Table Of Contents - Omron Vision Sensor FH Series 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 ...................................................................................................................... 24
4.1. Name of Coordinate System .................................................................................................. 24
5. How to Start the Setup Program ................................................................................................ 26
6. Description of the Sample Programs ......................................................................................... 27
6.1. Connecting Vision Sensor to Robot Controller ....................................................................... 29
6.2. Switching Scenes on the Vision Sensor ................................................................................. 30
6.3. Moving Robot to Robot Image Position .................................................................................. 30
6.4. Register the Current Robot Position in the Vision Sensor ..................................................... 31
6.5. Executing Measurements on Vision Sensor .......................................................................... 32
6.6. Getting the Measurement Results .......................................................................................... 33
6.7. Moving Robot to Robot Approach Position at Measurement ................................................. 34
6.8. Moving Robot to Robot Command Position at Measurement ................................................ 35
6.9. Disconnecting Vision Sensor from Robot Controller .............................................................. 36
7. Function Reference ..................................................................................................................... 37
7.1. List of Functions ..................................................................................................................... 37
7.2. Error Message ........................................................................................................................ 37
7.3. Function Details ...................................................................................................................... 38
CONTENTS
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