Vision Sensor FH Series Vision System 3D Robot Vision Application Construction Guide (EN)

Vision Sensor FH Series Vision System 3D Robot Vision Application Construction Guide

Vision Sensor FH Series Vision System 3D Robot Vision Application Construction Guide FH-5050 FH-SMDA-GS050B Z446-E1-01

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Vision Sensor FH Series Vision System 3D Robot Vision Application Construction Guide

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 • Intel, Core and Pentium are trademarks of Intel Corporation in the U.S. and/or other countries. trademarks of Microsoft Corporation in the United States and 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 reprinted with permission from Microsoft Corporation.

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CONTENTS

CONTENTS Introduction ................................................................................. 4 Terms and Conditions Agreement ............................................ 5 Safety Precautions ..................................................................... 7 Warning ........................................................................................ 9 Precautions for Safe Use ......................................................... 13 Precautions for Correct Use .................................................... 18 Regulations and Standards .....................................................

23 Related Manuals ....................................................................... 26 Revision History ....................................................................... 28 1. Overview ............................................................................. 29 1.1. Overview ...................................................................... 29 1.2. Target Audience............................................................ 29 1.3. Work Flow..................................................................... 30 2. System Configuration ....................................................... 31 2.1. System Configuration ...................................................

31 2.2. Applicable Devices ....................................................... 31 3. Configuration of the Application ..................................... 34 3.1. Specification of the Sensor .......................................... 34 3.2. Workpiece..................................................................... 35 3.3. Container ...................................................................... 36 3.4. Supported Robots ........................................................ 36 4. Equipment Installation Ovewrview .................................. 37 4.1. Mounting ....................................................................... 37 4.2.

Wiring ........................................................................... 37 4.3. Connecting ................................................................... 37 4.4. Camera Cable Mounting .............................................. 37 4.5. Start and Stop Sequence ............................................. 37 5. Startup Procedure ............................................................. 38 5.1. Preconditions ................................................................ 38 5.2. What You Can Do by This Startup Procedure ............. 39 6. Creating Data Set for the Robot Vision ........................... 43 6.1.

Creating Data Sets ....................................................... 43 7. 3D Sensor Software Installation ...................................... 45 Loading the Sensor Controller Project .................................... 45 7.1. Installing and Uninstalling the 3D Robot Vision Software 45 7.2. Loading the Sensor Controller Project ......................... 58 7.3. Configuring the Network (Ethernet Communications) . 59 8. Vision Sensor Setting for Robot Vision .......................... 63 8.1. Overview ...................................................................... 63 8.2. Coordinate Systems and Angle Types ......................... 64 8.3.

Scene Data Configuration ............................................ 66 8.4. User Dialogs ................................................................. 69 8.5. Hand-eye Calibration Configuration Using the Wizard 79 8.6. Hand-eye Camera Pick Application Configuration Using the Wizard ............................................................................... 82 8.7. Hand-eye Calibration ................................................... 85 8.8. Pick Application Flow for the Hand-Eye Camera System 114 9. Appendix .......................................................................... 170 9.1.

Making Hand (Tow finger Gripper) and Grasp Point Registration ........................................................................... 170 9.2. Robot Error ................................................................. 184

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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. 4

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