of parameters -1504 ERROR:fhparseval():NO_CMD:-1504 The length of the string to be divided is 0.  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 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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