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

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Vision Sensor
FH Series
Vision System
Robot Connection Guide
YASKAWA Electric Corporation Edition
Z460-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 YASKAWA Electric Corporation Edition Z460-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

    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 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

    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 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. Z460-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 operating instructions to the robot to configure the Vision Sensor for robot vision.

  • Page 16: System Configuration

    2.1. Cautions for Robot Equipment ·Enable the MotoPlus function of the robot controller. ·Enable the Ethernet function of the robot controller. 2.2. When using Vision Sensor FH Series 3D Vision Sensor 2.2.1. System Configuration Switching Hub LAN cable （Straight cable）...
  • Page 17 Calibration target OMRON Handeye FH-XCAL-R Calibration Target OMRON Camera FH-XCAL-S Calibration Target 3D Software OMRON 3D Robot Vision FH-UM3D1 Software Installer Robot controller YASKAWA Robot controller YRC1000 Robot YASKAWA Vertical multi- MOTOMAN-GP8 joint robot Teaching pendant YASKAWA Teaching pendant (Programming...

  • 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. Turn on the power supply of the robot controller while pressing [Main Menu] on the programming pendant. Select [SYSTEM] – [SECURITY] from the Main Menu of the programming pendant, set to [MANAGEMENT MODE].
  • Page 20 Select [MotoPlus APL.]- [LOAD(USER APPLICATION)] from the main menu. When you move the cursor to the robot program which copied from the USB memory and press the [SELECT] key, the selection mark [★] is displayed. If you press the [ENTER] key while the selection mark is displayed, the load confirmation dialog will be...
  • Page 21 Variable Meaning I095 Number of Connection retries I096 Connection Timeout Time I097 Number of received retries I098 Receive Timeout time *The unit of connection or reception timeout time is seconds. Additional Information This manual does not provide operation, installation, and wiring methods for each device.

  • Page 22: 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 23 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 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 Programming pendant) Select [ROBOT]-[TOOL]- [STANDARD TOOL] from the main menu.
  • Page 25 (Operations of the Programming pendant and the Vision Sensor) Like shown on the right figure, when [Get] is clicked on the Main Window of the Vision Sensor and the current position of the robot on the teaching pendant is displayed at the same position on the Main Window of the Vision Sensor, sending/receiving...
  • Page 26 Check the wiring and others. *To display the latest error message, clear the value of the variable when connect to Vision Sensor. (Operation of Programming pendant) Set the mode switch to [TEACH] on the programming pendant when the robot controller was successfully connected to the Vision Sensor.

  • Page 27: 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 28 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 YASKAWA Electric Corporation. Vision Sensor YASKAWA Electric Corporation Local Coordinate System...

  • Page 29: 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 Programming pendant)

  • Page 30: 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 31 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. The parameters in the sample program as a list in Chapter 7.3, the description of how to call the function in Chapter 7.4.

  • Page 32: 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. According to Step 4 in Chapter 3.1, Set the IP address of the Vision Se nsor in the variable “S087” and the port number of the Vision sensor in the variable “S088”.

  • Page 33: 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.

  • Page 34: Moving Robot To Robot Image Position

    6.3. Moving Robot to Robot Image Position For a processing to move the robot to the robot image position, follow the procedures below. Move the robot to the imaging position. Check the current robot position.
  • Page 35 Set the referenced imaging position to the variables. ';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ' (2) Move the robot to the ' imaging position. ' You have to configure ' the following robot position ' for your application. ';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; SET R080 399.9999 SET R081 0.0020 SET R082 199.9999 Set the robot imaging position to the variables.

  • Page 36: 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 "FHSMPLREGPOS". Before executing measurements, execute the current position registration command execution function (FHSMPLREGPOS) to the Vision Sensor. ';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ' (3) Register the current ' position of the robot to ' the FH before measurement ';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;...

  • Page 37: 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...

  • Page 38: 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 39: 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 in Chapter 6.6, check that the measurement results are stored in the variables “R091” to “R096”. The depth of the container, the height of the workpiece position and the length of the hand are taken into...
  • Page 40 Set the variables as arguments for the robot motion command (MOVJ) and execute it. '!!!!!!!!!!! CAUTION !!!!!!!!!!! '!The following function drives '!a robot motion immediately. '!Confirm the settings '!before execution. '!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! Robot motion command MOVJ P099 VJ=10.00 WARNING  These operations drive the robot. ...

  • 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 in Chapter 6.6, check that the measurement results are stored in variables “R091” to “R096”. Set the variables as arguments for the robot motion command (MOVJ) and execute it.

  • Page 42: Disconnecting Vision Sensor From Robot Controller

    6.9. Disconnecting Vision Sensor from Robot Controller For a processing to disconnect the Vision Sensor from the Robot Controller, follow the procedures below. Execute the disconnection function (FHCLOSE) to the Vision Sensor. ';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; '4. Example: Finalization sequence ' of a finalization. ; ';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;...

  • Page 43: 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 FHCONNECT Connect to the Vision Sensor Chapter 7.5.1 FHCLOSE Disconnects from the Vision Sensor...
  • Page 44 FHRUNRECVRES FHRUNRECVVAL I099 Error number FHCONNECT Store the result of the execution of this FHCLOSE function. FHSMPLREGPOS FHSAMPLETRIG FHRUNSENDCMD FHRUNRECVRES FHRUNRECVVAL R090 - Output Result FHSMPLTRIG R099 <FHSMPLTRIG> FHRUNRECVRES R090: Target X coordinate FHRUNRECVVAL R091: Target Y coordinate R092: Target Z coordinate R093: Target W(Rx) coordinate R094: Target P(Ry) coordinate R095: Target R(Rz) coordinate...

