Omron FH, FZ5 User Manual

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Page 1

Vision Sensor

FH/FZ5 Series

Vision System

User’s Manual for Communications Settings

FH-1 FH-1- FH-3 FH-3- FH-L FH-L-

FZ5-6 FZ5-6- FZ5-11 FZ5-11- FZ5-L35 FZ5-L35-

Z342-E1-08

Page 2

Introduction

Thank you for purchasing the FH/FZ5. This manual provides information regarding functions, performance and operating methods that are required for using the FH/FZ5. When using the FH/FZ5, be sure to observe the following:

• The FH/FZ5 must be operated by personnel knowledgeable in electrical engineering.

• To ensure correct use, please read this manual thoroughly to deepen your understanding of the product.

• Please keep this manual in a safe place so that it can be referred to whenever necessary.

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 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 and SDHC logos are trademarks of SD-3C, LLC.

• MELSEC is a registered trademarks of Mitsubishi Electric Corporation.

Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.

Copyrights

Microsoft product screen shots reprinted with permission from Microsoft Corporation.

Page 3

FH/FZ5 Manual Configuration

The following table gives the manual configuration of the FH/FZ5.

Name of Manual Cat. No. Model Proposes Contents

Vision System FH Instruction Sheet

Vision System FH-L Instruction Sheet

Vision System FZ5 Instruction Sheet

Vision System FZ5-L Instruction Sheet

Vision System FH/FZ5 Se

ries User’

Vision System FH/FZ5 s

eries Hardware

Manual

Vision System FH/FZ5 series Macro Customize Functions Programming Manual

Vision System FH/FZ5 se

ries Proc Function Reference Manual

Vision System FH/FZ5 Series User’ for Communications Settings

Vision System FH Series Operation Ma

nual for Sysmac

Studio

s Manual

Setup

essing Item

s Manual

9607479-9

9606631-1

9524422-4

9910002-2

Z365

Z366

Z367

Z341

Z342

Z343

FH-1 FH-1- FH-3 FH-3-

FH-L FH-L-

FZ5-6 FZ5-6- FZ5-11 FZ5-11-

FZ5-L35 FZ5-L35-

FH-1 FH-1- FH-3 FH-3- FH-L FH-L-

FZ FZ5-L35- FZ5-6 FZ5-6- FZ5-11 FZ5-11-

FH-1 FH-1- FH-3 FH-3-

5-L3



5



confirm the safety and usage precautions of the Vision System FH series Sensor Controller.

confirm the safety and usage precautio Vision System FH-Lite series Sensor Controller.

To confirm the setup proce

dures, safe usage precautions of the Vision System FZ5 series Sensor Controller, including I/O setup and wiring

To confirm the setup proce

dures, safe usage precautions of the Vision System FZ5-L Series Sensor Controller, including I/O setup and wiring.

When User want to know how to setup the Sensor Controller of the Vision System FH/FZ5 series.

When User want to know about the Hard-ware specifications or to setup the Sensor Controller of the Vision System FH/FZ5 series.

When User operate or programming using Macro Customize functions.

When User confirm the details of each processing items at the create the measurement flow or operate it.

When User confirm the setti

ng of co

functions.

en User connect to NJ series via EtherCA communication.

ns of the

ty and

mmunication

Describes the definitions of basic t

erms, meaning of signal words, and precautions for correct use of FH series in the manual.

Describes the definitions of basic t

erms, meaning of signal words, and precautions for correct use of FH-L series in the manual.

Describes the definitions of basic t

erms, me and precautions for correct use of FZ5 series in the manual.

Describes the definitions of basic t

erms, me and precautions for correct use of FZ5-L series in the manual.

Describes the soft functions, setup, and operations to use Sensor Controller of the Vision System FH/ FZ5 series.

Describes FH/FZ5 series sp

ecifications names, I/O information, installation information, and wiring information.

Describes the functions, settings, and operations for using Macro Customize function of the FH/FH5series.

Describes the software functions, settings, and operations for using FH/FH5-series.

Describes the functions, settings, and communications methods for communicating between FH/FH5 series. The following communication protocol are described. Parallel, PLC Link, EtherNet/IP, Ethe

Describes the operating procedures for setti operating FH series Vision Sensors from the Sysmac Studio FH Tools.

aning of signal words,

, dimensions, part

, and Non-procedure

rCAT

ng up and

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Page 4

Conventions Used in This Manual

Symbols

The symbols used in this manual have the following meanings.

IMPORTANT

Note

Indicates relevant operational precautions tha

Indicates operation-related suggestions from OMRON.

t must be followed.

Use of Quotation Marks and Brackets

In this manual, menus and other items are indicated as follows.

[ ] Menu Indicates the menu names or processing items shown in the menu bar.

“ ” Item name Indicates the item names displayed on the screen.

Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Page 5

Terms and Conditions Agreement

Warranty, Limitations of Liability

z 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, INFRINGEMENT, PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. Omron further disclaims all warranties infringement by the Products or otherwise of any intellectual property right.

Buyer Remedy

Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) repl with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products unless Omron’s analysis confirms that the Products were properly handled, stored, installed and maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any 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.

MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE

and resp

onsibility of any type for claims or expenses based on

EXPRESS OR IMPLIED, ABOUT NON-

ace (in the form originally shipped

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

r contact your

Omron representative for published information.

z Limitation on Liability; Etc

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

Further, in no event shall liability of Omron C liability is asserted.

ompanies

exceed the individual price of the Product on which

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Page 6

Application Considerations Warranties

Suitability of Use

Omron Companies shall not be responsible for conformity with any st 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 to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases.

andards, codes or regulations which

NEVER USE THE PRODUCT FOR AN APPLICATION INVOL PROPERTY WITHOUT ENSURING 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 not be responsible for the user’ consequence thereof.

VING SERIOUS R

programming of a programmable Product, or any

ISK TO LIFE OR

Disclaimers

Performance Data

Data presented in Omron Company websites, catalogs and oth in determining suitability and does not 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 specifications and accessories may be changed reasons. It is our practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the Product 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 consult with your Omron’s representative at any time to confirm actual specifications of purchased Product.

er materials is provided as a guide for the user

any time based on improvements and other

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; however, no

sponsibili

ty is assumed for clerical, typographical or proofreading errors or omissions.

Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Page 7

Safety Precautions

For details on Safety Precautions, refer to Safety Precautions in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z365).

Precautions for Safe Use

For details on Precautions for Safe Use, refer to Precautions for Safe Use in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z365).

Precautions for Correct Use

For details on Precautions for Correct Use, refer to Precautions for Correct Use in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z365).

Regulations and Standards

For details on Regulations and Standards, refer to Regulations and Standards in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z365).

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

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MEMO

Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Page 9

FH/FZ5 Manual Configuration .............................................................................................................. 1

Conventions Used in This Manual ........................................................................................................

Terms and Conditions Agreement ........................................................................................................

Safety Precautions ...................................................................................................................

Precautions for Safe Use ................................................................................................................

Precautions for Correct Use ...........................................................................................................

Regulations and Standards ...............................................................................................................

1. Overview .......................................................................................................................................11

Introduction .............................................................................................................................................. 12

Confirming the System Configuration .....................................................................................................

System Configuration ..................................................................................................................

Communicating with an External Device ................................................................................................

Basic Control Operations of the Sensor Controller ........

Communication between the Sensor Controller and an External De

Control Methods for the Sensor Controller ....

Communication Protocols for Communication with the Sensor Controller Saving Sensor Controller Data to an External Device ...

Control Methods Using an External Device ..................

Control with Control Signals and Status Signals ................................................................................22

Command/Res

Data Output after Measurements .......................................................................................................

Setting Procedures for Communications ................................................................................................

Communications Setup Procedures ..............................

Communications Protocols and Communications Modules ................................................................ 36

Differences in Specifications Based on th

List of Supported Signals by Communications Protocol ..................................................................... 37

Restrictions when Using Different Communic Models That Are Compatible with the C

ponse Method .............................................................................................................

e Communications Protocol .................................................... 37

..................................................................................... 17

ation

ommunications Protocols ..................................................... 40

..................................................................... 14

vice ........................................... 16

......................................... 19

..................................................................... 20

........................................................................... 22

..................................................................... 35

Protocols Simultaneously ................................... 39

............. 5

...... 5

... 5

. 13

....... 13

. 14

25 26

. 35

2 3

2. Methods for Connecting and Communicating with External Devices ....................................43

EtherCAT Connections (FH-1000 series/FH-3000 series only) ............................................................... 44

Introduction to EtherCAT ................................................................................................................

Structure of CAN Application Protocol over EtherCAT (CoE) ............................................................. 47

EtherCAT Slave Information Files (ESI Files) ....................................................................................

Transitions of Communications States ...............................................................................................

Process Data Objects (PDOs) ...........................................................................................................

Service Data Objects (SDOs) .....................................

Communications between an EtherCAT Master and Slaves FH-series Vision Sensor Communications Method When Connected

Communications Settings ...............................................................................................................

Communications Module Settings (Startup Settings) .

Communications Specifications Settings ............................................................................................ 6

Output Data Settings (Processing Item Registration) ........

EtherCAT Network Configuration Settings ......................................................................................... 69

Communicat

I/O Ports by Area (PDO Mapping) and Memory Assignments ............................................................ 71

I/O Signals ......................................................................................................................

Measurement Results That You Can Output with Fieldbus Data Ou

ions Test .....................................................................................................................

........................................................................ 53

.............................................................. 54

to EtherCAT ........................... 55

........................................................................ 62

................................................................. 66

......

tput ........................................... 80

.... 44

. 4

. 50

.... 60

.... 70

.............. 76

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Page 10

Command List ..................................................................................................................................... 81

Measurement Trigger Input ...............................................................................................................

Command Response Processing ....................................................................................................... 8

Data Output ..........................................................................................................................

Time Charts ..........................................................................................................................

.............. 88

.............. 90

EtherCAT Troubleshooting ................................................................................................................

Sysmac Error Status ....................................................................................................................

....... 96

Sysmac Device Features ................................................................................................................

Object Dictionary .....................................................................................................................

......... 112

Communicating with PLC Link .............................................................................................................

Communications Processing Flow .................................................................................................... 162

Communicat

ions Setup Procedures ..............................

Communications Module Settings (Startup Settings) .

................................................................... 164

...................................................................... 164

Communications Specifications Settings .......................................................................................... 166

Output Da

ta Settings (Processing Item Registration) ........

............................................................... 184

Testing Communications ................................................................................................................

Memory Allocation .......................................................................................................................

I/O Signals ............................................................................................................................

Output Items .........................................................................................................................

Command List ..........................................................................................................................

..... 192

............ 195

............ 198

......... 199

Command Response Processing ..................................................................................................... 202

Data Ou

tput ..........................................................................................................................

Time Charts ..........................................................................................................................

............ 205

............ 207

PLC Link Troubleshooting ..............................................................................................................

Communicating with EtherNet/IP .........................................................................................................

Introduction to EtherNet/IP ...................................

............................................................................ 213

Data Exchange with EtherNet/IP ......................................................................................................

EtherNet/IP Communications ...........................................................................................................

Communications Processing Flow .................................................................................................... 218

Communicat

ions Setup Procedures ..............................

Communications Module Settings (Startup Settings) .

................................................................... 220

...................................................................... 221

Communications Specifications Settings .......................................................................................... 222

Tag Data Link Setting Meth

Output Data Settings (Processing Item Registration) ........

ods ........................................................................................................

............................................................... 232

Testing Communications ................................................................................................................

Memory Allocation .......................................................................................................................

I/O Signals ............................................................................................................................

Output Items .........................................................................................................................

Command List ..........................................................................................................................

..... 238

............ 247

............ 250

......... 251

Command Response Processing ..................................................................................................... 255

Data Ou

tput ..........................................................................................................................

Time Charts ..........................................................................................................................

Communicating with the Sensor Controller with EtherNet

/IP Message Communications ................ 264

............ 258

............ 260

Command Setting Example ..............................................................................................................

EtherNet/IP Troubleshooting ............................................................................................................

Non-procedure Communications ........

................................................................................................... 269

Communications Processing Flow .................................................................................................... 269

Communicat

ions Setup Procedures ..............................

Communications Module Settings (Startup Settings) .

................................................................... 270

...................................................................... 271

Communications Specifications Settings .......................................................................................... 272

Output Da

ta Settings (Processing Item Registration) ........

............................................................... 279

Testing Communications ................................................................................................................

. 84

. 94

.. 110

.. 162

.. 189

.. 210

.. 213

214 217

228

.. 236

267 267

.. 285

Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Page 11

Output Items ..................................................................................................................................... 288

Command Formats ........................................................................................................................... 289

Command List ................................................................................................................................... 292

Output Format ................................................................................................................................... 296

Non-procedure Communications Troubleshooting ........................................................................... 298

Parallel Communications ....................................................................................................................... 299

Communications Processing Flow .................................................................................................... 299

Communications Setup Procedures ................................................................................................. 301

Communications Module Settings (Startup Settings) ....................................................................... 302

Communications Specifications Settings .......................................................................................... 303

Output Data Settings (Processing Item Registration) ....................................................................... 310

Testing Communications .................................................................................................................. 318

I/O Signals ........................................................................................................................................ 320

Output Items ..................................................................................................................................... 330

Command Formats ........................................................................................................................... 332

Time Charts ...................................................................................................................................... 336

Parallel Troubleshooting ................................................................................................................... 347

3. Appendices .................................................................................................................................349

Command Control .................................................................................................................................. 350

Parameter Notation Examples for Command Control ...................................................................... 350

Details of Commands Used in EtherCAT Communication ............................................................... 354

Command List ................................................................................................................................... 355

Command Details for PLC Link, EtherNet/IP, and EtherCAT ........................................................... 361

Non-procedure Command Details .................................................................................................... 426

Manual Revision History ........................................................................................................................ 520

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

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Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Page 13

Overview

This section provides a basic overview of the communications specifications and Sensor Controller control methods. This information is required before performing communications between the FH/FZ5 and an external device.

Introduction........................................................................ 12

Confirming the System Configuration............................. 13

.................. 14

Communicating with an External Device

Control Methods Using an External Device ..

......

.................. 22

Overview

Setting Procedures for Communications......

Differences in Specifications Based on the

Communications Protocol................................................ 37

.................. 35

Page 14

Introduction

Confirming the System Configuration (Refer to Confirming the System Configuration (p.13))

This section describes the external device configuration that is required to perform measurement processing with the FH/FZ5.

↓

Communicating with an External Device

This section describes the basic operations of the Sensor Controller, how the Sensor Controller works, and the specifications for communications between the Sensor Controller and an external device. The following information is provided. Basic Flow of Communications and Signals (Refer to

• Process from Starting Measurements at the Sensor Controll Sensor Controller and an External Device (p.16))

• Sensor Controller Control Meth Controller (p.17))

• Types of Communications Protocols for Communica Protocols for Communication with the Sensor Cont

• Moving Data between the Sensor Controller and an External External Device (p.20))

↓

Control Methods Using an External Device

ods (Control

Signals, Commands, etc.) (Refer to Control Methods for the Sensor

Basic Control Operations of the Sensor Controller (p.14))

er to Data Output (Reference: Communication between the

ting with th

roller (p.19))

e Sensor Controller (Refer to Communication

Device (Refer to Saving Sensor Controller Data to an

This section describes the methods that you can use to control the Sensor Controller from an external device. Control with Control Signals and Status Signa Command/Response Method (Refer to Data Output after Measurements (Refer to

↓

Setting Procedures for Communications (Refer to Setting Procedures for Communications (p.35))

This section describes the procedures that are required to set up between the Sensor Controller and an external device.

↓

Differences in Specifications Based on the Commu

This section explains the types and differences of communication pr Sensor Controller.

nications Protocol

ls (Refer to Control with Control Signals and Status Signals (p.22))

Command/Response Method (p.25))

Data Output after Measurements (p.26))

communications before starting communications

(Refer to

Communications Protocols and Communications Modules (p.36))

otocols that are used for communication with the

Introduction

Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Page 15

Confirming the System Configuration

Sensor Controller

External device (e.g, PLC)

Parallel Parallel I/O cable

Ethernet cablePLC Link RS-232C cable

EtherNet/IP Ethernet cable

Ethernet cable

Ethernet cableNon-procedure RS-232C cable

Camera

Communications protocol

Communications cable

EtherCAT (FH-1000 series/ FH-3000 series only)

An LCD monitor (BOX type only) for operation and monitoring and a camera are connected to the Sensor Controller unit. For details, refer to the

Vision System FH/FZ5

Series User's Manual (Cat. No. Z365) and the Instruction Manual that is provided with each

individual device.

The Sensor Controller is connected to an external device (PLC, etc.) by a communication cable, and communication can be performed using various communication protocols. Refer to Methods for Connecting and Communicating with External Devices (p.43) for information on the different communications protocols.

The FH/FZ5 are Vision Systems that perform measurement processing through a Sensor Controller on measurement objects that are imaged by a Camera.

puter,

In a system configuration that is connected to a PLC, com commands can be received from and measurement results can be output to the external device.

System Configuration

An overview of the FH/FZ5 series system configuration is given below.

or other external device, measurement

Overview

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Confirming the System Configuration

Page 16

Communicating with an External Device

Trigger sensor

PLC

External device

PLC

The measurement results are output.

• Status signals

• Overall judgement

• Measured values

• Character output

Sensor Controller

Measurement triggers and other control commands are input.

This section gives the communications specifications, describes the control methods that you can use for communications, and describes the settings that are required before starting communications with an external device.

Basic Control Operations of the Sensor Controller

The following figure shows basic communications between an external device and the Sensor Controller and the flow of signals and data.

