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 ...................................................................................................................... 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 .................................................................................. 32 6.4. Register the Current Robot Position in the Vision Sensor ..................................................... 34 6.5.
Executing Measurements on Vision Sensor .......................................................................... 35 6.6. Getting the Measurement Results .......................................................................................... 36 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 .............................................................. 40 7.
Function Reference ..................................................................................................................... 41 7.1. List of Functions ..................................................................................................................... 41 7.2. Error Message ........................................................................................................................ 41 7.3. Parameter List ........................................................................................................................ 41 7.4.
Function invoke Method ......................................................................................................... 43 7.5. Function Details ...................................................................................................................... 44 1