  • Page 45: Function Invoke Method

    7.4. Function invoke Method The following is the method of invoke function in the job file(.JBI) ①Set the function name to the variable “S089”. ②Execute the function and set the value of variable “B098” to “1”. The value of variable “B098” was set to “0” when the function has executed. User variable Description B098...

  • Page 46: Function Details

    7.5. Function Details FHCONNECT 7.5.1.  Function Connect to the Vision Sensor  Syntax SET S089 “FHCONNECT”  Parameters Argument Input/Output Data type Description S087 Input String IP address of the Vision Sensor S088 Input Integer Port number of the Vision Sensor (10040 to 65535) I095 Input...
  • Page 47 over. -1902 ERROR:fhconnect():CREATE_SOCKET: Create socket failed. -1902 -1903 ERROR:fhconnect():DEVICE_SETTING: Set the non-blocking failed. -1903 -1904 ERROR:fhconnect():CONNECTION_FAILU Connection failed.(server halt) RE:-1904  Precautions Only one Vision Sensor can be connected to the robot controller. If you want to connect to another Vision Sensor, disconnect from the connected Vision Sensor.
  • Page 48 FHCLOSE 7.5.2.  Function Disconnects from the Vision Sensor  Syntax SET S089 “FHCLOSE”  Parameter Parameter Name Input/Output Data type Description I099 Output Integer Error number Store the result of the execution of this function.  Remarks Disconnects from the Vision Sensor ...
  • Page 49 FHSMPLREGPOS 7.5.3.  Function Register the current robot position to the Vision Sensor.  Syntax SET S089 “FHSMPLREGPOS”  Parameter Argument Input/Output Data type Description I097 Input Integer Number of receive retries (0 to 99) I098 Input Integer Receive timeout time (0 to 99sec) I099 Output Integer...
  • Page 50 -1800 ERROR:fhsample_regpos():Trigger NG:-1800 Response NG -1903 ERROR:fhrecvstring():DEVICE_SETTING: Set the non-blocking failed. -1903  Precautions None  Example In the following example, the current robot position is registered to the Vision Sensor. SET I093 0 SET I094 0 SET S089 "FHSMPLREGPOS" SET B098 1 WAIT B098=0 IFTHENEXP I099<>0...
  • Page 51 FHSMPLTRIG 7.5.4.  Function Sends measurement commands to the Vision Sensor and receives the measurement results from the Vision Sensor  Syntax SET S089 “FHSMPLTRIG”  Parameter Argument Input/Output Data type Description I097 Input Integer Number of receive retries (0 to 99) I098 Input Integer...
  • Page 52 over. -1502 ERROR:fhmeasureresult():PARAM_NUM: Abnormal number of -1502 parameters -1601 ERROR:fhsample_trig():No Connection: Calling in the unconnected -1601 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 variables (“R090”...
  • 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. SET S089 "FHSMPLTRIG" SET B098 1 WAIT B098=0 IFTHENEXP I099<>0 JUMP *EXIT...
  • Page 54 FHRUNSENDCMD 7.5.5.  Function Send a no-procedure command to the Vision Sensor  Syntax SET S089 “FHRUNSENDCMD”  Parameter Argument Input/Output Data type Description S090 Input String No-procedural commands to be sent to the Vision Sensor S091 – S095 Input String S091: Argument 1 of the no-procedure command sent to the Vision...
  • Page 55  Remarks Sends a no-procedure command to the Vision Sensor, concatenating the parameters according to the following format. If the number of no-protocol command arguments is out of the input range, an error is returned. <Format> No-protocol Command Command Command SP(*1) …...
  • Page 56 FHRUNRECVRES 7.5.6.  Function Receive a command response from the Vision Sensor  Syntax SET S089 “FHRUNRECVRES”  Parameter Argument Input/Output Data type Description I097 Input Integer Number of receive retries (0 to 99) I098 Input Integer Receive timeout time (0 to 99sec) R090 Output Real...
  • Page 57  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. SET S089 "FHRUNRECVRES" SET B098 1 WAIT B098=0 IFTHENEXP I099<>0 JUMP *EXIT ENDIF...
  • Page 58 FHRUNRECVVAL 7.5.7.  Function Receive numerical data from the Vision Sensor  Syntax SET S089 “FHRUNRECVVAL”  Parameter Argument Input/Output Data type Description I097 Input Integer Number of receive retries (0 to 99) I098 Input Integer Receive timeout time (0 to 99sec) R090 –...
  • Page 59 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: Calling in the -1301 unconnected state -1303 ERROR:fhrecvstring():RETRY:-1303 Receive retry count overrun -1304 ERROR:fhrecvstring():TIMEOUT:-1304 Receive timeout time is over.
  • Page 60  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 0. SET S089 "FHRUNRECVVAL" SET B098 1 WAIT B098=0 IFTHENEXP I099<>0 JUMP *EXIT ENDIF IFTHENEXP R090<>1...
  • Page 62 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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