The following methods can be used to exchange data between

Commands That Can Be Input to the Sensor Contro

Typ e Description

Control sig (input signals)

Control commands

Communications comma

nals

nd input

Data Output to an External Device from th

Typ e Description

Status signals

Overall judgement

Measured values

A measurement is executed when a measurement trigger (i.e., an ON ST For information on control signals, refer to Control with Control Signals and Status Signals (p.22).

ou can send commands to perform measurements

Y tasks. The communications commands depend on the communications protocol that you use. Refer to the section for each communications protocol for details.

e Sensor Controller

When the Sensor Controller confirms a control begins measurement processing, the status of the Sensor is reported to the external device through status signals (e.g., a BUSY signal). For information on status signals, refer to Control with Control Signals and Status Signals (p.22).

NG is output whenever there is one or more NGs i processing items. The overall judgement can be output through the OR signal or through the TJG output parameter.

*1: This behavior can be changed in the settings.

For information on the OR signal, refer to Control with Control Signals and Status Signals (p.22). For information on the TJG output parameter.

The measured values from processing items can be output. The output items must be processing items for output and registered as output data (data 0 to data 7). Refer to Settings Required for Data Output (p.29) for details. You can also use commands to obtain results after a measurement is performed.

ller from an External Device

an external device and the Sensor Controller.

EP signal) is input.

, change scene groups, or perform other

nal or communications command input and

sig

the judgement results for multiple

Communicating with an External Device

Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Page 17

Typ e Description

Note

Character output (PLC Link or non-procedure communications only)

You can also use the FTP server to obtain logged image files and logged data files saved in the FH/FZ5 (or in external memory) from a web

browser or FTP client.

You can output character strings and numbers that are read by proce Character Inspection, Barcode, or 2DCode. Refer to Items that Can Be Output as Output Data (p.28) for details. You can also use commands to obtain results after a measurement is performed.

ssing items such as

Overview

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Communicating with an External Device

Page 18

Communication between the Sensor Controller and an External Device

PLC or other external device

Camera Input

Output Unit

Measurement

flow

Sensor Controller

Communications

Module

Communications processing

Example: Starting a measurement, etc.

Response

Data output request (DSA signal)*1

Result Completion signal (GATE signal)*1

(1) Command

Communications processing

(2) The data at this

point is output to the Communications Module.

An Output Unit processing item is required to perform data output. (Multiple Output Unit items can be used.)

(3) Data

output

*1: When output control is set to [Handshaking]

(data output is controlled by the DSA and GATE signals). Refer to Control with Control Signals and Status Signals (p.22).

IMPORTANT

Communication between the Sensor Controller and external device takes place as shown below. The following figure shows the flow when a communications command is used to start a measurement and then output d

ata.

*2: If handshaking is used for output control, the measurement data will remain in the Communications Module in a standby state

Communicating with an External Device

(1) When the Sensor Controller receives a command from a PLC or

other external device, it executes the

command and returns a response.

(2) The data obtained after the measurement is performed is

output via the Communications Module by

the Output Unit (an abbreviation for Results Output Unit) processing item in the measurement flow.

(3) The measurement data is output when the Output Unit is executed, n

actually finished.(*2)

until a data output request (DSA signal) is received from an external device. Refer to Data Output Control with Handshaking (p.32).

To output data, you must place an Output Unit processing item in the measurement flow. You can place multiple Output Unit processing ite Data Output (p.29).

ms in the measurement flow. Refer to Settings Required for

Vision System FH/FZ5 Series User’s Manual

ot when the measurement is

for Communications Settings (Z342)

Page 19

Control Methods for the Sensor Controller

There are three methods that you can use to control the Sensor Controller from a PLC or other external device. They are described in this section. For details on each control method, refer to their corresponding section.

Control Methods

Method Overview Trigger type or area Signals or area used

n is controlled by the

trol commands. The

ON/OFF status of the control sig

nals and status signals

The control command code is stored in the I/ PLC and then the Request Bit is turned ON.

O m

emory of the

Control signals and status signals

PLC I/O memory (Com Area

and Response Area)

mand

Control signals and status signals

Control with commands and responses

Operatio ON/OFF status of the Measurement Trigger Signal (STEP) and Command Request Bit (EXE).

Control is performed by sending con execution results of the command can be confirmed in the response from the Sensor Controller.

Overview

Data output after me

asurement

After a measurement is pe

med, the previously

rfor specified measurement data is output automatically.

Not required. (Output is p

rmed automatically after

erfo

measurement.)

PLC I/O memory (Data Output Area)

1 Control with Control Signals and Status Signals (Refer to Control with Control Signals and

Status Signals (p.22))

Control and status confirmation for the Sensor Controller is performed with the ON/OFF status of the control and status signals.

s m

This method is best suited for basic operations such a status of the Sensor Controller.

Trigger sensor

External device

Control signal

Status signal

Sensor Controller

easurement triggers or to check the operating

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Communicating with an External Device

Page 20

2 Command/Response Method (Refer to Command/Response Method (p.25))

External device

I/O memory

Sensor Controller

Command Area Response Area

(1) Command

(3) Response

Output Area

(2) Command execution

Control is performed by storing the control command and the response to that command in the I/O memory of a PLC.

ands

This method is best suited to send multiple comm

to the Sensor Controller without using PLC

communications instructions.

3 Data Output after Measurements (Refer to Data Output after Measurements (p.26))

After a measurement is executed, the measurement data specified for output is automatically output to the specified words in the I/O memory of the PLC. This allows you to output measurement results from the Sensor Controller to the PLC automatically

ut h

witho

External device

aving to send data requests from the PLC.

Sensor Controller

I/O memory

Command Area

Response Area

Output Area

(2) Measurement data

(1) Measurement processing

Communicating with an External Device

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Page 21

Communication Protocols for Communication with the Sensor Controller

PLC

Computer

EtherNet/IP

EtherCAT

Non-procedure

Parallel

PLC Link

Sensor Controller

Control can be performed through different communications protocols.

The Sensor Controller can be controlled from a PLC, computer, or other external device using a variety of communication protocols.

The communication protocols that can be described below.

Applicable Communications Protocols

The communication protocols of each communication method that can be used with the Sensor Controller are as follows:

OK: Supported, ---: Not supported.

Communi-

cations

method

Communi-

cations

protocol

ed to control the Sensor Controller from an external device are

Communications cable type

Overview

Parallel

I/O

Ethernet

RS-232C/

422

Overview

Contact inputs

Data sharing

Parallel

PLC Link

EtherNet/IP

EtherCAT (FH-1

000 series/FH3000 series only)

Data is exchanged between an external device and the Sensor Control signals from multiple physical contacts.

Thi

s is OMRON’s communications protocol for Vision System. The control sig area to store measurement data are assigned in the I/O memory of the PLC, and data is exchanged cyclically to share data between the PLC and the Vision System.

This is an open communications protocol. Tag data links are used for communication with the Sensor Con On the PLC, structure varia correspond to the control signals, command/response data, and measurement data. These variables are then used as tags to input and output data through tag data links to exchange data between the PLC and the Sensor Controller.

This is an open communications protocol. PDO (process data object) communications are used to co

mmun I/O ports that correspond to the control signals, co

mmand/respon prepared in advance, and the variables assigned to those I/O ports are used to input and output data via PDO communications to exchange data between the PLC and the Sensor Controller.

ler through combinations of ON/OFF

nals, Command Are

ler.

trol

icate with the Sensor Controller.

se data, and measurement data are

a/Respo

bles are created

nse Area, and

that

OK --- ---

--- OK OK

--- OK ---

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Communicating with an External Device

Page 22

OK: Supported, ---: Not supported.

Communi-

cations method

Frame transmission

Communi-

cations

protocol

Nonproce

dure

Overview

Command frames are sent to the Sensor Con response

frames are received from the Sensor Controller

troller and

without the use of any specific protocol. Data can be exchanged between the PLC, computer, or other exte

rnal device and the Sensor Controller by

Communications cable type

Parallel

I/O

Ethernet

RS-232C/

422

--- OK OK

sending and receiving ASCII or binary format data.

*1: When connected to a CJ-series PLC, specify the areas in the I/O memory.

*2: FH-1000, FH-3000, and FH-L series are able to connect via only RS-232C.

Saving Sensor Controller Data to an External Device

In addition to sending and receiving data via a communication protocol, you can also save Sensor Controller data to an external device using the methods described below. For details, refer to the V

ision System FH/FZ5 Series User's Manual (Cat. No. Z365).

Connecting the FH/FZ5 as an External Drive

In addition to the Sensor Controller's built-in RAM disk, you can directly save various types of data such as scene data, scene group data, logged data, and logged images to the external media below.

• External Memory (Refer to Using External Memory Devices in the Vision System FH/FZ5 Series User's Manual

(Cat. No. Z365).) Data can be saved directly to a

• Network Drive (Refer to Shared folder on a computer connected User's Manual (Cat.

No. Z365).)

You can save data directly to a shared folder on

B memory stick or SD Memory Card inserted into the slot on the Sensor Controller.

to the network in the Vision System FH/FZ5 Series

a computer connected via Ethernet.

Computer Sensor Controller

Ethernet

Saved directly.

Shared computer folder (the shared folder settings must be set on the computer)

• Logged images

• Logged data

The Sensor Controller is set up to save to the shared folder on the computer.

• Data Transfer (FTP Server) (Refer to Saving Data to an External Device in the Vision System FH/FZ5 Series User's Manual (Cat. No. Z365).

You can move logged image files and other data saved in the Sensor Controller's RAM

)

disk or a USB memory stick to

a computer via Ethernet. The computer must provide FTP client

to access the

FH/FZ5.

The computer cannot be accessed directly from the Sensor Controller.

Browser (FTP client)

Computer

Ethernet

Access via FTP

Images files moved to the computer.

Sensor Controller (FTP server)

RAM disk

Image files

This enables you to move logged images off of the Sensor Controller’s RAM disk before it becomes full.

Communicating with an External Device

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Page 23

• Remote Operation over a Network (Refer to Remotely Operating the Controller (Remote Operation) in the Vision

Sensor Controller

Ethernet

Computer (FH/FZ5 software)

Hub

Sensor Controller

Operate/monitor

System FH/FZ5 Series User's Manual (Cat. No If more than one Sensor Controller is connected via Ethernet, a compute Ethernet network can be used to operate and monitor all the Sensor Controllers at once.

. Z365).)

r (the FH/FZ5 Tool) connected to the same

Overview

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Communicating with an External Device

Page 24

Control Methods Using an External Device

Trigger sensor Sensor Controller

(1) Measurement trigger input (STEP signal: ON).

Control signal

(2) Command received.

(BUSY signal turned ON.)

(3) Judgement results are output.

(OR signal turned ON.)

Status signals

External device

This section describes the methods that you can use to control the Sensor Controller from a PLC or other external device.

Control with Control Signals and Status Signals

Control and status confirmation for the Sensor Controller is performed with the ON/OFF status of the control and status signals. Measurement triggers and other commands are input as control signals from the PLC. The operating status of the Sensor, judgement results, an

d other st

status signals sent from the Sensor Controller.

(1) The external device turns ON the STEP signal to input a measurement trigger.

atus information can be confirmed through

(2) When the Sensor Controller confirms that the STEP signal is ON, it outputs the BUSY signal to the

external de

(3) When the Sensor Controller finishes the measurement, it

vice and begins a measurement.

outputs the judgement results on the OR

signal.

Control Signals and Status Signals

The signals that the Sensor Controller can input and output as control signals and status signals are described in the following tables.

Input Signals (PLC to Sensor Controller)

Signal Signal name Function

EXE

Command Request

Trigger Measure Bit Turn ON this signal to execute measurements.

STEP Measure Bit Turn ON this signal to execute measurements.

DSA (Used only for handshaking output control.)

Result Set Request

Control Command Execution Si

gnal

ta Output Request Signal

rn ON this signal (from the PLC) to send a command to

Tu the FH/FZ5.

Use this signal (from the PLC) during handshaking to request from the F output results from the execution of the measurement flow.

H/FZ5 the external output of the data

ERCLR

Error Clear

XEXE

Flow Command Request

DI (DI0 to DI7) Command Input Signals

Control Methods Using an External Device

Error Clear Bit

Flow Command Request Bit

Turn ON this signal to clear the ERR signal from the Sensor Con

trol

ler.

Turn ON this signal to execute a command during execution of PLC Link, fieldbus, or parallel flow control.

These signals are used to input commands from a parallel in

terface.

Vision System FH/FZ5 Series User’s Manual

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Page 25

Signal Signal name Function

ENCTRIG

Encoder Trigger Input (Phase A, Phase B, or Phase

Output Signals (Sensor Controller to PLC)

Signal Signal name Function

BUSY Busy Signal

FLG

Command Completion

Control Command Completion Si

gnal

This is the encoder input signal. This signal is only used when you use an encoder trigger.

This signal tells when new commands and other external inputs

cannot be acknowledged during processing of other external inputs. Just because this signal is ON does not necessarily mean that a

command is being executed. To check whether a command is being executed, access the Command Completion (FLG) signal.

The FH/F command execution has been completed.

Z5 uses this signal to tell the user (PLC) that

Overview

GATE

Result Notification

READY

Trigger Ready

Overall Judgment

DO (DO0 to DO15) Data Output Signals

XFLG

Flow Command Completion

XBUSY

Flow Command Busy

XWAIT

Flow Command Wait

Data Output Completion Si

gnal

Camera Image Input Enabled Signal

Overall Judgement Output Signal

Flow Command Completion Bit

Measurement Command Busy Bit

Measurement Command Wait Bit

gnal tells the timing to load the output data to the

This si User (PLC). Data output is enabled when this signal is ON.

This signal indicates when the STEP (Measurement Trigger) signal or the Trigger signal can be input. When using the multi-input function, the succeeding STEP or Trigger signals are accepted only after this signal turns ON.

This si

gnal gives the results of the overall judgement.

These signals are used to output parallel data and parallel ju

dgement

This signal tells when execution of a command that was executed during execution of PLC Link or fieldbus flow control has been completed.

This signal tells when a command that was input during execu executed.

This signal tells when input of a command can be acknowledged du flow control.

s through a parallel interface.

tion of PLC Link or fieldbus flow control is being

ring execution of PLC Link or fieldbus

Trigger ACK

Command Ready

ERR

Error Status

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Trigger Signal Acknowledged Bit

Command Execution Ready Bit

Error Signal

The FH/FZ5 uses this signal to acknowledge reception of a T

rigger signal.

This signal tells when control command can be executed.

The FH/FZ5 provides notification with this signal when it de

tects the following errors.

Refer to Erro

ision System FH/FZ5 Series User's Manual (Cat.

Z365).

• Camera connection error

• Battery error

• Fan error

e ERR signal does not turn OFF even after the error is eliminated. The signal turns OFF only when the error status is cleared by a control command.

r Messages and Troubleshooting in the

No.

• System error

• Communications timeout

• STEP input during measureme

Control Methods Using an External Device

Page 26

RUN

Run Mode

Signal Signal name Function

This is a notification signal indicating the FH/FZ5 Sensor

Measurement Mode Signal

Controller is in Run mode (In a measurement capable state with [RUN signal output] checked in the Layout settings for the currently displayed line).

ACK Command Completion Flag

SHTOUT Exposure Completion Signal

STGOUT Strobe Trigger Output

*1: This signal is linked to the Output Unit processing items in the measurement flow.

It is not associated with the BUSY signal. It is not related to the parallel interface OR signal. Note that the operation is different when using PLC Link. See Communicating with PLC Link (p.162).

*2: This signal is always OFF during display of a through image.

If you use a Camera with Lighting Controller, the time required increase in comparison with not using a Camera with a Lighting Controller. For details, refer to Camera Image Input Items Reference Manual (C

*3: The OR signal is output only when the [Output] option is selected in the Adjustment Window.

at. No. Z341).

FH or Camera Image Input HDR in the Vision System FH/FZ5 Series Processing

This signal tells when execution of the DI command has be

en completed

This signal tells when Camera exposure has been completed.

This is the trigger signal for the strobe.

or the READY or Trigger Ready signal to turn OFF may

Control Methods Using an External Device

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Page 27

Command/Response Method

DI7 DI6 DI4 DI3 DI2 DI1 DI0

Execution

Command

Command information

DI5

(1) Command Area

(5) Response Area

(2) Command

(4) Response

PLC

CPU Unit

I/O memory

(communications areas)

• Switch Scene Number

• Single Measurement, etc.

OK, etc.

(3) Command is processed.

Sensor Controller

Note

Parallel

Commands are input to the Sensor Controller by turning the DI signals (DI0 through DI7) ON and OFF. There is no direct response to these commands. Confirm whether a command was received by checking the ACK signal. With an FZ5-series Controller, you can check the BUSY status signal instead of the ACK signal. The command code is input with signals DI0 through DI6, and the command is executed by turning ON DI7.

PLC Link, EtherNet/IP, or EtherCAT

Command/response control signals can be exchanged by storing control commands from the PLC to the Sensor Controller and responses from the Sensor Controller to the PLC in the I/O memory of the PLC. This enables you to send single measurement and scene switch requests to the Sensor Controller without any sequence control with communications commands from the PLC.

Memory Areas Used by the Command/Response Control Method

Command Area You write the control commands to execute for the Sensor Controller to this area.

Response Area

You read the results of executing the control commands that from this area.

were written to the Command Area

Overview

Flow of Communications between the PLC and the Sensor Controller

(1) The PLC (the user) writes a control command to a specified PLC I/O memory area (the Command

Area).

(2) The PLC (the user) then turns ON the EXE bit to send the control command to the Sensor Controller.

(3) The Sensor Controller executes the received control command.

(4) The Sensor Controller returns a response to the PLC after the control command is executed.

