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 ............................................ 22 3.3. Verify Commands Sent/Received .......................................................................................... 24 4. Coordinate System ...................................................................................................................... 28 4.1. Name of Coordinate System .................................................................................................. 28 5. How to Start the Setup Program ................................................................................................ 30 6.
Description of the Sample Programs ......................................................................................... 31 6.1. Connecting Vision Sensor to Robot Controller ....................................................................... 33 6.2. Switching Scenes on the Vision Sensor ................................................................................. 34 6.3. Moving Robot to Robot Image Position .................................................................................. 34 6.4. Register the Current Robot Position in the Vision Sensor ..................................................... 35 6.5.
Executing Measurements on Vision Sensor .......................................................................... 36 6.6. Getting the Measurement Results .......................................................................................... 37 6.7. Moving Robot to Robot Approach Position at Measurement ................................................. 37 6.8. Moving Robot to Robot Command Position at Measurement ................................................ 39 6.9. Disconnecting Vision Sensor from Robot Controller .............................................................. 39 7.
Function Reference ..................................................................................................................... 40 7.1. List of Functions ..................................................................................................................... 40 7.2. Error Message ........................................................................................................................ 40 7.3. Function Details ...................................................................................................................... 41 1