Vision Sensor FH Series Vision System Robot Connection Guide ABB Corporation Edition

Vision Sensor FH Series Vision System Robot Connection Guide ABB Corporation Edition

Vision Sensor FH Series Vision System Robot Connection Guide ABB Corporation Edition Z459-E1-01

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Vision Sensor FH Series Vision System Robot Connection Guide ABB Corporation Edition

NOTE • All rights reserved. • No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON. • No patent liability is assumed with respect to the use of the information contained herein. Moreover, because 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.

Neither is any liability assumed for damages resulting from the use of the information contained in this publication. Trademarks • Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products. • This software is based in part on the work of the Independent JPEG Group. • Microsoft, Windows, Windows Vista, Excel, and Visual Basic are either registered trademarks or trademarks of Microsoft Corporation in the United States and other countries. • Intel, Core and Pentium are trademarks of Intel Corporation in the U.S. and/or other countries.

• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. • ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA. • The SD, SDHC, microSD, and microSDHC logos are trademarks of SD-3C, LLC. • QR Code is a registered trademark of DENSO WAVE INCORPORATED. • MELSEC is a registered trademarks of Mitsubishi Electric Corporation. Other company names and product names in this document are the trademarks or registered trade- marks of their respective companies. Copyrights Microsoft product screen shots used with permission from Microsoft.

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CONTENTS

CONTENTS 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 1

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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. 2

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