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
ABB Corporation Edition
Z459-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 ABB Corporation Edition Z459-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. Z459-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

    This chapter describes the system configuration and target devices to construct robot vision applications. 2.1. Cautions for Robot Equipment Enable the PC interface option in 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 3D Software OMRON 3D Robot Vision FH-UM3D1 Software Installer Robot controller Robot controller IRC5 Necessary to enable the PC interface option. Please contact the ABB for the detail. Robot Vertical multi- IRB120 joint robot Teaching pendant Teaching pendant (FlexPendant) PC software...

  • 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. Tap "ABB Menu" in the upper- left corner of the teaching pendant screen. Tap [Restart], then tap the [Advanced...]. Select "Start Boot Application" to restart the robot controller.
  • Page 20 [Use the following IP settings:], and then set the [IP address], [Subnet mask], and [Default gateway]. Set an IP address not to overlap with other devices. Tap [Select System] on the "ABB Robotics Boot Application" screen. Select the system to start on the "Select System"...
  • Page 21 Tap [File] and select [Load Module]. Load the robot program that copied to the USB memory stick. Add the following program into the main routine. “fhsetup_main;” Initial setting values of communication are as follows. IP address: 10.5.5.100 Port number: 9876 Change the “fhsetup_main”...

  • 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 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 the Teaching pendant) Set the robot controller's "Mode switch" to "Auto" mode.
  • Page 25 (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 the error message is displayed on the operator window, Check the wiring and others.

  • Page 26: 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 27 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 ABB Ltd. Vision Sensor ABB Ltd.

  • Page 28: 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] Add the following program into the main routine.

  • Page 29: 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 30 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 31: 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 for external variables. !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ! (2) Initialize global variables !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;...

  • Page 32: 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 33: Register The Current Robot Position In The Vision Sensor

    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. !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; std_img_pos_x := 250; std_img_pos_y := 0; std_img_pos_z := 400; Set the robot imaging position to the variables. std_img_pos_w := -180;...

  • Page 34: 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 35: 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 36: 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 2 in Chapter 6.6, check that the measurement results are stored in the variables The depth of the container, the height of the workpiece position and the...

  • Page 37: Moving Robot To Robot Command Position At Measurement

    !Error check err_no <> success THEN GOTO exit_program; ENDIF WARNING  These operations drive the robot.  Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime. 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.

  • Page 38: 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 !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ! (1)Disconnect from the FH server !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;...

  • Page 39: 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 7.3.1 fhclose Disconnects from the Vision Sensor...

  • Page 40: Function Details

    7.3. Function Details 7.3.1. fhconnect  Function Connect to the Vision Sensor  Syntax fhconnect fh_socket, ip_address, port_no, retries_connect, timeout_connect, err_no  Parameters Argument Input/Output Data type Description fh_socket Output socketdev Get the socket data of connect to Vision Sensor. ip_address Input string...
  • Page 41  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.  Example In the following example, we will connect to the Vision Sensor with IP address "10.5.5.100"...
  • Page 42 7.3.2. fhclose  Function Disconnects from the Vision Sensor  Syntax fhclose fh_socket, err_no  Parameter Parameter Name Input/Output Data type Description fh_socket Input socketdev Data of socket already connected to the Vision Sensor err_no Output Error number Store the result of the execution of this function.
  • Page 43 7.3.3. 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 socketdev Data of socket already connected to the Vision Sensor retries_recv Input Number of receive retries (0 to 99) timeout_recv Input...
  • Page 44 -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; fhsample_chgscn fh_socket, retries_recv, timeout_recv, scene_no, err_no;...
  • Page 45 7.3.4. 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 socketdev Data of socket already connected to the Vision Sensor retries_recv Input Number of receive retries (0 to 99) timeout_recv Input...
  • Page 46 -1800 ERROR:fhsample_regpos():Trigger NG:-1800 Response NG  Precautions None  Example In the following example, the current robot position is registered to the Vision Sensor. retries_recv := 2; timeout_recv := 4; fhsample_regpos fh_socket, retries_recv, timeout_recv, err_no;...
  • Page 47 7.3.5. 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_recv, timeout_recv, param{*}, err_no  Parameter Argument Input/Output Data type Description fh_socket Input socketdev Data of socket already connected to the Vision Sensor retries_recv Input...
  • Page 48 -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 param{*}.
  • Page 49  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; fhsample_trig fh_socket, retries_recv, timeout_recv, param, err_no;...
  • Page 50 7.3.6. 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 Moving target robot coordinates X pos_y Input Moving target robot coordinates Y pos_z Input Moving target robot coordinates Z pos_w Input...
  • Page 51  Example In the following example, Move the robot to the (X, Y, Z, W, P, R)=(300,0,200,180,0,0) pos_x := 300; pos_y := 0; pos_z := 200; pos_w := 180; pos_p := 0; pos_r := 0; fhsample_move pos_x, pos_y, pos_z, pos_w, pos_p, pos_r, err_no;...
  • Page 52 7.3.7. fhrunsendcmd  Function Send a no-procedure command to the Vision Sensor  Syntax fhrunsendcmd fh_socket, cmd_name, cmd_arg{*}, cmd_arg_num, err_no  Parameter Argument Input/Output Data type Description fh_socket Input socketdev Data of socket already connected to the Vision Sensor cmd_name Input string No-procedural commands to be sent to...
  • Page 53 <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 54 7.3.8. fhrunrecvres  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 socketdev Data of socket already connected to the Vision Sensor retries_recv Input Number of receive retries (0 to 99) timeout_recv...
  • Page 55  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. retries_recv := 2; timeout_recv := 4; fhrunrecvres fh_socket, retries_recv, timeout_recv, cmd_res, err_no; IF err_no <>...
  • Page 56 7.3.9. 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 socketdev Data of socket already connected to the Vision Sensor retries_recv Input Number of receive retries (0 to 99) timeout_recv Input...
  • Page 57  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: Calling in the -1301 unconnected state -1302...
  • Page 58  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. retries_recv := 2; timeout_recv := 4; fhrunrecvval fh_socket, retries_recv, timeout_recv, outputdata, err_no; IF err_no <>...
  • Page 60 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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