(5) The PLC (the user) stores the response in a specified PLC I/O

The available control commands depend on the communication Refer to the Command List (p.355).

Command-driven character string output is EtherCAT. To output character strings, send the commands using EtherNet/IP me Refer to the Communicating with the Sensor Controller with EtherNet/IP

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

mory area (the Response Area).

s protocol that is used.

not supported when using EtherNet/IP tag data link communication or

ssage communication.

Message Communications (p.264)

Control Methods Using an External Device

Page 28

Non-procedure Communications

Data

Output Area

• Specified data is automatically output.

• Output characters

(2) Data

CPU Unit

PLC

I/O memory

(communications areas)

Sensor Controller

Measurement

execution

(1)

Communications commands are sent to the Sensor Controller through sequence control in the PLC. An external device and the Sensor Controller communicate through non-procedure (normal) communications.

Data Output after Measurements

After a Single Measurement or Start Continuous Measurements command is executed, the Sensor Controller automatically outputs the data that corresponds to the measurements that have been specified as output items to the PLC. This allows you to easily pass measurement results data from the processing items to the PLC. You can also choose to output only when the PLC meets the conditions that are required to receive the data (i.e., when handshaking is turned ON). The output destination for data depends on the protocol th

at is used to

device and the Sensor Controller, as described below.

PLC Link, EtherNet/IP, or EtherCAT

The output data is automatically output to the following area that is specified PLC I/O memory.

Area of Memory Used for Data Output after Measurement

communicate between the external

Data Output Area

The output data for the measurement is written to this are of the measurement.

a by the Sensor Controller after execution

Flow of Communications between the PLC and the Sensor Controller

The data to output after measurement and the PLC I/O memory area (Data Output Area) to store that data are specified in advance. (Reference: Settings Required for Data Output (p.29).) (1) Measurement is executed.

emen

(2) After a measurement is executed, the specified measur

t data is stored in the Data Output Area

in the PLC.

Parallel

The output data is output to the PLC signal wires via the DO signals (DO0 to DO15).

Non-procedure Communications

The output data is output to the PLC reception buffer through non-procedure (normal) communications.

Control Methods Using an External Device

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Page 29

Outputting the Output Data

Search measurement

results output.

Processing

order

Measurement started.

0.Camera Image Input

1.Search

2.Data Output

Communications

Module

Measurement flow

Sensor Controller

Measurement executed.

Processing started

(BUSY).

Single Measurement command

The results for measurements for

1. Search are output.

Processing

order

Measurement started.

0.Camera Image Input

1.Character Inspection

Communications

Module

Measurement flow

Sensor Controller

Measurement processed.

Processing started

(BUSY).

Single Measurement command

Characters are output at the same time that the characters are read.

Read charac-

ters are output.

Note

The measurement data is output to the external device via the Communications Module by the Data Output processing unit located in the measurement flow.

t Un

Therefore, to output measurement data, you must place an Outpu The measurement data is output when the Output Unit is execute finished.

it processing unit in the measurement flow.

d, not when the measurement is actually

Overview

You can output character strings that were read by processing items that read characters, such as Character Inspection, Barc Character strings are output simultaneously

Command-driven character string output is not supported when using EtherNet/IP tag data link communication or EtherCAT. To output character strings, send the commands using EtherNet/IP me Refer to the Communicating with the Sensor Controller with EtherNet/IP Message Communications (p.264)

ode, or 2DCode. (You must use PLC Link communications to do this.)

when

the processing item is executed.

ssage communication.

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Control Methods Using an External Device

Page 30

Items that Can Be Output as Output Data

Note

Measurement Data

You can output up to eight items (32 bytes) with one Output Unit processing unit.

• If you need to output nine or more data items, set more than one Output

flow. Refer to Outputting Multiple Measurement Data Items (p.30).

• The number of data items that can be output by setting when using PLC Link or EtherCAT communications, as described below.

• PLC Link: 256 max. (1,024 bytes max.)

• EtherCAT: 64 max. (256 bytes max.)

one Output Unit processing unit can be increased by changing a

Unit processing unit in the measurement

The following items can be output:

• Judgement result

• Measured parameters (correlation values, reference coordinates, etc.)

• Results calculated based on the values of the measured parameters

• Judgement results from expression results (Parallel Judgement Output)

Character Output (PLC Link Communications or Non-procedure Communications Only)

You can output the characters that were read by processing items such as Character Inspection.

• Character output is supported only for PLC Link communications or non-procedure communications.

• Maximum number of output chara

• Character Inspection: 32 characters

• Barcode:1024 characters

• 2DCode: 652 characters

• OCR: 128 characters (32 characters × 4 lin

• T

he Read string is output as NULL(/0).

cters are as follows.

es)

The processing items that support character output are listed below. Refer to the descriptions for each processing item for d

• Character Inspection (Refer to Character Inspection in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat. No

• Barcode (Refer to Barcode in the V Z341).)

• 2DCode (Refer to 2 Z341).)

• OCR (Refer to OCR in the Vision System FH/FZ5 Series Processin

Command-driven character string output EtherCAT. To output character strings, send the commands using EtherNet/IP me Refer to the Communicating with the Sensor Controller with EtherNet/IP

. Z341).)

DCode in the V

is not supported when using EtherNet/IP tag data link communication or

ision System FH/FZ5 Series Processing Items Reference Manual (Cat. No.

etails on the character output format.

g Items Referen

ssage communication.

Message Communications (p.264)

ce Manual (Cat. No. Z341).)

Control Methods Using an External Device

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Page 31

Settings Required for Data Output

Use the following procedure to set up Output Unit processing units for data output.

Measurement Data

1 Place the output data in the processing flow.

Place the processing unit for data output in the measurement flow.

Processing Units That Serve as Output Units

The processing items under [Output result] in the processing item tree in the Flow Editor serve as Output Units.

Output Unit Selection

Select the Output Units according to the communications protocol based on the combinations that are shown in the following table. For information on communications protocols, refer to Communication Protocols for Communication with the Sensor Controller (p.19).

OK: Data can be output, ---: Data cannot be output.

Overview

Communications protocol

Output unit

Parallel Data Output OK --- --- --- ---

Parallel Judgement Output OK --- --- --- ---

Data Output --- OK --- --- OK

Fieldbus Data Output --- --- OK OK ---

Parallel PLC Link EtherNet/IP EtherCAT

2 Set the items to output.

Set the items to output as output data in the Output Units that you have placed in the measurement flow. Refer to the descriptions for the communications protocol for items in the Output Units.

Character Output (PLC Link Non-procedure Communications Only)

Set the character output settings for processing items that read output characters, such as Character Inspection. The character output operation is set an Output Unit in the measurement flow. Refer to the descriptions for individua output.

• Character Inspection (Refer to Character Inspection in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat. No

• Barcode (Refer to Barcode in the V Z341).)

• 2DCode (Refer to 2 Z341).)

DCode in the V

executed by th

l proc

. Z341).)

ision System FH/FZ5 Series Processing Items Reference Manual (Cat. No.

e above processing items. In this case, it is not necessary to

essing items for details on the settings required for character

the specific procedures to set the output

Non-

procedure

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Control Methods Using an External Device

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• OCR (Refer to OCR in the Vision System FH/FZ5 Series Processing Items Reference Manual (Cat.

Note

Processing

order

Measurement started.

Search measurement

results output.

0.Camera Image Input

1.Search

4.Data Output

Communications

Module

Measurement flow

Sensor Controller PLC

Command

Area

I/O memory

Response

Area

Output Area

2.Data Output

3.Position Compensation

The data that is output first is overwritten by the second data output

Position compensa-

tion values output.

No. Z341).)

Command-driven character string output is not supported when using EtherNet/IP tag data link communication or EtherCAT. To output character strings, send the commands using EtherNet/IP message communication. Refer to the Communicating with the Sensor Controller with EtherNet/IP

Message Communications (p.264)

Outputting Multiple Measurement Data Items

Using Multiple Output Units for Data Output

You can register more than one Output Unit in the measurement flow. If you want to output different types of data during measure more than nine different data items, you must register multiple Output Units in the measurement flow.

ment flow processing, or if you want to output

Data output is executed for each Output Unit set in the measureme data is the same PLC I/O memory area (the Data Output Area). In this case, the output data that is

output first will be overwritten by

one of the following methods if you want to save all the output data.

nt flow, but the output destination for that

any output data written afterwards. Use

Offsets (PLC Link Communications Only)

When you use multiple Output Units to output data, you can offset the write destination of the output data for each Output Unit. Set the [Offset] for the Data Outpu Registration) (p.232).

Control Methods Using an External Device

t pr

ocessing item. Refer to Output Data Settings (Processing Item

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Controlling Data Output with Handshaking

Note

16 bits

Parallel data output

PLC

0. Measurement data 0

7. Measurement data 7

Reception buffer

Data output order

Measurement data 7

Measurement data 0

GATE signal

DO0 to DO15 signals

OFF

If handshaking is used to control data output, the timing of outputting the data is controlled by I/O signals. Each time that data is output, read the output data and move it to a dif

ferent part of I/O memory in the PLC. Refer to Data Output Control with Handshaking (p.32).

For ASCII data output through non-procedure communications, you can append a record separator after each output data item. (The default is the delimiter.)

The following two types of output units can be used via parallel communications:

Output unit Output data

Parallel Data Output The measurement data is output. A maximum of eigh

The judgement results are output. A maximum of items can be output. The following two types of judgement results can be

Parallel Judgement Output

output:

• Judgement results for specified processing items

• Judgement results of set judgement conditions for the specified item values

t items can be output.

judgement result

Overview

Parallel Data Output Units and Parallel Judgment Output Units are output in the order they are processed in the measurement flow.

Outputting Multiple Items with Parallel Data Output

The items that are set for output data numbers 0 through 7 via parallel data output are output to the PLC reception buffer in ascending order, one data item at a time (16-bit units). Each time a data item is output, the GATE signal turns ON.*1

tput to the PLC reception buffer (data 0) is overwritten by the

When this occurs, the first data item that wa next output data item (data 1). Therefore, the data output to the PLC reception buffer signal turns ON for each data item.

*1: The operation of the DSA signal depends on whether handshaking for output control is enabled. Reference: Data Output

Control with Handshaking (p.32).

s ou

ust be saved to PLC memory each time the GATE

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Control Methods Using an External Device

Page 34

Data Output Control with Handshaking

External device

(1) DSA signal

(3) Measurement results output

(2) GATE signal

Sensor Controller

The timing for data output can be controlled through the DSA and GATE signals. This is useful when receiving output dat

a from multiple Output Units, because it enables you to control the timing

for transferring output data.

Requirements for Using Data Output Control with Handshaking

To use data output control, set the output control method to [Handshaking] in the communications protocol settings. For details, refer to Communications Specifications Settings for e

ach communications protocol. Parallel Communications: Refer to Communications Specifications Settings (p.303). PLC Link Communications: Refer to Communications Specifications Settin

gs (p.1

66). EtherNet/IP and EtherCAT Communications: Refer to Communications Specifications Settings (p.63 or p.222).

Handshaking

If the external device does not turn ON the DSA signal, the measurement data will not be output to the external device from the Sensor Controller. While the DSA signal is ON, the GATE signal turns ON when the measurement data is output from the

nsor Co

Se The external device receives the measurement data when the GATE signal turns ON.

ntroller.

Signals Used for Handshaking

Signal Name Description

DSA

GATE

*1: If handshaking is not enabled for output control, the GATE signal will also be turned ON when data is output from the Sensor

Controller. However, if handshaking is disabled for output control during PLC Link communications, the GATE signal is not even output.

Data Output Request Signal

Data Output Completion Signal

his signal is sent from the external device (PLC) to the Sensor

T Controller to request data output.

his signal is sent by the Sensor Control to tell the PLC when to receive the output data. This signal is sent only while the DSA signal is ON.

ler to the external device (PLC)

(1) The PLC turns ON the DSA signal and waits for the output data.

(2) The Sensor Controller turns ON the GATE signal when the DSA signal is ON

and it is ready to output

the measurement results(*1).

Control Methods Using an External Device

(3) The Sensor Controller turns ON the GATE signal and outputs the output data.

*1: This is when an Output Unit in the measurement flow is executed.

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Page 35

DSA Signal ON Timing

Start measurement.

OFF

Processing items related to results output

Processing item

DSA (data output request) signal status

Measurement flow

No data output.

Data output started.

DSA (data output request) signal status

Measurement flow

Data output started.

Start measurement.

Processing items related to results output

Processing completed.

OFF

Output Unit 2 executed. Output Unit 1 executed.

Wait for the first output data.

Measurement trigger

(e.g., STEP signal)

Data Output Request (DSA) signal

Result Completion (GATE) signal

Output data (DATA 0 to 7)

Wait for the second output data.

OFF

(2) (3) (4) (5) (6) (1)

First output data

Second output data

Turn ON the DSA signal when you want to receive data. The Sensor Controller will output data when output, and it detects that the DSA signal is ON.

an Output Unit has been executed, there is data waiting to be

Overview

To output measurement results immediately, execute the m

easurement trigger and turn ON the DSA signal. The Sensor Controller does not monitor when the DSA signal changes from OFF to ON. It only chec ON state. Therefore, the measurement results will

be output from the Sens

or Controller to the external device

immediately after an Output Unit is executed and the output data must be received by the PLC at this time.

Receiving Multiple Continuous Output Data Items

When receiving multiple output data items from multiple Output Units, use the DSA and GATE signals to receive the items one at a time.

Example: PLC Link Communications with Hand

shaking

ks for the

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Control Methods Using an External Device

Page 36

1 When the first data is received, the user (PLC) turns ON the measurement trigger and

the DSA signal.

2 The Sensor Controller turns ON the GATE signal when the DSA signal is turned ON and

outputs the first data.

3 The user (PLC) turns OFF the DSA signal again when the GATE signal turns ON. Then,

the user (PLC) confirms the output data received in the PLC Data Output Area and moves the received data to another area in PLC I/O memory.

4 The Sensor Controller confirms that the DSA signal is OFF and automatically turns OFF

the GATE signal.

5 The user (PLC) then turns ON the DSA signal again after the output data is received and

the GATE signal is turned OFF, and waits for the second data.

6 When the second data is output, the second data output is received when the GATE

signal is turned ON and steps 3 and 5 above are repeated.

Steps 3 through 5 above are repeated for all subsequent data output items.

Control Methods Using an External Device

Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Page 37

Setting Procedures for Communications

Note

This section gives an overview of the setting procedure up to the point that the Sensor Controller starts communication with the PLC or other external device, and explains the communication modules used for communication.

For connection with a Touch Panel Monitor, refer to Settings for Touch Panel Monitor in the Vision System FH/FZ5 Series User’s Manual (Cat. No. Z

Communications Setup Procedures

To communicate with an external device, the settings below are configured.

1. Setting the Communications Module. (Sta

rtup settings)

↓

365).

· · · The communication method to be used is determined by selecting a communica Settings (Startup Settings) (p.62) for each communication protocol in

Methods for Connecting and Communicating with External Devices.

tion modul

e. For details, refer to Communications Module

Overview

2. Setting communications specifications. · · · The communications specifications are of the Communications Module that was selected in step 1. Set the communications area assignments for exchanging data with the external

Settings under Method Devices for each communications protocol.

*1: The settings (including communications settings) can be saved and loaded

↓

3. Setting output data.

*1: When performing control through data

sharing (data output after measurement).

↓

4. Testing communications. · · · If communications are not working properly, check the communications

· · · The data to output to the Data Output Area is registered

The result output is placed in the processing flow in the same way as for other processi

setup from Sensor Controller can be detected on the network. If that does not solve the problem, refer to

evice. For details, refer to Communication

s for Connecting and Communicating with External

as system data (.ini file extension) or system + scene group 0 data (.bkd file extension) files. Refer to Saving Settings Data to the Controller RAM Disk or an External

Memory Dev

No. Z365).

ice in

the Vision System FH/FZ5 Series User's Manual (Cat.

ng items.

step 2 and perform a communications test to determine if the

set for the communications method

s Specifications

in the Output Unit.

the troub

leshooting section.

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Setting Procedures for Communications

Page 38

Communications Protocols and Communications Modules

IMPORTANT

A Communications Module is used to communicate between the Sensor Controller and an external device. The appropriate Communications Module must be set for the

communications protocol that is used to

communicate between the Sensor Controller and the external device.

Communications Module Settings

The Communications Module to use for communications is selected in the startup settings.

1 On the Main Window, select [Tool] − [System Settings] to open the system settings. 2 Select [System setting]

−

[Startup] − [Startup setting] on the Multiview Explorer on the left and

then click the [Communication] tab.

For detailed setting procedures, refer to Communications Module Settings for each communications protocol.

After you select the Communications Module to use, save the settings to the Sensor Controller and restart the Sensor Controller. The selected Communications Module will be enabled after the Sensor Controller restarts. You can then set up the communi

cations.

Selecting a Communications Module

Select a Communications Module based on the communications protocol to use to communicate between the Sensor Controller and external device and the connected communications interface, as shown in the following table.

Communications

protocol

Parallel Parallel Standard Parallel I/O

Communications

interface

Communications Module

Serial (Ethernet)

PLC Link (SYSMAC CS/CJ/CP/One) (UDP)

Ethernet

PLC Link

RS-232C/422

EtherNet/IP EtherNet/IP

EtherCAT EtherCAT EtherCAT

Ethernet

Non-procedure

RS-232C/422

PLC Link (SYSMAC CS/CJ/CP/One) (TCP) PLC Link (MELSEC Q PLC Link (MELSEC QnU/ PLC Link (JEPMC MP)

Serial (RS-232C/422)

PLC Link (SYSMAC CS/CJ/CP/One) PLC Link (MELSEC QnU/Q/QnAS)

Fieldbus

EtherNet/IP

Serial (Ethernet)

Normal (UDP) Normal (TCP) Normal (TCP Client) Normal (UDP) (Fxxx series method)

Serial (RS-232C/422)

Normal Normal (Fxxx series method)

Q/QnAS) (UDP)

nU/

Q/QnAS) (TCP)

Setting Procedures for Communications

Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Page 39

Differences in Specifications Based on the Communications Protocol

IMPORTANT

This section explains the types and differences of communication protocols that are used for communication with the Sensor Controller.

