OMRON FH User Manual

Vision Sensor

FH Series

Vision System

Robot Connection Guide

OMRON TM Series Edition

Z447-E1-01

NOTE

Trademarks

•

and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan

•

•

•

•

•

•

• QR Code is a registered trademark of DENSO WAVE INCORPORATED.

•

Other company names and product names in this document are the trademarks or

-

marks of their respective companies.

Copyrights

• 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.

Sysmac
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.

MELSEC is a registered trademarks of Mitsubishi Electric Corporation.

Microsoft product screen shots used with permission from Microsoft.

registered trade

CONTENTS

Introduction ............................................................................................................................................ 2

T erms 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 Sens or to Rob ot 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 ...................................................................................................................... 26

4.1. Name of Coordinate System .................................................................................................. 26

5. How to Start the Setup Program ................................................................................................ 28

6. Description of the Sample Programs ......................................................................................... 29

6.1. Initialization of the Sample Program ...................................................................................... 31

6.2. Switching Scenes on the Vision Sensor ................................................................................. 32

6.3. Moving Robot to Robot Image Position .................................................................................. 34

6.4. Register the Current Robot Position in the Vision Sensor ..................................................... 36

6.5. Executing Measurements on Vision Sensor .......................................................................... 36

6.6. Getting the Measurement Results .......................................................................................... 38

6.7. Moving Robot to Robot Command Position at Measurement ................................................ 39

7. Component Reference ................................................................................................................. 41

7.1. List of Components ................................................................................................................ 41

7.2. Error Message ........................................................................................................................ 41

7.3. Component Details ................................................................................................................. 42

1

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

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties

● Exclusive Warranty

Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship
for a period of twelve months from the date of sale by Omron (or such other period expressed in writing
by Omron). Omron disclaims all other warranties, express or implied.

●

Limitations

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT NON­INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE
PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.

Omron further disclai ms all warrant ies and respo nsibility of any type for cl aims or expens es based on
infringement by the Products or otherwise of any intellectual property right.

● Buyer Remedy

Omron’s sole obligation her eunder shall be, at Omron’s election, to (i) replace ( in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying
Product, (ii) repair t he non-complying Product, or (iii) repay or credit Buyer an amount equal t o the
purchase price of the non-complying Product; provid ed that in n o event shall Omron be res ponsible for
warranty, repair, inde mnity or any other claims or expenses regardin g the Products unless Omron’s
analysis confirms that th e Products were properly handl ed, stored, installed and mainta ined and not
subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer
must be approved in writ ing by Omron befor e shipment. Omron Companies shal l not be liable for the
suitability or unsuitabi lity or the results from the use o f Products in combination with a ny electrical or
electronic components, circuits, system assemblies or any other materials or substances or
environments. Any advice, recommendations or information given orally or in writing, are not to be
construed as an amendment or addition to the above warranty.

See http://www.omron.com/global/

or contact your Omron representative for published information.

Limitation on Liability; Etc

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR CO MMERCIAL LOSS IN
ANYWA Y CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT ,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.

Further, in no event shall liability of Omron Companie s exceed the individua l price of the Product o n
which liability is asserted.

3

Application Consider a t ions

Suitability of Use

Omron Companies shall n ot be responsible for conformity with any standar ds, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buyer’s
request, Omron will provide applicable third party certification documents identifying ratings and
limitations of use which apply t o the Product. This inf ormation by its elf is not sufficie nt for a comple te
determination of the suit abi l ity of the Product in combination wit h the e nd pr o duc t, mac hine, sy s tem, or
other application or use. Buyer shall be solely responsible for determining appropriateness of the
particular Product with res pect to Buyer’s appl ication, product or sys tem. Buyer shall take applicatio n
responsibility in all cases.

NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY OR IN LARGE Q UANTITIES WI THOUT ENSUR ING THAT THE SYSTEM AS A WHOLE
HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL
EQUIPMENT OR SYSTEM.

