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 3.2. Connecting and Checking Vision Sensor and Robot Controller ............................................ 20 3.3.
Verify Commands Sent/Received .......................................................................................... 22 4. Coordinate System .................................................................................................................. 25 4.1. Name of Coordinate System .................................................................................................. 25 5. How to Start the Setup Program ............................................................................................. 27 6. Description of the Sample Programs ..................................................................................... 28 6.1.
Connecting Vision Sensor to Robot Controller ....................................................................... 30 6.2. Switching Scenes on the Vision Sensor ................................................................................. 31 6.3. Moving Robot to Robot Image Position .................................................................................. 31 6.4. Register the Current Robot Position in the Vision Sensor ..................................................... 32 6.5. Executing Measurements on Vision Sensor .......................................................................... 33 6.6.
Getting the Measurement Results .......................................................................................... 34 6.7. Moving Robot to Robot Approach Position at Measurement. ................................................ 34 6.8. Moving Robot to Robot Command Position at Measurement ................................................ 36 6.9. Disconnecting Vision Sensor from Robot Controller .............................................................. 37 7. Function Reference .................................................................................................................. 38 7.1.
List of Functions ..................................................................................................................... 38 7.2. Error Message ........................................................................................................................ 38 7.3. Function Details ...................................................................................................................... 39 1