List of Supported Signals by Communications Protocol

Some of the control signals and status signals that can be used depend on the communications protocol as shown below. The table below can be used to check which signals exist in ea

ch commu

arrangement.

one co

Note that this table does not show whether signals of

mmunication protocol can be used simultaneously

with signals of other communication protocols.

For restrictions on communication protocols that can be Using Different Communication Protocols Simultan

The control signals and status signals cannot be used for control in non-procedure communications.

eously (p.39).

sed simultaneously, refer to Restrictions when

nication protocol by means of a vertical

Overview

Input Signals (PLC to Sensor Controller)

OK: Can be used, ---: Cannot be used.

Signal Signal name

EXE

Command Request --- --- --- OK

Trigger Measure Bit --- --- --- OK

STEP Measure Bit OK --- OK ---

DSA (Used only for handshaking output control.)

Result Set Request --- --- --- OK

ERCLR

Error Clear --- --- --- OK

XEXE

Flow Command Request --- --- --- OK

DI (DI0 to DI7) Command Input Signals OK --- --- ---

ENCTRIG

Control Command Execution Signal

a Output Request Signal

Dat

Error Clear Bit

Flow Command Request Bit

Encoder Trigger Input (Phase A, Phas

e B, or Phase

Signals for each communications protocol

Parallel PLC Link EtherNet/IP EtherCAT

--- OK OK ---

OK OK OK ---

--- --- OK ---

--- OK OK ---

OK --- --- ---

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Differences in Specifications Based on the Communications Protocol

Page 40

Output Signals (Sensor Controller to PLC)

OK: Can be used, ---: Cannot be used.

Signal Signal name

Signals for each communications protocol

Parallel PLC Link EtherNet/IP EtherCAT

BUSY Busy Signal OK*

FLG

--- OK OK ---

OK*

Control Command Completion Signal

Command Completion --- --- --- OK

GATE

OK OK

OK ---

Data Output Completion Signal

Result Notification --- --- --- OK

READY

OK --- --- ---

Camera Image Input Enabled Signal

Trigger Ready --- --- --- OK

OK ---*

OK ---

Overall Judgement Output Signal

Overall Judgment --- --- --- OK

One-shot OR *

One-shot Overall Judgement Result Signal

OK --- --- ---

DO (DO0 to DO15) Data Output Signals OK --- --- ---

XFLG

--- OK OK ---

Flow Command Completion Bit

Flow Command Completion --- --- --- OK

XBUSY

--- OK OK ---

Measurement Command Busy Bit

Flow Command Busy --- --- --- OK

XWAIT

--- OK OK ---

Measurement Command Wait Bit

Flow Command Wait --- --- --- OK

Trigger ACK Trigger Signal Acknowledged Bit --- --- --- OK

Command Ready Command Execution Ready Bit --- --- --- OK

ERR

OK --- OK ---

Error Signal

Error Status --- --- --- OK

RUN

OK --- OK ---

Measurement Mode Signal

Run Mode ---

--- --- OK

ACK Command Completion Flag OK --- --- ---

SHTOUT Exposure Completion Signal OK --- --- OK

STGOUT Strobe Trigger Output OK --- --- ---

*1: The execution of commands or other processing received through any other protocol cannot be detected.

The parallel BUSY signal can be used in all protocols. If you use more than one protocol and need to detect command execution, use the parallel communications BUSY signal.

*2: Data is not output when there is no handshaking for the PLC Link protocol.

*3: The OR signal cannot be used with PLC Link communications.

*4: The One-shot OR signal can be used only with parallel communications.

Differences in Specifications Based on the Communications Protocol38Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Page 41

Restrictions when Using Different Communication Protocols Simultaneously

IMPORTANT

Different communication protocols can be used together on the FH/FZ5. Restrictions when using different protocols together are as follows:

• The Parallel Communications Module can be used with any other Communications Modules.

• For all Communication Modules other than the Parallel Communications Modu

combinations apply. Ethernet and RS-232C/422 cannot be used at the same time as EtherNet/IP or EtherCAT cannot be used at the same All combinations of Communications Modules other than those listed ab

time as PLC Link for Vision Systems.

Link for Vision Systems.

PLC

le, the following restrictions on

ove are compatible.

Overview

If control signals or commands are input simultaneously to the Sensor Controll they may not be received correctly. Check the status signals for each Communications Module and input control signals and commands at different times for each.

er from different Communications Modules,

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Differences in Specifications Based on the Communications Protocol

Page 42

Models That Are Compatible with the Communications Protocols

This section lists the external devices that can communicate with the FH/FZ5 for each communications protocol.

PLC Link and Non-procedure Communications

•Ethernet

OMRON

{: Can connect U: Only some models can connect ¯: Cannot connect

Interface

Series CPU Unit

SYSMAC_CJ2 CJ2H or CJ2M U(Built-in port only.) CJ1W-EIP21 (PLC Link only) or CJ1W-ETN21

Direct connection with CPU unit (built-in port)

Connection via Ethernet unit

SYSMAC_CJ1

SYSMAC_CS

SYSMAC_CP1

SYSMAC_One NSJ ¯ NSJW-ETN21

CJ1H or CJ1G ¯ CJ1W-EIP21 (PLC Link only) or CJ1W-ETN21

CJ1M U(Built-in port only.) CJ1W-EIP21 (PLC Link only) or CJ1W-ETN21

CS1H, CS1D, or CS1G

CP1L U(Built-in port only.) ---

CP1H ¯ CJ1W-EIP21 (PLC Link only) or CJ1W-ETN21

¯ CS1W-EIP21 (PLC Link only) or CS1W-ETN21

Mitsubishi Electric

{: Can connect U: Only some models can connect ¯

Series Model name CPU Unit CPU name

QnUDECPU

Universal

MELSEC-QnU

MELSEC-Q Series

models

Basic models QnCPU Q00JCPU, Q00CPU, or Q01CPU ¯

Highperformance models

QnUDCPU

QnUCPU

QCPU

: Cannot connect

Q03UDECPU, Q04 Q06UDEHCPU, Q10UDEHCPU, Q1

3UDEHCPU, Q20UDEHCPU,

or Q26UDEHCPU

Q03UDCPU, Q04UDHCPU, Q0

6UDHCPU, Q13UDHCPU, Q20UDHCPU, or Q26UDHCPU

Q00UJCPU, Q00UCPU, Q0

1UCPU, or Q02U

2CPU, Q02HCPU,

Q0 Q06HCPU, Q12HCPU, or Q25HCPU

UDEHCPU,

Q10UDHCPU,

CPU,

Interface

Direct

connection

with CPU unit

(built-in port)

{

Connection via

Ethernet unit

QJ71E71-100 QJ71E71-B2 QJ71E71-B5

MELSEC-QnAS Series

Differences in Specifications Based on the Communications Protocol40Vision System FH/FZ5 Series User’s Manual

--- ---

Q2ASCPU, Q2ASCPU-S1, Q2

ASHCPU, or Q2

ASHCPU-S1

for Communications Settings (Z342)

Page 43

• RS-232C/422

OMRON

{: Can connect U: Only some models can connect ¯: Cannot connect

Series CPU Unit

CJ2H { CJ1W-SCU21-V1, CJ1W-SCU31-V1, CJ1W-

SYSMAC_CJ2

CJ2M U (Built-in port only.)

SYSMAC_CJ1 CJ1H, CJ1G, or CJ1M {

Direct connection with CPU unit (built-in port)

Interface

Connection via serial communication unit

1- V1

SCU4 CJ1W-SCU42

CJ1W-SCU21-V1, CJ1W-SCU31-V1, CJ1WSCU41-V1, CJ1W CJ1W-SCU42

, CJ1W-SCU22, CJ1W-SCU32, or

-SCU22, CJ1W-SCU32, or

Overview

SYSMAC_CS

SYSMAC_CP1 CP1E, CP1L, or CP1H ¯ CP1W-CIF01

SYSMAC_One NSJ { ---

SYSMAC_NJ NJ501 or NJ301 --- CJ1W-SCU22, CJ1W-SCU32, or CJ1W-SCU42

CS1H, CS1D, or CS1

{

CS1W-SCB-V1, CS1 CS1W-SCU31-V1

W-SCU21-V1, or

Mitsubishi Electric

{: Can connect U: Only some models can connect ¯: Cannot connect

Interface

Series Model name CPU name CPU Unit

Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU, Q10UDEHCPU, Q1

3UDEHCPU, Q20UDEHCPU, or Q26UDEHCPU

Q03UDCPU, Q04 Q06UDHCPU, Q13UDHCPU, Q20UDHCPU, or Q26UDHCPU

Q00UJCPU, Q00UCPU, Q0

1UCPU, or Q02U

2CPU, Q02HCPU, Q06HCPU, Q12HCPU, or Q25HCPU

MELSEC-QnU

MELSEC-Q Series

QnUDECPU

Universal model

Basic models QnCPU Q00JCPU, Q00CPU, or Q01CPU {

Highperformance models

QnUDCPU

QnUCPU

QCPU

UDHCPU,

Q10UDHCPU,

CPU

Direct

connection

with CPU unit

(built-in port)

{

Connection via

serial

communication

QJ71C24N or QJ

71C24N-R2

unit

MELSEC-QnAS Series

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

--- ---

A1SJ71QC24N1 Q2ASCPU, Q2ASCPU-S1, Q2

ASHCPU, or Q2

Differences in Specifications Based on the Communications Protocol

ASHCPU-S1

A1SJ71QC24N1

-R2

Page 44

• EtherNet/IP

{: Can connect U: Only some models can connect ¯: Cannot connect

Interface

Series CPU Unit

SYSMAC NJ NJ501 or NJ301 {

SYSMAC_CJ2 CJ2M or CJ2H U (Built-in port only.) CJ1W-EIP21

Direct connection with CPU unit (built-in port)

Connection via EtherNet/IP unit

CJ1W-EIP21 (Only version 2.1 supports Sysmac N versions 1.01 and later.)

J con

nection. This applies to NJ

SYSMAC_CJ1

SYSMAC_CS

CJ1H or CJ1G ¯ CJ1W-EIP21

CJ1M U (Built-in port only.) CJ1W-EIP21

CS1H, CS1D, or CS1G

•EtherCAT

{: Can connect U: Only some models can connect ¯

Series CPU Unit

SYSMAC NJ

NJ501 NJ301

Direct connection with CPU unit (built-in port)

¯ CS1W-EIP21

: Cannot connect

Interface

Connection via master unit

{ ---

Differences in Specifications Based on the Communications Protocol42Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Page 45

Methods for Connecting and Communicating with External Devices

This section describes the communications specifications, data I/O methods, communications settings, communications commands, and other details for each communications protocol used to communicate between the FH/FZ5 and external devices.

EtherCAT Connections (FH-1000 series/FH-3000 series

only) ..................................................................................... 44

Communicating with PLC Link....................................... 162

Communicating with EtherNet/IP................................... 213

Non-procedure Communications................................... 269

Parallel Communications................................................ 299

Methods for Connecting and Communicating with External Devices

Page 46

EtherCAT Connections (FH-1000 series/FH-3000 series only)

This section explains the communication settings required for communication by EtherCAT between the Sensor Controller and an external device, communication specifications, input/output formats, and the communication timing chart.

Introduction to EtherCAT

EtherCAT (Ethernet Control Automation Technology) is a high-performance industrial network system that enables faster and more efficient communications based on Ethernet.

y tra

Each node achieves a short communications cycle time b Although EtherCAT is a unique communications protocol, standard Eth layer, which means you can use Ethernet cables for wider application. And the effectiveness of EtherCAT can be fully utilized not only in large control systems that require high

ocessing speeds and

system integrity, but also in small and medium control systems.

How EtherCAT Works

In EtherCAT communication, Ethernet frames pass through all of the slave nodes. When a frame passes through a slave node, the slave node reads and writes the data in the area that is allocate The Ethernet frames that are transmitted by the EtherCA stopping. The last slave returns all of the frames, which again pass through all of the slaves before returning to the EtherCAT master. This mechanism ensures high speed and realtime data transmission.

d to it in the frame in a few nanoseconds.

nsmitting Ethernet frames at high speed.

ernet technology is used for the physical

master pass through all EtherCAT slaves without

EtherCAT master

Slave Data

OUT

Ethernet frames

Slave

• The slave reads output data addressed to it.

• The slave writes input data.

Slave

EtherCAT Connections (FH-1000 series/FH-3000 series only)

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Page 47

The data exchanges that are cyclically performed between the EtherCAT master and EtherCAT slaves use EtherCAT telegrams that are stored directly in the Ethernet frames. Each EtherCAT telegram consists of a telegram header (including the data length and one or more slave

dres

ses), data, and a working counter (i.e., check bits).

Ethernet frame

Ethernet

header

EtherCAT

header

1st EtherCAT

header

2nd EtherCAT

Data

Ethernet data (1,498 bytes max.)

1st to nth EtherCAT telegrams

WKC

WKC: Working counter

CRC

Methods for Connecting and Communicating with External Devices

EtherCAT frame

nth EtherCAT

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Page 48

Types of EtherCAT Communications

EtherCAT master

Slave

Ethernet frame

Slave Slave

Slave

Ethernet

header

Ether

CAT

header

1st EtherCAT

2nd EtherCAT

3rd EtherCAT

CRC

Logical process data

Data a

Data b

Data c

The following 2 types of communications are available with EtherCAT. PDO communications are executed in each EtherCAT commu

nications cycle to refresh data continuously. SDO

communications are executed between PDO communications.

Process Data Communications (PDO Communications)

The process data communication function (PDO communication) cyclically transfers process data in real-time. The EtherCAT master maps the logical process data space to the nodes to achieve cyclic communications between the EtherCAT master and slaves.

Mailbox Communications (SDO Communications)

The mailbox communication function (SDO communication) is used to perform message communication. Whenever necessary, the EtherCAT master sends a command to a slave, and then the slave returns a response to the Ether The mailbox communication function (SDO communication) has the following functions.

CAT master.

• Reading and writing process data

• Setting slaves

• Monitoring slave status

EtherCAT Connections (FH-1000 series/FH-3000 series only)

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Page 49

Structure of CAN Application Protocol over EtherCAT (CoE)

EtherCAT allows the use of multiple protocols for communication. The EtherCAT slave terminal uses "CAN application protocol over EtherCAT" (CoE) as the device profile for "CAN application protocol", which is an open network standard. CoE is a communication interface that is designed to provide compatibility with EtherCAT devices.

ctured

The following figure shows how the CoE is stru

FH Sensor Controller

for an FH-series Vision Sensor.

Application layer

Transitions of

communications

states

Registers Mailbox

SDO (mailbox)

EtherCAT data link layer

EtherCAT physical layer

The object dictionary for the CAN application prot SDOs (service data objects).

FH Unit application

Object dictionary

PDO mappings

PDO communications (cyclic)

Process data

FMMU SyncManager

ocol is broadly divided into PDOs (process data objects) and

Methods for Connecting and Communicating with External Devices

PDOs are contained in the object dictionary. The PDOs can be ma

pped in the object dictionary. The process data is defined by the PDO mappings. PDOs are used in PDO communications for periodic exchange of process data.

SDOs are the objects that can be read and written. SDOs are

used in non-periodic SDO communications (event-

driven message communications).

If you use the CoE interface to set the object dictionary

for PDOs and SDOs, you can provide EtherCAT devices

with the same device profiles as the CAN application protocol.

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Page 50

EtherCAT Slave Information Files (ESI Files)

ESI files

Network

configuration

information

EtherCAT master

Configuration Tool

EtherCAT Slave Terminal

EtherCAT slave

Communications are started according to the communications settings and the network configuration based on the ESI files that are installed.

The setting information for an EtherCAT slave is provided in an ESI file (EtherCAT slave information). The EtherCAT communications settings are defined based on the ESI files of the connected slaves and the network con

nection information.

You can create the network configuration information by installing ESI fil (configuration tool).

es into the network setup software

You can download the network configuration information to the EtherCAT master to configure the EtherCAT network.

aded

ESI files for the FH can be downlo

*1: If you are using Sysmac Studio, it is not necessary to install the ESI files in the network setup software (configuration tool). The

ESI files for OMRON EtherCAT slaves are already installed in the Sysmac Studio. You can update the Sysmac Studio to get the ESI files for the most recent models.

from the OMRON website.

EtherCAT Connections (FH-1000 series/FH-3000 series only)

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Page 51

Transitions of Communications States

Operational

The state transition model for communications control of the EtherCAT Slave Terminals is controlled by the EtherCAT master.

The following figure shows the communications state transitions from

Power supply ON

Init

Pre-Operational

Safe-Operational

The table below shows whether or not data objects can be sen

Status

SDO

communi

cations

Sending

PDOs

Receiving

PDOs

t and received in each communication state.

when the power supply is turned ON.

Methods for Connecting and Communicating with External Devices

Description

Init

Pre-Operational Possible.

Safe-Operational Possible. Possible.

Operational Possible. Possible. Possible.

Not possible

Not possible.

Communications are being initial not possible.

Only SDO communications (message communications) are p

ossible in this state. This state is entered after initialization is completed. It is u

d to initialize network settings.