Programmable Products

Omron Companies shall no t be r espons i ble f or t he use r’s programming of a programmable Product, or
any consequence thereof.

Disclaimers

Performance Data

Data presented in Omron Comp any websites, catalo gs and other materials is provided as a guide for
the user in deter mining suitability and does n ot constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual
performance is subject to the Omron’s Warranty and Limitations of Liability.

Change in Specifications

Product specificat ions and ac cess ories may be c hang ed at a ny t ime base d on impr oveme nts and oth­er reasons. It is our practic e to change par t numbers when published ratings or features are c hanged,
or when significant cons truction c hanges ar e made. How ever, some specification s of the Produc t may
be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish
key specifications for your application . Please c onsult w ith your Omr on’s represe ntative at any time to
confirm actual specifications of purchased Product.

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; however,
no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

4

Safety Precautions

For details on Safety Precautions, refer to Safety Precautions in the Vision System

FH Series 3D Robot Vision Application Construction Guide (Cat. No. Z446).

5

Waring

For details on Waring, refer to Waring in the Vision System FH Series 3D Robot

Vision Application Construction Guide (Cat. No. Z446).

6

Precautions for Safe Use

For details on Precautions for Safe Use, refer to Precautions for Safe Use in the

Vision System FH Series 3D Robot Vision Application Construction Guide (Cat. No.

Z446).

7

Precautions for Correct Use

For details on Precautions for Correct Use, refer to Precautions for Correct Use in

the Vision System FH Series 3D Robot Vision Application Construction Guide (Cat.

No. Z446).

8

Regulations and Standards

For details on Regulations and Standards, refer to Regulations and Standards in the

Vision System FH Series 3D Robot Vision Application Construction Guide (Cat. No.

Z446).

9

Name of Manual

Cat. No.

Model

Purpose

Contents

Regular Payload

Series Hardware

Installation Manual

I623

RT6-0□□□□□□

When User

Robot

Describes the

Medium & Heavy

Payload Series

Hardware

Installation Manual

I624

When User

Robot

Describes the

TMflow Software
Manual

-

When User

to configure
TMflow

Describes the software

TECHMAN ROBOT
Safety System 3.
Safety Manual

-

When User

Robot

Describes the safety

Name of Manual

Cat. No.

Model

Purpose

Contents

V

F

3

Application

Construction

Guide

Z446

FH-5050

When User

know about

Describes the soft

Related Manuals

<Application Construction Guide>

ision Sensor

H Series

D Robot Vision

<Robot Manual>

FH-SMDA-GS050B

RT6-1□□□□□□
RT6-2□□□□□□

want to

the FH
series 3D
robot vision
system.

want to
know the
setup and
hardware
specification
s of the TM

want to
know the
setup and
hardware
specification
s of the TM

functions, setup,
and operations to use FH
series 3D
robot vision system.

specifications, external
dimensions, names of
parts, I/O, installation,
and wiring of the
cooperative robot TM5.

specifications, external
dimensions, names of
parts, I/O, installation,
and wiring of the
cooperative robot TM12,
TM14.

3

I626

I648

want to
know how

Want to
Know the
Safety
Features of
the TM

functions, settings, and
operations for using the
collaborative robot TM.

functions in Collaborative
robot TM.

10

Cat. No.

Z447-E1-01

Revision History

A manual revision code appears as a suffix to the c atalog n umber on t he front and bac k cover s
of the manual.

Rev. Code Rev. Date Revision Contents

01 Feb. 2021 Original product

Revision code

11

Procedure

Reference

Construction Guide] Chapter 6

Construction Guide] Chapter 7

Setting Communications for Robot controller

Refer to Chapter 3.1

Refer to Chapter 3.3

Construction Guide] Chapter 8

Description of the sample programs

Refer to Chapter 6

1. Overview

1.1. Overview

This manual describes procedures for connections and settings required for

constructing robot vision applications by connecting your robot controller to the

Vision Sensor FH (hereafter referred to as Vision Sensor).