In this state, both SDO communications (message communications) and sending PDOs are possible. Information, such as status, is sen

This is the normal state for communications. PDO communications are used to control the I/O data.

ized. Communica

from the Slave Terminal.

tions are

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Page 52

Process Data Objects (PDOs)

This section describes the process data objects (PDO) that are used in EtherCAT communication.

Introduction

Process data objects (PDOs) are used to transfer data during cyclic communications in realtime.

There are two types of process data objects (PDOs): the RxPDOs, which are used by the Ether

CAT Slave Terminal to receive data from the EtherCAT master; and the TxPDOs, which are used by the EtherCAT Slave Terminal to send data to the EtherCAT master.

RxPDO

Output data and motion commands to NX Units (Output Units)

EtherCAT

EtherCAT master

Example: Built-in

EtherCAT port on NJ-series CPU Unit

TxPDO

Status of EtherCAT Slave Terminals and input data from NX Units (Input Units)

The EtherCAT application layer can hold more than one object to en

Slave Terminal

able th

e transfer of various process data of the EtherCAT Slave Terminal. The contents of the process data is defined in the PDO mapping objects. EtherCAT Slave Terminals support PDO mapping for I/O control.

EtherCAT Connections (FH-1000 series/FH-3000 series only)

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Page 53

PDO Mappings

Object B

Object C

Object A

PDO_1

Object E

Object D

Object A

Object B

Object D

Index

02 hex

03 hex

01 hex

Sub

Index

UU hex

VV hex

TT hex

ZZ hex

YY hex

Object Contents

Mapping object

Object Dictionary

Application object

1ZZZ hex

6TTT hex

6UUU hex

6VVVHex

6YYY hex

6ZZZHex

6UUU

hex

6TTT

hex

6YYY

hex

PDO-Length : 32 Bit

2001 hex

01 hex

2001 hex 01 hex *

Index

Sub

Index

Object Contents

Sysmac error status

Object Dictionary

1BFF hex

*1. This is expressed as 0x 2001:01 on the Sysmac Studio.

Sysmac error status

512th transmit PDO mapping

PDO-Length : 8 Bit

Mapping

object

Application

object

PDO mapping objects contain the I/O data for the EtherCAT Slave Terminals. PDO mapping objects for the RxPDOs are managed in the object dictionary from indexes 1600 to 17FF hex, and for the TxPDOs from indexes 1A00 to 1BFF hex.

PDO Mapping Scheme in EtherCAT

The PDO mapping scheme in EtherCAT is described below. Three application objects (objects A, B, and D) are allocated to the PDO (n As described here, PDO mapping shows how application o

bjects are assigned to PDOs.

Indexes and subindexes are also assigned to application objects.

ame: PDO_1) at index 1ZZZ hex.

Methods for Connecting and Communicating with External Devices

PDO Mapping with EtherCAT Slave Terminals

An EtherCAT Slave Terminal has PDOs for the FH-series Vision Sensor and each NX Unit. Application objects are assigned by default to the PDOs fo

The following diagram shows a specific example for one

In the previous example, a single application object is assign transmit PDO mapping). This PDO is a TxPDO. The application object contains the Sysmac error status at index 2001 hex and subindex 01 hex.

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

r each Unit.

of the PDOs in an FH-series Vision Sensor.

ed to the PDO at index 1BFF hex (name: 512th

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Page 54

Assigning PDOs

PDO B

PDO C

PDO A

PDO E

PDO D

PDO A

PDO B

PDO D

Index

Sub

Index

Object Contents

Sync Manager PDO

assignment objects

Mapping objects

PDO G

PDO F

Sync Manager entity Z

1C13 hex

1A00 hex

1A01 hex

1A02 hex

1A03 hex

1A04 hex

1A05 hex

1A06 hex

1A00 hex

1A01 hex

1A03 hex

Scheme for Assigning PDOs to EtherCAT Slaves

You can assign more than one PDO to an EtherCAT slave. Here, PDOs are assigned to index 1C12 hex for th The following example shows how PDOs are assigned.

e RxPDO, and 1C13 hex for the TxPDO.

In this example, three PDOs (PDO A, PDO B, and PDO D)

Similarly, a PDO (for the RxPDO) is assigned to index 1C12 hex. These assignments determine the PDOs to use for communications between the EtherCAT master and slav

e assigned to index 1C13 hex (for the TxPDOs).

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Service Data Objects (SDOs)

This section describes the service data objects (SDO) that are used in EtherCAT communication.

Introduction

EtherCAT Slave Terminals support SDO communications. The EtherCAT master can read and write data from and to entries in the object dictionary with SDO communications to ma Refer to Object Dictionary Area (p.112) for the objects that you can use with SDO communications.

Abort Codes

The following table lists the abort codes for SDO communications errors.

Abort code value Meaning

05030000 hex Toggle bit not changed.

05040000 hex SDO protocol timeout.

05040001 hex Client/server command specifier not valid or unknown.

05040005 hex Out of memory.

06010000 hex Unsupported access to an object.

ke parameter settings and monitor status.

Methods for Connecting and Communicating with External Devices

06010001 hex Attempt to read a write-only object.

06010002 hex Attempt to write to a read-only object.

06020000 hex The object does not exist in the object directory.

06040041 hex The object cannot be mapped to the PDO.

06040042 hex Number/length of mapped objects exceeds PDO length.

06040043 hex General parameter incompatibility.

06040047 hex General internal incompatibility in the device.

06060000 hex Access failed due to a hardware error.

06070010 hex Data type does not match, length o

06070012 hex Data type does not match, service parameter is too long.

06070013 hex Data type does not match, service parameter is too short.

06090011 hex Missing subindex.

06090030 hex Value of parameter exceeded range (only for write

06090031 hex Value of parameter that was written is too high.

06090032 hex Value of parameter that was written is too low.

06090036 hex Maximum value is less than minimum value.

08000000 hex General error.

08000020 hex Data cannot be transferred or stored to the application.

f service p

arameter does not match.

access).

08000021 hex Data cannot be transferred or stored to the

08000022 hex Data cannot be transferred or stored to the application because of the present device state.

08000023 hex Failed to dynamically create the object dictio

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pplication because of local control.

nary,

or no object dictionary exists.

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Communications between an EtherCAT Master and Slaves

This section describes the communications modes between the master and slaves for EtherCAT communications, and the communications modes for EtherCAT Slave Terminals.

Communications Modes for Communications between an EtherCAT Master and Slaves

Free-Run Mode (Not supported on the FH)

In free run mode, the slave processes the I/O (refreshes the I/O data) asynchronously with respect to the communications cycle of the master.

DC Mode

In DC mode, the slave processes the I/O (i.e., refreshes the I/O data) in synchronization with the communications cycle of the master. A distributed clock (DC) system whereby the master and slave share the same clock is used to synchronize EtherCAT communications. Interruptions (Sync0) are generated in the slaves at precise intervals based on this clock. Each slave executes I/O processing at this precise timing.

Communications Modes for EtherCAT Slave Terminals

The FH-series Vision Sensors support DC Mode. They do not support Free-Run Mode.

Communications Cycle

The communications cycle is determined by the setting for it in the EtherCAT master.

Refer to the communications cycles that are supported by the built-in EtherCAT ports on NJ-series CPU Units.

NJ-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for the

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FH-series Vision Sensor Communications Method When Connected to EtherCAT

Note

You can use EtherCAT communications between an EtherCAT master and Vision Sensors to control the Vision Sensors from the master with commands and responses and to output the data that results from measurements. To connect an FH-series Vision Sensor to an NJ serie

s CPU un Edition) Version 1.09 or later. The Sysmac Studio is used to register the Vision Sensor Network Configuration] tab page. Refer to

Section 5 Controller Configurations and Setup in the Sysmac Studio Version 1 Operation Manual

(Cat. No. W504) for the registration procedure.

s in

it by EtherCAT, use Sysmac Studio (Standard

the EtherCAT slave configuration on the [Edit

IMPORTANT

When Sysmac Studio is used in a high load environment, such as input of measurement triggers at short intervals while connected online to an FH, there may be deviations in the measurement processing time.

Up to eight FH-series Vision Sensors can be connected to an NJ-series Controller by EtherCAT.

For EtherCAT communications, the I/O ports in the following six areas in the Controller are used for communications. The I/O ports in the Sysmac Error Status Area are used only when an NJ-series CPU Unit is connected as the master.

Command/ response method

Data output after measurements

Error status

User area

(1) I/O ports in the Command Area

(2) I/O ports in the Response Area

(3) I/O ports in the Data Output Area

(4) I/O ports for Sysmac Error Status Area

(5) I/O ports in the user input area

(6) I/O ports in the user output area

You write the control commands to execute for the Vision Sensor to these I/O ports.

The FH Sensor Controller writes the results of executing the control commands that were written to the Command Area to these I/O ports.

The FH Sensor Controller writes the measurement parameters, judgement results, and other measurement results to these I/O ports after measurements are executed.

The FH Sensor Controller writes the error status to these I/O ports. These I/O ports function only if the Sysmac Studio and Vision Tool are used together.

You write data that you defined for the FH Sensor Controller to these I/O ports.

The FH Sensor Controller writes data that you defined for the FH Sensor Controller to these I/O ports.

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Command/ response method

Controller (master)

I/O ports in the Command Area

You write the following control commands for the Vision Sensor.

• Control signals

• Command codes

• Command parameters

I/O ports in the Response Area

The Vision Sensor writes the execution results.

Commands

Responses

Vision Sensor (slave)

The Vision Sensor executes the control commands written to the I/O ports in the Command Area.

Execution

The Vision Sensor writes the execution results to the I/O ports in the Response Area in the Controller.

• Status signals

• Command codes

• Response codes

• Response data

28 bytes

24 bytes

Data output after measurements

Error status

User area

I/O ports in the Data Output Area

The Vision Sensor writes the output data.

I/O ports for Sysmac Error Status Area

The Vision Sensor writes the error status.

I/O ports in the user input area

You write data that you defined for the FH Sensor Controller to these I/O ports.

I/O ports in the user output area

Data that you defined for the FH Sensor Controller is written to these I/O ports from the FH Sensor Controller.

External

outputs

The Vision Sensor writes the values measured by processing item A.

Input

Output

• Measurement Flow

Execution of processing item A

Communications Module

Data is written to the Communications Module.

The Vision Sensor writes the error status to the I/O ports in the Sysmac Error Status Area.

• Sysmac error status

The FH Sensor Controller proceed with processing using the written data.

The FH Sensor Controller writes data that you defined for the FH Sensor Controller to these I/O ports.

Execution of processing item for the Output Unit.

Operation is performed by executing the measurement flow (32 to 256 bytes).

1 byte

32 byte

*1: You can use output controls (handshaking) to prevent output data from being externally output from the communications buffer

until the Controller (master) turns ON the Result Set Request signal to request the output data.

*2: Refer to Settings Required for Data Output (p.29) for information on the Output Units that output measurement data. *3: Use the Macro Customization Function to input and output to the User Area.

For the Macro Customization Function, refer to Ethe

rCAT communication of the IO Module List in th

Macro Customize Functions Programming Manual (Cat. N

o. Z367).

e Vision System FH/FZ5

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Communications in Multi-line Random-trigger Mode

Assigned for each line.

The same for all lines.....

When the operation mode is multi-line random trigger mode, an FH-series Vision Sensor can be used to control up to eight lines. When multi-line random trigger mode is used, the I/O ports (areas) for communication between the Vision

Senso

and master are assigned as shown below.

Command/response method

Data output after measurements

User area

Error status I/O ports for Sysmac Error Status Area

I/O ports in the Command Area

I/O ports in the Response Area

I/O ports in the Data Output Area

I/O ports in the User Input Area

I/O ports in the User Output Area

A Module (line) is assigned to each EtherCAT communications slot with the allocate independent PDO communications areas for each line.

Line 0

Line 1

PDO communications

Line 1 PDO communications

NJ-series Controlle

Methods for Connecting and Communicating with External Devices

Sysmac Studio Standard Edition to

Line 6

Line 7

Line 6 PDO communications

Line 7 PDO communications

You can specify the output data size for each line.

Allowable Output Data Sizes

The upper limit of the output data size will differ by number of lines in use and use of User area as shown below.

Number of lines Don't use User area Use User area

Line 1 Max 256 bytes Max 256 bytes

Line 2 Max 256 bytes Max 256 bytes

Line 3 Max 256 bytes Max 256 bytes

Line 4 Max 256 bytes Max 256 bytes

Line 5 Max 256 bytes Max 128 bytes

Line 6 Max 128 bytes Max 128 bytes

Line 7 Max 128 bytes Max 128 bytes

Line 8 Max 128 bytes Max 128 bytes

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Minimum PDO Communications Cycle Time

Do not set the communication cycle (PDO communication cycle time) for EtherCAT communication to a value lower than the applicable minimum time given in the following table. The minimum communication cycle (PDO communication cycle time) depends on the Data output byte size and the use of the User area differs with the Number of controlled lines, as shown below. When multi-line random trigger mode is used, the minimum communication cycle is the minimum value of the maximum byte size for each line.

If the Communication cycle (PDO Communication cycle time) is set lower than the minimum value below, an exception (AL status code: 0x0035) will occur and EtherCAT communications will be lost.

• Do not use the User area:

Number of controlled

lines

1 line 125 μs 250 μs

2 lines 250 μs

3 lines 250 μs 500 μs

4 lines 500 μs

5 lines 500 μs 1,000 μs

6 lines 500 μs 1,000 μs Not supported.

7 lines 500 μs 1,000 μs Not supported.

8 lines 1,000 μs Not supported.

• Use the User area

Number of controlled

lines

1 line 125 μs 250 μs

2 line 250 μs 500 μs

3 line 500 μs

4 line 500 μs 1,000 μs

5 line 500 μs 1,000 μs Not supported.

6 line 1,000 μs Not supported.

Data output byte size

32 bytes 64 bytes 128 bytes 256 bytes

Data output byte size

32 bytes 64 bytes 128 bytes 256 bytes

7 line 1,000 μs Not supported.

8 line 1,000 μs Not supported.

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Applicable Models

•OMRON

{: Can connect U: Only some models can connect ---: Cannot connect

Interface

Series CPU

NJ501

SYSMAC NJ/NX

NJ301 NJ101 NX701

Direct connection with CPU unit (built-in port)

{ ---

• Beckhoff

TwinCAT PC Edition, Industrial PCs, and Embedded PCs

*1: You must obtain an ESI file for the FH-series Vision Sensor from OMRON to use a Beckoff master.

Connection via master unit

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Communications Settings

The following settings are required to use EtherCAT communications.

1. Communications Module settings (startup settings)

↓

2. Communications specifications settings

↓

3. Output data settings (processing item registration)

↓

4. EtherCAT network configuration settings

↓

5. Communications confirmation

... The communication method to be used is determined by selecting a commu-

nication module. Refer to Communications Module Settings (Startup Settings) (p.62).

The communications specifications are

...

of the Communications Module that was selected in step 1. The number of data or size that is outpu whether to use the User Area is also set. fications Settings (p.63).

e data to output to the Data Output Area is regi

...

The output is placed in the measurement flow in the same way as for othe processing items. Refer to Output Data Settings (Processing Item Registration) (p.66).

The FH-series Vision Sensors are registered

...

ration on the Sysmac Studio. If you use Multi-line Random-trigger Mode nications Module for each line. Refer to EtherCAT Network Configuration Settings (p.69).

... If communications are performed normally, the ECAT RUN indicator on the

ision Sensor wil If communications are not performed normally, check the communications speci Also, error events are registered in the troubleshooting function of the Sysmac Studio if normal communications a shoot the problem. Refer to Communications Test (p.70).

tions settings that were made in step 2.

fica

l light green.

set for the communications method

Data Output Area and

t to the

Refer to Communications Speci-

stered in the Output Unit.

in the EtherCAT slave configu-

ltiple lines, set the Commu-

for mu

re not possible. Use them to trouble-

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Communications are set up as shown below when you use the multi-line random-trigger mode.

Note

Communications

Module setting

Communications

specifications settings

Output data

designation

Output data designation

Communications

Module setting

Output data

designation

Communications

Module setting

....

Settings on the window for line 0

Settings on the window for line 1

Settings on the window for line 7

The output data is designated according to the output data size that was set on the window for line 0.

Set [Fieldbus] to [EtherCAT].

• The communications settings (e.g., communications cycle):

Are the same for all lines.

• Number of output data bytes (output size):

Set for each line.

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Communications Module Settings (Startup Settings)

Note

The communication method used for communication with the Sensor Controller is selected from the communication modules.

1 On the Main Window, select [Tool] − [System Settings]. 2 Select [System setting] − [Startup] − [Startup setting] on the Multiview Explorer on the left and

then click the [Communication] button.

3 In the Communications Module Selection Area, select [EtherCAT] in the [Fieldbus] box and

then click the [Apply] button.

4 Click the [Data save] button in the Toolbar.

5 On the Main Window, select [Function] − [System restart].

Click the [Apply] button in the [System Restart] dialog box to restart the Sensor Controller.

6 When the Sensor Controller has been restarted, operation will be performed for the default

settings of the specified Communications Module.

Set the communications settings according to the PLC or other external device.

IMPORTANT

If you will use the multi-line random-trigger mode for EtherCAT communications for multiple lines, use the following procedure to set the Communications Module.

(1) In the Communications Module settings for line 0, set the Fieldbus Box to EtherCAT, save the setting to the Vision Sensor,

and then restart the system.

(2) After the system has been restarted, set the Fieldbu

save the setting to the Vision Sensor, and then restart the system. Repeat this step for the rest of the lines.

You can save the Communications Module settings to a file. Use the System data or System + Scene gr Refer to: Saving Settings Data to the Controller RAM Disk or an External Memory Device in Series User’s Manual (Cat. No. Z365).

oup 0 data option for saving settings to a file.

s Box to EtherCAT in the Communications Module settings for line 1,

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Communications Specifications Settings

You must set the data output size, output handshaking, and output controls for EtherCAT communications.

IMPORTANT

• Use the same communications specifications settings for the Sensor Controller and the external device.

• Do not input signals to EtherCAT from an external device while

• Before you set the communications Restart the system after you save the data to the Vision Sensor. Reference: Communications Module Settings (Startup Settings) (p.62)

specifications, set the Communications Module to EtherCAT.

setting the EtherCAT system settings.

1 On the Main Window, select [Tool]− [System Settings]. 2 Select [System Settings] and then select [Communications] − [EtherCAT].

The tab page for the communications settings is displayed.

3 Set up the following items.

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Setting item

Output control

Set value

[Factory default]

(None) Handshaking

None

Handshaking

Description

This setting is used to output the measurement resul

ts asynchro

nously with the external device.

This setting is used to output the measurement resul

ts synchronously with the external device.

Output period [ms]

Output time [ms]

Timeout [s] (When [Output Control] is set to [Ha

ndshaking])

Line n Data Output number (n

umber of d

ata

outputs for line n)

User area

2 to 5,000 cycles (2 cycles)

1 to 1,000 cycles (1 cycle)

0.5 to 120.0 s (10.0 s)

Result Data Format 0 (DINT 8) Result Data Format 1 (DINT 16) Result Data Format 2 (DINT 32) Result Data Format 3 (DINT 64) Result Data Format 4 (LREAL 4) Result Data Format 5 (LREAL 8) Result Data Format 6 (LREAL 16) Result Data Format 7 (LREAL 32) Result Data Format 8 (DINT 2 + LREAL

lt Data Format 9

Resu (DINT 4 + LREAL

lt Data Format 10

Resu (DINT 8 + LREAL

) Result Data Format 11 (D

16 + LREAL 24)

INT

(OFF) ON

Set the timing for outputting the measurement results. Set the number of cyclic communications of the EtherCA

T PDO communications

cycle after which to output the measurement results from the Sensor Controller.

Set the time to hold the output of the measurement results. Set the number of EtherCAT PDO communicatio

ns cycl

es to hold the output from

the Sensor Controller.

Set the timeout time. A timeout error occurs if the external

vice does not perform handshaking

during the set time.

Set number of data items to output for each line. There are two data sizes that are used for the output data: 4 bytes (DINT) and 8 bytes (LREAL). Sele

ct the output data sizes and number of outputs from the following selections.

Result Data Format 0 (DINT 8)

Result Data Format 1 (DINT 16)

Result Data Format 2 (DINT 32)

Result Data Format 3 (DINT 64)

Result Data Format 4 (LREAL 4)

Result Data Format 5 (LREAL 8)

Result Data Format 6 (LREAL 16)

Result Data Format 7 (LREAL 32)

Result Data Format 8 (DINT 2 + LREAL 3)

Result Data Format 9 (DINT 4 + LREAL 6)

Result Data Format 10 (DINT 8 + LREAL 12)

Result Data Format 11 (DINT

16 + LREAL 24)

Eight 4-byte data items are output. (Total: 32 bytes)

Sixteen 4-byte data items are output. (Total: 64 bytes)

Thirty-two 4-byte dat

a items are output.

(Total: 128 bytes)

Sixty-four 4-byte data items are output. (Total: 256 bytes)

Four 8-byte data items are output. (Total: 32 bytes)

Eight 8-byte data items are output. (Total: 64 bytes)

Sixteen 8-byte data items are output. (Total: 128 bytes)

Thirty-two 8-byte data items are output. (Total: 256 bytes)

Two 4-byte data items and three 8-byte data items are

ut, for a total of 5 data items.

outp

(Total: 32 bytes)

Four 4-byte data items and six 8-byte data items are ou

tput, fo

r a total of 10 data items.

(Total: 64 bytes)

Eight 4-byte data items and twelve 8-byte data items are outpu

t, for a total of 20 data items.

(Total: 128 bytes)

Sixteen 4-byte data items and twenty-four 8-byte data items are output, for a total of 40 data items.

(Total: 256 bytes)

Set whether or not to use the user area (user input area/user output area) for ea

ch l

ine.

*1: If you control from six to eight lines in the multi-line random-trigger mode, you cannot use the 256-byte data output sizes.

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4 Click the [Apply] button.

Note

IMPORTANT

If you change any of the [Line N Data Output Number] and [User area] settings, restart the Controller.

If you use alignment, select the data type of the ou

•DINT Data This data type holds a single-precision floating-point number. Coordinate values are multiplied by 1,0 Only 1/1,000 of the precisi

• LREAL Data This data type holds a double-precision floating-point number. If you use alignment, coordinate values are output as double-precision floating-point numbers. This allows you to output the actual values to an external device. However, processing 64-bit calculations on the NJ-series Con calculations.

on is output.

00 and are output as integers.

tput data according to the application.

ller or other PLC will be slower than processing 32-bit

tro

EtherCAT Communications Settings for Multi-line Random-trigger Mode

If you will use the multi-line random-trigger mode for EtherCAT communications for multiple lines, you can set the EtherCAT communications settings only on the setting tab page for line 0. The EtherCAT communications settings

Setting item Description

Output control The same setting is used for all lines.

Output period The same setting is used for all lines.

Output setting

for multiple lines are give

Set for each line. The Fieldbus data output setting for each line depends on the Data Output Number setting. Refer to Output Data Settings (Processing Item Registration) (p.66).

n in the following table.

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Output Data Settings (Processing Item Registration)

Use the following procedures to set the items to output to EtherCAT and the output format.

Registering Processing Items

1 Click the [Edit flow] button in the Toolbar. 2 Select the [Fieldbus Data Output] processing item from the processing item tree.

3 Click the [Append] button.

The [Fieldbus Data Output] processing item is appended at the bottom of the unit list (flow).

4 Click the [Fieldbus Output] ( ) Icon and set the data output items and data format.

Refer to the following references for details on the settings.

Reference: Setting the Output Data (p.68)

IMPORTANT

Fieldbus Data Output

Specify the Communication setting before setting of Fieldbu Note that if you change the Communication se displayed on the Fieldbus Data Output setting display.

ttings after setting of Fieldbus Data Output, the changed settings are not

s Data Output.

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• Depending on the Data Output Number setting for the line, you can set from 4 to 64 data items for output with one data

Note

output processing item. Examples: DINT16: You can register up to 16 data items. LREAL 24: You can register up to 24 data items. Refer to Communications Specifications Settings (p.63) for the number of data items that Output Number setting. If you need to output more data items than given However, the data is output to the same destination first will be overwritten by the output data that is output after it. Use the following method to read each set of output data.

• Controlling Data Output with Handshaking If handshaking is used to control data output, the timing of outputting the data is controlled by I/O signals. Each time that data is output, read the output data and move Refer to Data Output Control with Handshaking (p.32) for more information on handshaking.

bove, use more than one Output Unit.

, so if you do not control the output, the output data that was output

to a different part of I/O memory in the PLC.

you can ou

tput for each Data

Methods for Connecting and Communicating with External Devices

• Data is output in the order of registration in the measurement flow different timing. (Data output is executed in the order that it is registered in the measurement flow.) Reference: Outputting the Output Data (p.27)

, with each data output processing item executed at a

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Setting the Output Data

Note

Set expressions for the data to output. Expressions are set for both 4-byte data (DINT) and 8-byte data (LREAL).

The Fieldbus Data Output setting item changes according to the EtherCAT communications settings. Set the total output data size (256 bytes max.) and the number of data items to output (64 max.) in the EtherCAT communications settings in advance.

1 Click the Fieldbus Data Output Icon ( ) in the measurement unit list (flow). 2 The Fieldbus Data Output Window is displayed.

The following tabs are displayed: [DINT Setting] and [LREAL Setting]. The output data numbers are displayed according to the EtherCAT communications settings.

3 Click the [DINT Setting] or [LREAL Setting] tab.

The [DINT Setting] or [LREAL Setting] tab page is displayed according to the EtherCAT communications settings.

4 In the list, select the output data number for the expression to set.

The selected output data number is displayed under the list.

5 Click the [...] button next to the expression box and set the expression.

For calculation settings, refer to section of Calculation in FH/FZ5 Processing Item Function Reference Manual (Cat. No. Z341).

Specify the processing items, measurement results, and meas You can also perform arithmetic or function calculations o

urement data in the expression.

n the measurement data before it is output.

6 Click the [...] button for the [Comment] box and enter an explanation of the expression.

The comment you enter will be displayed in the detailed results on the Main Window. For example, if you enter “Test” as the comment for expression 0, “Test” will be displayed in place of “Expression 0” in the detailed results area on the Main Window.

7 Repeat steps 4 and 5 to set expressions for all of the required output data numbers. 8 Click the [DINT Setting] or [LREAL Setting] tab and then set expressions in the same way as

for steps 3 to 5, above.

If you delete one of the expressions that is set for an output data

number, 0 is output for the output data for that number.

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EtherCAT Network Configuration Settings

Note

To connect FH-series Vision Sensors to an NJ-series Controller, you must use the Sysmac Studio to register the Vision Sensors in the network configuration.

IMPORTANT

To connect FH-series Vision Sensors to an NJ/NX series Controller, you must place the Sysmac Studio online with the Vision Sensors in the EtherCAT network configuration.

Registering the Vision Sensors in the EtherCAT Slave Configuration

Register the Vision Sensors in the EtherCAT slave configuration on the [Edit Network Configuration] tab page. Refer to Section 5 Controller Configurations and Setup in the Sysm (Cat. No. W504) for the registration procedure.

IMPORTANT

Use Sysmac Studio Standard Edition version 1.09 or higher to set up the EtherCAT connections between FH-series Vision Sensors and an NJ-series Controller.

Setting the Data Output Sizes

Use the Sysmac Studio to assign PDO communications areas for each line in the master according to the Data Output Number settings in the EtherCAT communications specifications settings. There are the following two setting methods.

ac Studio Version 1 Operation Manual

Methods for Connecting and Communicating with External Devices

Online settings

If the data output sizes are already set in the Vision Sensors, use the following procedure to make the settings in the Sysmac Studio.

1 Place the Sysmac Studio online with a Vision Sensor. 2 Take the Vision Sensor offline. The settings from the Vision Sensor will be loaded to the

Sysmac Studio.

3 PDO communications areas will also be assigned in the master according to the

EtherCAT communications specifications settings.

Offline settings

To set the data output sizes on the Sysmac Studio when they are not yet set in the FH-series Vision Sensors, use the following procedure offline.

1 Display the window to edit the FH-series system data. 2

Display the EtherCAT Settings Window and select the check boxes for the EtherCAT settings.

3 Restart the FH Simulator to enable the settings. 4 After the Simulator is restarted, display the EtherCAT Settings Window and set the Data

Output Number for each line.

5 Restart the FH Simulator to enable the settings.

PDO communications areas will also be assigned in the master according to the EtherCAT communications specifications settings.

If you change any parameter that requires that Multiview Explorer. If this icon is displayed, restart the Vision Sensor.

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

the Vision Sensor be restarted, will be displayed by the model in the

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Page 72

IMPORTANT

Note

If six to eight lines are controlled in multi-line random trigger mode, settings where the data output size (data output number) is 256 bytes

*1: Three types: "Result Data Format 3 (DINT 64)", "Result Data Format 7 (LREAL 32)", "Result Data Format 11 (DINT 16 +

cannot be used. If a 256-byte data output size is set, a warning mark will appear in Sysmac Studio.

LREAL 24)"

Communications Test

You can check whether the EtherCAT communications settings are correct. If communications are performed normally, the ECA If communication does not take place normally, check the comm An error log is recorded in Troubleshooting in Sysmac Studio Refer to Sysmac Error Status Event Code Table (p.96).

For LED specifications of ECAT RUN-LED of FH series Sensor Controller, refer to 3-1 Sensor Controller in Vision System FH/FZ5 series Hardware Setup Manual (Z366).

T RUN indicator on the Vision Sensor will light green.

unication specification settings.

. Use the error log to help resolve the problem.

EtherCAT Connections (FH-1000 series/FH-3000 series only)

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for Communications Settings (Z342)

Page 73

I/O Ports by Area (PDO Mapping) and Memory Assignments

This section describes the I/O ports in the Command, Response, Data Output, User Area, and Sysmac Error Status Areas.

or the

Refer to the following section f Reference: Vision Sensor Specific Objects (p.152)

Command Area I/O Ports

Controller (Master) to Vision Sensor (Slave)

sizes, data types, default values, and other information on the I/O ports.

I/O port name Signal name Function

Control Flag Control Signals

Switches from OFF to ON when the Controller sensor controller (slave) to execute the control command. (Switches

Command Request

Trigger Measurement Trigger

Flow Command Request

Error Clear Clear Error

Command Request

Flow Command Request

from OFF to ON when setting of the control command code and parameter is completed.)

Switched from ON back to OFF by the Command Completion signal from the Sensor Controller (slave) turns ON.

Switches from OFF to ON when the Controller (master) requests measurement execution.

This signal returns to OFF when the Trigger Acknowledged signal goes ON.

Turn ON this signal to request execution of a command that was input durin

g execution of the fieldbus flow control.

Switched from ON back to OFF when the Flow Command Completion signal tur

Switches from OFF to ON to turn OFF the Sensor Controller (slave) Error Status signal.

Switches back to OFF when the Error Status signal from the Controller (master) turns OFF.

ON.

(master) instructs the

ller (master) when the

Contro

Methods for Connecting and Communicating with External Devices

Switches from OFF to ON when the Controller (master) requests data

Data Output Request

Result Set Request

Command Code Command code This I/O port stores the command code.

Command Parameter 0 to 3

*1: Used only when output

handshaking is enabled.

Command parameters These I/O ports store the command p

output. After receiving a data output request, the Sensor Controller (slave) outputs the data.

Switches from ON back to OFF by the Controller (master) when the Result Notificatio

n signal from the Sensor Controller (slave) turns ON.

arameters.

IMPORTANT

mmand Parameter 3 cannot be used in the reserved area. Use Command Parameter 0 to 2.

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Page 74

Response area I/O port

Vision Sensor (Slave) to Controller (Master)

I/O port name Signal name Function

Vision Status Flag Status Signals

Switches from OFF to ON whe (slave) completes execution of the control command and

Command Completion

BUSY Busy

Trigger Ready Trigger Ready

Total Judgment Overall Judgement Output

Run Mode Run Mode

igger Ack Trigger Acknowledged

Command Ready

Shutter Output Shutter Trigger Output

Flow Command Completion

Flow Command Busy

Flow Command Wait

Error Status Error Signal

Command Completion

Command Ready

Flow Command Completion

Flow Command Busy

Flow Command Wait

stores the control command code, response code, and response data.

Automatically switches from ON to OFF when the Command Request signal from the Controller (master) turns from ON t

Turns ON if execution of the control command by the Sensor Controller (slave) is not possible.

Turns OFF if execution of the co sor Controller (slave) is possible.

Turns OFF if the Sensor Controller (slave) cannot accept the

meas

Turns ON if the Sensor Controller (slave) can accept the measurement tri

This signal turns ON when the overall judgement is NG.

This signal turns OFF when the overall judgement is OK.

Turns ON when the Sensor Controller (slave) is in Run mo

de.

rns OFF when the Sensor Controller (slave) is not in Run

Tu mode

This signal turns ON when the Vision Sensor receives a T

gger signal.

This signal automatically turns OFF when the Trigger signal turns OF

This signal turns ON when control command execution is possibl

This

signal turns OFF when control command execution is

not p

ossibl

This signal turns ON when the sensing elements have completed exposure.

This signal turns OFF after one output period of EtherCAT co

mmunicatio

Turns ON after the Sensor Controller (slave) echoes back the e

xecuted command code, and sets the response code and response data during Fieldbus Flow command execution.

Turns OFF after checking that the Flow Command Request si

gnal i

s OFF.

This signal is ON when a command that was input during execution o

Turns OFF after completion of the executed command.

This signal is ON when a command can be input during execution

This signal is OFF when a command cannot be input during execution o

Turns ON if the Sensor Controller (slave) detects an error.

Turns OFF if the Sensor Controller (slav

o OFF

urement trigger.

gger.

ns.

f the fieldbus flow control is being executed.

f the fieldbus flow control.

n the Sensor Controller

ntrol command by th

e) runs normally

e Sen-

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Page 75

I/O port name Signal name Function

Status Flag Status Signal

Switches from OFF to ON when the Sensor Controller (slave) completes data output.

• No Handshaking

Result Notification

Command Code Echo Ba

Response Code Response code

Respon

se Data Response data

rror Code Error Code

Data Output Completion

Command echo code This I/O port returns the command code that was executed.

This signal turns OFF after the output time that is set in the Ethe

• Using Handshaking Automatically switches from ON to OFF by the Controller (ma troller (master) turns from ON to OFF.

This I/O port contains the response code of the executed co

This I/O port contains the response data of the executed command.

The event code for the Sysmac error status is stored here when an error occurs. Refer to Reference: Sysmac Error

tatus (p.96) for the event codes.

settings has elapsed.

rCAT

ster) when the Result Set Request signal from the Con-

mmand.