Utilizing this manual and Robot Vision Application Construction Guide can reduce

man-hours to connect the Vision Sensor to your robot controller, set the Vision Sensor,

and create robot programs.

1.2. Instructions for Building a 3D Robot Vision Application

Please follow the flow below for constructing 3D robot vision applications

Creating Data Set for Robot Vision

↓

System Settings for the Vision Sensors

↓

↓

Connecting Vision Sensor to Robot Controller

↓

Robot Vision Settings for Vision Sensors

↓

[3D Robot Vision Application

[3D Robot Vision Application

Refer to Chapter 3.2

[3D Robot Vision Application

12

Program

Project Name

Detail

Vision Sensor.

(hand) and to place the workpiece.

1.3. Robot Programs Covered in this Manual

The two types of robot programs covered in this manual are output from the Robot

Vision Dataset Output Tool. Each program is used for a different purpose.

Setup Program FHSETUPMAIN This program allows the Vision Sensor to

give operating instructions to the robot to

configure the Vision Sensor for robot

vision.

This program consists of the following

functions

- Send the current robot position to the

Vision Sensor.

- Move to the indicated position on the

Sample Program FHSAMPLEMAIN This program is a sample of the basic

program flow for a pick application.

In this program, the robot gives control

instructions to the Vision Sensor.

The program consists of the following

functions

- Connecting to the Vision Sensor

- Scene switching of the Vision Sensor

- Moving to the measurement position

- Registering the current robot position to

the Vision Sensor

- Execute measurement instructions to

the Vision Sensor

- Receives the position of the workpiece to

be recognized

- Move to approach position

- Move to the target work location

(grasping position)

Based on this program, a pick-and-place

application is built by adding the robot

movement to operate the end-effector

13

Device name

Manufacture

Name

Model

Remarks

supported.

Vision Sensor

LAN Cable
(Straight cable)

Data set output tool
for 3D Robot Vision

2. System Configuration

This chapter describes the system configuration and target devices to construct robot

vision applications.

2.1. Cautions f or Robot Equipment

[RobotBase] and [NOTOOL] have been selected for the robot controller's coordinate

system.

2.2. When Using Vision Sensor FH Series 3D Vision Sensor

2.2.1. System Configuration

Switching hub

PC

USB memory

Calibration Target

3DCamera

Robot

2.2.2. Target Devices

TeachingPendant

Robot Controller

TMflow

PC Software

Vision Sensor OMRON

Ve r. 6 . 40 or

later

Vision Sensor

FH Series

FH-5050

Controllers

other than

FH-5050 are

not

14

3D Camera

OMRON

3D Vision Sensor

FH-SMDA-GS050B

resistance

FH-VSDX-LBX□M

Tar g e t

Tar g e t

Robot Vision

Software Installer

it.

obot Programing

TMflow

hub

d product

d product

evice except mentioned above for each device of the system

configuration.

For details, refer to manuals noted in Related Manuals.

Camera Cable OMRON

Camera I/O cable OMRON

OMRON

Calibration target

OMRON

3D Software OMRON

Robot OMRON

OMRON

PC software

Ethernet cable

super bending

I/O cable super

bending resistance

Handeye Calibration

Camera Calibration

3D

Collaborative Robot

TM5-700

TM5-900 RT6-0□□90□□

Data set output tool

for 3D robot vision

FHV-VNBX□M

FHV-VNLBX□M

FH-VSDX-BX□M

FH-XCAL-R -

FH-XCAL-S

FH-UM3D1 -

RT6-0□□70□□

－

-

-

-

Ver.1.00

Please

contact us for

how to obtain

R

OMRON

Switching hub OMRON

USB memory OMRON USB memory FZ-MEM8G

Environment

Industrial switching

－

W4S1-□□□

Precautions for Correct Use

Do not use any d

Additional Information

This manual does not provide operations, installation, and wiring methods for each

device.

Ver.1.80.530

0 or later

Recommende

Recommende

15