I/O Ports in the Data Output Area

Sensor Controller (Slave) to Controller (Master)

Methods for Connecting and Communicating with External Devices

I/O port name Signal name

DINT Result Data 0 to 63Output data 0 to 631 (4 bytes) to 64

LREAL Result Data 0 to 31

Output data 0 to 311 (8 bytes) to 32

Data output

number

(256 bytes)

(256

bytes)

Function

The pattern that is set for the Data Output Number setting in the communications settings is output. Example: If the Data Output Number is set to 32 b

EAL 3, the I/O ports would be assigned as follows:

2 + LR

DINT Result Data 0 DINT Result Data 1 LREAL Result Data 0 LREAL Result Data 1 LREAL Result Data 2

I/O ports in the User Input Area

PLC (master) to FH Sensor Controller (slave)

I/O port name Signal name Data type Function

User Input Area 0 User Input Area 0 DINT

User Input Area 1 User Input Area 1 DINT

User Input Area 2 User Input Area 2 DINT

User Input Area 3 User Input Area 3 DINT

User Input Area 4 User Input Area 4 LREAL

In the Communication specification settings, if you select [ON] for the User area setting, you can use the User area using Macro Customize, as the input area to the Sensor Controller to freely write data to.

ytes DINT

User Input Area 5 User Input Area 5 LREAL

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Page 76

I/O ports in the User Output Area

Line number

Device name

FH Sensor Controller (slave) to PLC (master)

I/O port name Signal name Data type Function

User Output Area 0 User Output Area 0 DINT

User Output Area 1 User Output Area 1 DINT

User Output Area 2 User Output Area 2 DINT

User Output Area 3 User Output Area 3 DINT

User Output Area 4 User Output Area 4 LREAL

User Output Area 5 User Output Area 5 LREAL

In the Communication specification settings, if you select [ON] for the User area setting, you can use the User area using Macro Customize, as the output area to the Sensor Controll

er to freely write data to.

I/O Ports in Sysmac Error Status Area

Vision Sensor (Slave) to Controller (Master) The Sysmac Error Status is mapped only when conn Sysmac Studio Standard Edition version 1.09 or higher is required.

I/O port name Signal name Function

Sysmac Error Status

Sysmac Error Status Gives the Sysmac error status.

ected to an NJ-series Controller.

Observation Observation Error

Minor Fault Minor Fault Level Error

Turns ON if an observation error occurs in the Sensor Controller (slave).

Turns ON if a minor fault level error occurs in the Sensor Controller (slave).

Rules for I/O port names

An I/O port name consists of the device name and controlled line number, as shown below. If only one line is controlled, the line num

ber is given as “Line0.”

Example: Command Request Signal in the Command Area

E001_Line0_Command Request

•Device name

When the operation mode is multi-line random trigger mode, the I/O ports of the Command Area, Response Area, and Data Output Area are assigned separately for each line. The I/O ports in the Sysmac Error Status Area are shared by all lines.

I/O port

Line used

Line 0 E001_Line0_Command_Request E001_Line0_Command_Request

Line 1 --- E001_Line1_Command_Request

Line 2 --- E001_Line2_Command_Request

EtherCAT Connections (FH-1000 series/FH-3000 series only)

When the operation mode is not multi-line

random trigger mode

When the operation mode is multi-line

random trigger mode

(Example: When the number of lines is 3)

Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Page 77

Assigning Device Variables to I/O Ports (PDO Mapping)

When the Sensor Controller is connected to an NJ-series CPU unit, the data for PDO communications in the Sensor Controller is displayed in the I/O port names in Sysmac Studio. You can assign device variables to the I/ O ports in the Sysmac Studio I/O map to perform programming and monitoring.

I/O

Multiview Explorer (Connected to NJ-series CPU Unit): [Configurations and Setup] − [ (Double-click)

Map]

Methods for Connecting and Communicating with External Devices

Right-click a slave or I/O port in the I/O map and select [Create Device Variable]. The device variable name is automatically cr port and enter a variable name in the [Variable] column.

In addition to using [Create Device Variable] to register a d variable from the variable table. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. details on registering device variables.

eated as a combination of the device name and the I/O port name. You can also select an I/O

evice

variable, you can also select a registered

No. W504) for

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Page 78

I/O Signals

The following tables list the signals that are used to control I/O for EtherCAT.

Input Signals

Signal

Command Request

Result Set Requ

est

d only

(Use for handshaking output control.)

Error Clear Error Clear

Flow Command Requ

est

Trigger

Signal

name

Comma Execution

Data Output Request

Flow mand Request

Measurement Trigger

Com-

Function

Turn ON this signal (from the PLC) to send a command to the Vi

sion Sensor.

During handshaking, send this sig

nal from the PLC to the Vision Sensor to request the external output of the data output results from the execution of th

e measuremen

If this signal is ON when an Output Unit (Fieldbus Data Output Unit) in the measurement flow is executed, the V

ision Sensor will output the data from the processing item. If multiple output units are used to output more th of output data, turn ON the Result Set Request signal again after the Result Notification signal for the first data output turns OFF. Refer to Time Charts (p.90).

Turn ON this signal to clear the Error Status signa Vision Sensor.

Turn ON this signal to execute a command d of the fieldbus flow control.

Turn ON this signal to execute measu

rement

t flow.

an 256 bytes

l from the

uring execution

ON/OFF timing

OFF to ON ON to OFF

Turn ON the signal (from the PLC

) to send a command to the Vision Sensor and request execution based on the command code and command p

arameters.

• Turn ON the signal (from the PLC) to e data that results from measurement.

• This Result Set Request signal is turned ON at the same time that the Trigger signal or Command Request signal switches from OFF to ON.

Turn ON the signal (from the PL

C) when the Error Status

signal turns OFF.

Turn ON this signal (from the PLC command that was input during execution of the fieldbus flow control.

Turn ON this signal (from the PLC after checking that the Trigger Ready signal is ON.

xternally output the

) to requ

) to

est execution of a

execute measurement

Switched from ON OFF by the user (PLC) when the Command Completion signal from the FH turns ON.

Switched from ON back to OF

F by the u the Result Notification signal from the FH turns ON.

Turn OFF the signal (from the PLC

) when the Error Status

signal turns OFF.

Switches from ON back to OFF wh

en the Flow Command Co

mpletion signal turns ON.

The PLC switches this signal from

ON back to OFF when it detects Trigger Ack signal ON from the FH.

back to

ser (PLC) when

*1: A timeout error will occur if the Result Set Request signals does not turn OFF within the timeout time that is set in the EtherCAT

settings after the Result Notification signal turns ON. However, data will not be corrupted even if a timeout error occurs for EtherCAT. Clear the timeout error and turn ON the Result Set Request signal to output the data from when the timeout occurred.

*2: A timeout error will occur if you do not turn ON the Result Set Request from the Sensor controller (master) within 10 seconds

when the Trigger signal, or the Command Request signal are turned ON and the measurement processing is initiated.

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Page 79

Output Signals

Signal

BUSY Busy

Signal

Name

Function

This signal tells when commands and other external in

puts cannot be acknowledged. Make sure this signal is OFF be

fore you request a com-

mand.

*1: During continuous

measurement, the BUSY signal remains ON. The FH accepts the Command Request signal only after receiving the End Continuous Measurement command.

Note:

• The execution of commands or other processi received through any other protocol cannot be detected. (Example: This signal remains OFF during measurements for a parallel communications Trigger signal.) If you use more than one pro

tocol and need to detect command execution, use the parallel communications BUSY signal.

• ON of this signal does not indicate is bein whether the command is being executed, check the status of the Command Completion signal.

that the command

g executed. To check

ON/OFF timing

OFF to ON ON to OFF

The Vision Sensor turns ON this sign command from the user (PLC). (The signal turns ON after the Command Request signal turns ON.)

al when

it receives a

The signal turns OFF when co

mmand execution is com-

pleted.

Methods for Connecting and Communicating with External Devices

The Vision Sensor uses this signal to tell th

that command execution has been completed.

e user (PLC)

tion

Command Executio Completion

Command Comple

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

The signal turns ON when the V

Sensor completes exe-

ision

cution of a received command.

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Turns OFF when the user (PLC) switches the Command Reque

st signal from ON to

OFF.

Page 80

Signal

Result Notification

Error Status

Signal

Name

Data Output Completion

Error Signal

Run Mode Run Signal

Function

This signal tells the timing to lo

ad the output data to the User (PLC). This signal is ON: means that the da

ta is output from Sensor Controller. Read the data (from the PLC) wh

en this signal turns ON.

The Vision Sensor provides no

tifica

tion with this signal when it detects the following errors. Refer to: E

and T

roubleshooting in the

ision System FH/FZ5 Series

rror Messages

User's Manual (Cat. No. Z365).

This signal tells when the Sensor Controller is in Run Mode.

ON/OFF timing

OFF to ON ON to OFF

• No Handshaking

The signal turns ON after the V

ision Sensor executes the Output Unit (Fieldbus Data Output Unit) in the measurement flow and preparations for data output have been completed.

• Handshaking

During execution

of the Profibus Data Output unit in the measurement flow by the FH, the signal turns ON when the data is ready to be output and the Result Set Request signal is ON.

*2: This occurs when the

Output Unit is executed as the measurement flow is executed in order from the top. It does not occur when execution of a measurement is completed.

This signal turns ON when the Vision Sen

sor detects an error.

This is a notification signal indicating the FH/FZ5 Sensor Controller is in Run mode (In a measurement cap

able sta

te with [RUN signal output] checked in the Layout settings for the currently displayed line).

• No Handshaking:

The signal turns OFF after the output time that

is set in the EtherCAT settings has elapsed.

• Handshaking:

This signal turns OFF when the user (PLC) sw

itches the Result Set Request signal from ON to OFF.

This signal turns OFF when the error is elimi

nated and the user (PLC) performs another measurement or clears the error (i.e., turns ON the Error Clear signal).

The signal is OFF when the Vision Sensor cannot execute measurements and the Run Signal Output Check Box is not selected in the Layout Setup on the Layout Window.

To ta l Judgment

Trigger ACK

Command Read

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Overall Ju

dgemen

Trigger Acknowledge

Command Executio

Ready

This signal gives the results of

the overall judgement.

The Vision Sensor uses this sig

nal to acknowledge recep-

tion of a Trigger signal.

This signal tells when control command

can b

e executed.

The signal turns ON when the overall judgement is NG.

The signal turns ON when the V

ision Sensor receives a Trig-

ger signal.

The signal turns ON when control command execution is possible.

Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

The signal turns OFF when the overall judgement is OK.

The signal turns OFF when the us

er (PLC) turns OFF the Trig-

ger signal.

The signal turns OFF when control command execution is not possible.

Page 81

Signal

Trigger Ready

Shutter Output

Signal

Name

Trigger Input ready

Shutter Trigger Output

Function

This signal tells when the Ca

s that are assigned to

mera the Trigger signals can execute measurements.

*1: If you use a Camera with

Lighting Controller, the time required for the Trigger Ready signal to turn OFF may increase in comparison with not using a Camera with a Lighting Controller. For details, refer to

Camera Image Input FH

or Camera Image Input HDR i

the Vision System

FH/FZ5 Series Processing Items Reference Manual

(Cat. No. Z341).

This signal tells when exposure of the sensing elements ha

s been

completed.

• If more than one Camera is conn

ected, the

signal will remain ON for the Camera with the longest exposure time.

• You cannot use the Shutter Ou

Signal when the

tput image mode is set for a through image. If you have registered more than one Camera Image Input processing unit in the measurement flow, the SHTOUT signal will be turned ON for each Camera Image Input processing unit individually. Therefore, use Camera Switching processing items instead of Camera Image Input processing items in the middle of the measurement flow.

ON/OFF timing

OFF to ON ON to OFF

This signal is ON when the Cameras that are assigned to the Trigger signals can execute measurements (i.e., when a Trigger signal can be input).

The signal is ON when the sen

ements have com-

sing el

pleted exposure.

This signal is OFF when even o

ne of the

Cameras that are assigned to Trigger signals cannot execute measurements (i.e., when a Trigger signal cannot be input).

The signal operates according to the output signal settin

gs. After the completion of exposure, the signal turns ON after the time

that is set for the Shutter Output Signal elapses and then turns

OFF af

ter the time that is set for the Shutter Output Pulse Width elapses. Refer to Setting the Output Signal Specifications (p.305) for information on

the Shutter Output Signal settings.

Methods for Connecting and Communicating with External Devices

This signal tells when execution of a command that was exe

cuted during execution of

the fieldbus flow control has

etion

been completed.

This signal tells when a command that was input during exe

cution of the fieldbus flow

control is being executed.

Flow Command Completion

Flow Command Busy

Flow Command Execution Co

mpl

Flow Command Executing

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Turned ON after echo back, resp

onse code

and response data have been set for an executed command code when the exe

cuted command has

completed when executing

Switched from ON to OFF wh

en the Flow Command

quest signal switches from ON to OFF when executing Fieldbus flow control.

Fieldbus flow control.

This signal is ON when a command that was input during exe

cution of the fieldbus flow

control is being executed.

Switched from ON to OFF wh

en execution of an entered command completes when executing Fieldbus flow control.

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Page 82

Signal

Name

Function

ON/OFF timing

OFF to ON ON to OFF

Switched from ON to OFF wh

en the Flow Command

quest signal switches from

Re ON to OFF when executing Fieldbus flow control.

Flow Command Wait

This signal tells when input of a command edged during execution of the fiel

can b

e acknowl-

dbus flow control.

This signal is mand can be input during execution of the fieldbus flow control.

ON when a com-

Measurement Results That You Can Output with Fieldbus Data Output

You can use the processing items that are related to outputting results to output the following data. You can also access measured values from the Calculation or other processing units.

Measured items Text st r i n g Description

Judgement JG Judgement result

• Results of expressions that are set for output data 0 to 63 in DINT (4-

DINT data 0 to 63 DI00 to DI63

LREAL data 0 to 31 DL00 to DL31

byte) fo

• O

-2147483.648 to 2147483.647

• Results of expressions that are set for output data 0 to 31 in LREAL (8-byte) for

• O

-999999999.9999 to 999999999.9999

rmat

utputs the value in the below by 1000 times as an integer type.

mat

utputs the values in the follows range as a Floating point.

External Reference Table for Fieldbus Data Output

By specifying a number, the following data can be referenced from control commands or processing items that have a set/get unit data function.

Number Data name Set/Get Data range

0: No judgement (unmeasured)

0 Judgement Get only

1000+10

2000+10*N(N=0...31) LREAL data 0 to data 31 Get only −99999999.9999 to 999999999.9999

*1: Since the response data area is DINT type, the data is acquired as an integer type and a thousand value of the following range

*N(N=0...63) DINT data 0 to data 63 Get only −99999999.9999 to 999999999.9999

-2147483.648 to 2147483.647

1: Judgement result OK

−1: Judgement result NG

EtherCAT Connections (FH-1000 series/FH-3000 series only)

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for Communications Settings (Z342)

Page 83

Command List

Note

This section describes the commands that you can use with EtherCAT.

Use device variables assigned to the I/O port of the command area to specify command codes and command parameters of commands used in EtherCAT. To specify a command code or command parameter for a device variable, refer to the following:

Details of Commands Used in EtherCAT Communication (p.354)

Execution Commands

Command

code for

Command Area

(hex)

0010 1010 Single Measurement Performs 1 measurement.

Command name Function Reference

Methods for Connecting and Communicating with External Devices

Reference:

(p.361)

0010 1020 Start Continuous Measurements Executes continuous measurements.

0010 1030 End Continuous Measurements Ends continuous measurements.

0010 1040 Execute Unit Test

0010 2010 Clear Measurement Values Clears all measurement result values.

0010 2020 Clear Data Output Buffer Clear the data output buffer.

0010 3010 Save Data in Sensor

0010 4010 Re-register Model Registers the model again.

0010 5010 Scroll

0010 5020 Zoom

0010 5030 Fit

0010 7010 Copy Scene Data Copies the scene data.

Executes a test measurement for the specified Unit.

Saves the current system dat groups in the Sensor.

Shifts the image display position by the specified amount.

Zooms the image display in or out by the specified

Returns the display position nification to their default values.

factor.

and display mag-

a and

scene

Reference:

(p.361)

Reference:

(p.362)

Reference:

(p.362)

Reference:

(p.363)

Reference:

(p.363)

Reference:

(p.364)

Reference:

(p.365)

Reference:

(p.366)

Reference

(p.366)

Reference:

(p.367)

Reference:

(p.368)

0010 7020 Delete Scene Data Deletes the scene data.

0010 7030 Store Scene Data Stores the scene data.

0010 8020 Load Registered Image

0010 9010 Echo

0010 B010 Return to Start of Flow

0010 F010 Restart Restarts the Sensor Controller.

Vision System FH/FZ5 Series User’s Manual for Communications Settings (Z342)

Loads the specified registered image as the me

asurement imag

Returns an entered text string without changing it.

Branches to the start of the measurement fl

ow (processing

EtherCAT Connections (FH-1000 series/FH-3000 series only)

unit 0).

Reference:

(p.368)

Reference:

(p.369)

Reference:

(p.370)

Reference:

(p.371)

Reference:

(p.373)

Reference:

(p.374)

Page 84

Commands to Get Status

Command

code for

Command Area

(hex)

Command name Function Reference

0020 1000 Get Scene Number Acquires the current scene number.

0020 2000 Get Scene Group Number Gets the scene group number.

0020 4000 Get Layout Number

0020 5010 Get Display Image Unit Number

0020 5020 Get Display Subimage Number

0020 5030 Get Image Display Status

0020 7010 Get Communications Input Status

0020 7020 Get Communications Output Status

0020 8010 Get Parallel Terminal Status

0020 8020 Get All Parallel Terminal Statuses

0020 8030 Get All Parallel DI Terminal Statuses

0020 A000 Get Operation Log State Gets the current state of the operation log.

Gets the number of the layout displ

ayed.

Gets the number of the Unit that is currently displayed in dow.

Gets the subimage number for the specified image

Gets the image mode for the specified image displ

Gets the input status (enabled/disabled) for th

e Communicatio

Gets the output status (enabled/disabled) to exte

rnal devices.

Gets the ON/OFF status of the specified parallel I/O terminal.

Gets the ON/OFF status of all parallel terminals except for DI terminals

Gets the ON/OFF status of all parallel DI terminals

the specified image display win-

display

ay window.

window.

ns Modules.

that is currently

Reference:

(p.374)

Reference:

(p.375)

Reference:

(p.376)

Reference:

(p.376)

Reference:

(p.377)

Reference:

(p.378)

Reference:

(p.378)

Reference:

(p.379)

Reference:

(p.380)

Reference:

(p.381)

Reference:

(p.385)

Reference:

(p.388)

Commands to Set Status

Command

code for

Command Area

(hex)

0030 1000 Select Scene Changes to the specified scene number.

0030 2000 Set Scene Group

0030 4000 Set Layout Number

0030 5010 Set Display Image Unit Number

0030 5020 Set Display Subimage Number

0030 5030 Set Image Display Status

0030 7010 Set Communications Input Status

Command name Function Reference

Changes to the scene group with the specified number.

Sets the layout number and changes the image

Sets the number of the Unit to display in the specified

Sets the number of the subimage to display in th

Sets the image mode for the specified image displ

Enables/disables inputs to the Communications Modules.

image display window.

e specified

ay window.

image display window.

Reference:

(p.390)

Reference:

(p.390)

Reference:

(

p.391)

Reference:

(p.392)

Reference:

(p.392)

Reference:

(p.393)

Reference:

(p.394)

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Vision System FH/FZ5 Series User’s Manual

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Page 85

Command

code for

Command Area

(hex)

0030 7020 Set Communications Output Status Enables/disables outputs to external devices.

Command name Function Reference

Reference:

(p.394)

0030 8010 Set Parallel Terminal Status

0030 8020 Set All Parallel Terminal Statuses

0030 8030 Set All Parallel DO Terminal Statuses

0030 A000 Set Operation Log State Sets the state of the operation log.

Sets the ON/OFF status of the specified parallel I/O terminal.

Sets the ON/OFF status of all parallel terminals, except for DO terminals

Sets the ON/OFF status of a minals

ll parallel DO ter-

Commands to Read Data

Command

code for

Command Area

(hex)

0040 1000 Get Unit Data Gets the unit data.

0040 4050 Get Data Logging Conditions

0040 4060 Get Parallel Terminal Offset

Command name Function Reference

Gets the conditions that are set for data logging.

Gets the parallel DI terminal offset data that is set.

Reference:

(p.395)

Reference:

(p.395)

Reference:

(p.397)

Reference:

(p.404)

Reference:

(p.405)

Reference:

(p.410)

Reference:

(p.411)

Methods for Connecting and Communicating with External Devices

Commands to Write Data

Command code for

Command Area

(hex)

0050 1000 Set Unit Data Sets the unit data.

0050 4050 Set Data Logging Conditions Sets the data logging conditions.

0050 4060 Set Parallel Terminal Offset Sets the parallel DI terminal offset data.

Command name Function Reference

Reference: (p.412)

Reference: (p.417)

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Page 86

Measurement Trigger Input

Command Area

Measurement

Trigger signal

Response Area

Trigger ACK

Status signal

BUSY signal

Trigger Ready

signal

Total Judgment

signal

OFF

(1)(2)(3)(4)(5) (6)(7)

The ON/OFF timing of signals related to input of the measurement trigger is indicated in the timing chart below.

Measurement Trigger Input Timing Chart

The Trigger signal is used to input a measurement trigger. One measurement is executed each time the Trigger signal turns ON.

Con

(1) After checking the Trigger Ready signal is ON, the (2) The Sensor Controller (slave) will

change the state of the following signals.

troller (master) turns the Trigger signal ON.

- The BUSY signal turns ON when the measurement starts.

- Trigger ACK signal turns ON.

- The Trigger Ready signal turns OFF. (3) The controller (master) turns OFF the Trigger signal. (4) The Sensor Controller (slave) turns OFF the Trigger ACK signal.

al ON when image input has finished and the

(5) The Sensor Controller (slave) turns the Trigger Ready s

ign

Sensor Controller (slave) is ready for measurement trigger input.

(6) When measurement processing has finished, the Sensor Controller (slave) turns the Total Judgment

al ON.

sign

) When measurement processing has finished, the Sensor Controller (slave) turns the Busy signal OFF.

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Command Response Processing

Command Request

signal

OFF

Command Code Echo Back

Busy signal

Response Code

Response Data

Command Completion

signal

Command Code

OFF

Command Parameter

OFF

Command Ready

signal

OFF

Control command is executing.

OFF

(1)

(6)

(5)

(2)

(3)

(4)

Specified time in the time out setting.

Command Area

Response Area

*1: A timeout error will occur if the Command Request signals does not turn OFF within 10 seconds.

Then Command Completion signal and Busy signal will be forced to turn OFF.

*2: Busy signal are automatically switched from ON to OFF when command execution is completed.

The ON/OFF timing of related signals from command input in control command response processing is indicated in the timing chart below.

Timing Chart for Command Execution

The Command Request signal is used as the trigger for input/execution of commands from the Controller (master) for operations such as measurement execution. After command execution, switch the Command Request signal back to OFF using the Command

mpletio

n signal = ON as the trigger.

Methods for Connecting and Communicating with External Devices

(1) The Controller (master) sets the command code and command parameters. (2) After checking that the Command Ready signal is ON an

Controller (master) turns the Command Request signal ON. (3) The Sensor Controller (slave) turns ON the Busy signal. (4) The Sensor Controller (slave) sets command echo back, the response code and response data, then

turns t (5) The Controller (master) turns OFF the Command Request signal. (6) The Controller Sensor (slave) turns OFF the Command Completion signal.

he Command

Completion signal ON.

d the Command Completion signal is OFF, the

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Continuous Measurement Command without Handshaking

Command Code

OFF

Command Parameter

OFF

Command Code Echo Back

OFF

Start Command for Continuous Measurement

Timeout

End Command for Continuous Measurement

Busy signal

OFF

Command Ready signal

OFF

Measurement Measurement Measurement

Response Code

OFF

Total Judgment

signal

OFF

Trigger Ready signal

OFF

(1)

(2) (3) (4) (6)

(7)

(11)

Timeout

(12)

Command Request

signal

OFF

Command Completion

signal

(14)

(5) (13)

(8)

(9)

(10)

Command Area

Response Area

*1: A timeout error will occur if you turn off the Command Request signal within 10 seconds

after the Command Completion signal is turned ON. Command Completion signal and Busy signal will be forcefully turned OFF.

*2: Busy signal are automatically switched from ON to OFF when command execution is

completed.

Continuous execution is used to repeatedly execute measurements by starting the next measurement operation (image input and measurement processing) as soon as one measurement operation (image input and measurement processing) is completed. Continuous measurements are started when the Start Co

ntinuous Mea

ended when the End Continuous Measurements command is executed.

surements command is executed and

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Operation to Start Continuous Measurements

Note

IMPORTANT

(1) The Command code and command parameters are set by the Controller (master).

(2) After checking that the Command Ready signal is ON and the Co

mmand Completion signal is OFF,

the Controller (master) turns ON the Command Request signal. (3) The Sensor Controller (slave) echoes back the command code and sets the response code. (4) The Sensor Controller (slave) turns ON the Command Completion signal. (5) The controller (master) turns OFF the Command Request signal. (6) The Sensor Controller (slave) turns

OFF the Command

Completion signal. (7) The Sensor Controller (slave) starts continuous measurement. (8) The Sensor Controller (slave) turns the Busy signal ON and the Trigger Ready signal OFF.

Operation to End Continuous Measurements

(9) The Controller (master) sets the command code for the End Continuous Measurements command

when continuous measurement is being executed by the continuous measurement command.

(10) The Controller (master) turns ON the Command Request signal.

Continuous measurements are not ended in the middle of a measurement. When the End Continuous Measurements command is execute measurement that is currently being executed is completed.

d, continuous measurements are ended after the

• Ending Continuous Measurements

(11) The Sensor Controller (slave) stops continuous measurement and turns off the Busy signal. (12) The Sensor Controller (slave) sets command code echo back and the response code, and turns the

Command Comp

letion signal ON. (13) The controller (master) turns OFF the Command Request signal. (14) The Sensor Controller (slave) turns

OFF the Command

Completion signal.

• The measurements during continuous measurements are given prio results (total judgment, images, judgment for each processing unit in the flow display, and detailed results) may sometimes not be updated.

• When continuous measurements are ended, the measurement re

rity. Therefore, display of the measurement

sults from the last measurement will be displayed.

Methods for Connecting and Communicating with External Devices

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Page 90

Data Output

Fieldbus Data

Output Unit

execution

Fieldbus Data

Output Unit

execution

Output data

Response Area

Data Output Area

(1)

(2)

*1, *2: Data is output at the set output period*1 and for the set output time.*2 After data is output,

the Result Notification signal is turned ON and the data is held for the data output time.

Result Notification signal

OFF

First data output Second data output

The data is overwritten by the second data output.

IMPORTANT

The ON/OFF timing of signals related to data output after completion of measurement is indicated in the timing chart below.

No Handshaking

(1) The Sensor Controller (slave) outputs data when the Fieldbus Data Output Unit starts execution. (2) Data is output every time the Fieldbus Data Output Unit or another Fieldbus Dat

executed. The previously output data is overwritten.

a Output Unit is

Set the output period in the communications settings to a time that is longer than the output time.

Using Handshaking

The Result Notification signal is switched from OFF to ON when the Controller (master) switches the Result Set Request signal from OFF to ON. At this point, the Sensor Controller (master) outputs the data(*1) that is ready to be output. Switch the Result Set Request signal fr

om ON Result Notification signal is ON and has read the data. When there are data to be sent from multiple Fieldbus D signal again to output the next output data when the Sensor Controller (slave) turns the Result Notification signal from ON to OFF.

*1: This is the data that is prepared for output when the Output Unit is executed in the measurement flow.

back to OFF after the Controller (master) has checked that the

a Output units, turn ON the Result Set Request

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*: A timeout error will occur if any of the following states continues for longer than the timeout time that is set in the EtherCAT settings.

• If the Result Set Request signal is not turned ON after a certain time elapses from when the Output Unit is executed. (Turn ON the Result Set Request at the same time as the measurement trigger input or the command input.)

• If the Result Set Request signal is not turned OFF after a certain time elapses from when the Result Notification signal turned ON.

Fieldbus Data Output Unit execution

The Trigger signal is turned ON at the same time.

Result Set Request signal

Result Notification signal

Output data

(3) (4) (5) (6) (2)

Second data output

(1)

OFF

* *

First data output

Wait for the first output data.

Wait for the second output data.

The Controller (master) switches the Result Set Request signal from OFF to ON at the same time that the Trigger signal or Command Request signal switches from OFF to ON, and waits for the first data output.

When the Result Notification signal is ON, the Controller (master) reads the data and switches the Result Set Request signal back to OFF.

The Sensor Controller (slave) checks that the Result Set Request signal has turned OFF, then automatically turns the Result Notification signal OFF.

When the Result Notification signal has switched from ON to OFF, the Controller (master) switches the Result Set Request signal from OFF back to ON, and waits for the second data output.

(1) The Controller (master) turns ON the Result Set Request signal. (2) When the Fieldbus Data Output Unit in the measure

(slave) writes the data then turns the Result Notification signal ON. (3) After reading the data, the Controller (master) t (4) The Sensor Controller (slave) turns OFF (5) If there are multiple Field Data Output

Units in the measurement flow, the Controller (master) turns the

urns

the Result Notification signal.

Result Set Request signal ON, then waits for execution of the next Fieldbus Data Output Unit to be

processed. (6) When the next Fieldbus Data Output Un

it is executed then turns the Result Notification signal ON. Repeat steps 3 to 6.

Methods for Connecting and Communicating with External Devices

ment flow is executed, the Sensor Controller

the Result Set Request signal OFF.

, the Sensor Controller (slave) writes the data,

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Time Charts

The ON/OFF timing of signals related to the sequence of operation from control command input until data output after completion of measurement is indicated in the timing chart below.

Example 1: Inputting a Measurement Trigger after Changing a Scene without Handshaking

Command Code

Select Scene command

OFF

Command Area

Response Area

Command Parameter

Command Request

signal

Trigger

signal

Busy signal

Command Ready

signal

Command Completion

signal

Trigger Ready

signal

Trigger Ack

signal

OFF

Scene No.

Select Scene command is running

(3)

(6)

(10)

Measurement Trigger is running.

(12)

(7)

(13)

(11)(9)

(15)

Data Output Area

Result Notification

signal

OFF

Result Data

OFF

(1) (2)

*1:

A timeout error will occur if you turn off the Command Request signal from Sensor Controller (master) within the timeout

(4)(5)

(8) (14)

Fieldbus Data Output Unit is executed.

period set in the EtherCAT settings. Then Command Completion signal and Busy (BUSY) signal will be forced to turn off.

*2: Busy (BUSY) signal is automatically switched ON from OFF when the command execution is completed.

*3: Busy (BUSY) signal is automatically switched ON from OFF when the measurement is completed.

(1) The Controller (master) sets the command code and command parameters for the scene switching

command.

(2) After checking that the Command Ready signal is ON and the Command Completion signal is OFF, the

Contr

oller (master) turns ON the Command Request signal.

(3) The Sensor Controller (slave) turns the Busy sign

al ON, turns the Command Ready signal OFF and

changes the scene.

(4) When the scene change has finished, the Sensor Controlle

r (slave) turns the Busy signal OFF and

turns the Command Ready signal ON.

(5) The Sensor Controller (slave) turns ON the Command Completion signal.

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(6) The Controller (master) turns OFF the Command Request signal.

Note

(7) The Sensor Controller (slave) turns OFF the Command Completion signal. (8) The Controller (master) turns ON the Trigger signal.

Before inputting a measurement trigger after changing the scene, first check that the Command Completion signal that was turned ON by execution of the scene change command has turned OFF, and that the Trigger Ready signal is ON.

(9) The Sensor Controller (slave)

signal. (10) The Controller (master) turns the Trigger signal OFF. (11) The sensor controller (slave) turns OFF the Trigger ACK signal. (12) The Sensor Controller (slave) turns Busy signal to ON, then executes measurement processing. (13) When image input processing has finished and trigger

turns the Trigger Ready signal ON. (14) When the Fieldbus Data Output processing unit within

Sensor Controller (slave) turns ON the Result Notification signal after writing the data. (15) When the time set for [Output time] in the EtherCA

(slave) turns the Result Notification signal OFF.

s ON the Trigger ACK signal, and turns OFF the Trigger Ready

turn

put is enabled, the Sensor Controller (slave)

e measurement flow is executed, the

T settings has elap

sed, the Sensor Controller

Methods for Connecting and Communicating with External Devices

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Page 94

Example 2: Outputting Data with More Than One Output Unit without Handshaking

Trigger signal

OFF

Busy signal

OFF

Trigger Ack signal

Trigger Ready signal

OFF

Response Area

OFF

Data output Area

Result Notification

signal

OFF

(5)

(3)

(2)

(4)

(8) (10)

(7)(1)

Second data outputFirst data output

(7) First Fieldbus Data Output Unit is executed.

(9) Second Fieldbus Data Output Unit is executed.

This data is overwritten by the second data output.

(6)

(9)

Result Data

Command Area

*1: Busy (BUSY) signal is automatically switched ON from OFF when the command

execution is completed.

(1) After checking that the Trigger Ready signal is ON and the Command Completion signal is OFF, the

Controller (master) turns ON the Trigger signal. (2) The Sensor Controller (slave) turns ON the Trigger Ack signal, and turns OFF the Trigger Ready

nal.

sig (3

) The controller (master) turns OFF the Trigger signal. (4) The Sensor Controller (slave) turns OFF the Trigger ACK signal. (5) The Sensor Controller (slave) turns the Busy signal ON and executes measurement processing.

(6) The Sensor Controller (slave) turns the Trigger Ready

ignal to ON when the image input processing

is completed and trigger is ready to input.

(7) When the first Fieldbus Data Output Un

(slave) writes the data, then turns the Result Notification signal ON.

(8) When the time set for [Output time] in the EtherCA

it in the

measurement flow is executed, the Sensor Controller

T settings has elap

sed, the Sensor Controller

(slave) turns the Result Notification signal OFF.

(9) When the second Fieldbus Data Output Unit in the

cycle of the first Fieldbus Data Output Unit has elapsed, the Sensor Controller (slave) turns the Result Notification signal ON.

(10) When the time set for [Output time] in the EtherCA

(slave) turns the Result Notification signal OFF.

measu

rement flow is executed after the output

T settings has elap

sed, the Sensor Controller

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Saving All of the Measurement Results

Note

If you output data from more than one Data Output Unit or for repeatedly measured output data (e.g., for continuous measurements), the same Data Output Area will be overwritten. To save all of the output data, adjust the output pe output data is output and either receive all of the output data by using the Result Notification signal or use handshaking control. Handshaking lets you control data output by using the Result Notificatio timing and turning ON the Result Set Request to read the output data. Each time that data is output (from the seco in the PLC. Refer to Data Output Control with Han

You can compare the received number of output data and the number of check if all of the measurement results have been received. Use the following method to check the number of mea

• Application Example

Set a calculation to count the numbe If you set something like [DO+1], each time a measurement is executed (each time th will be added to DO, so the present value of DO will give you the actual number of measurements.

dshaki

r of measuremen

riod and o

tput on), read the output data and move it to a different part of I/O memory

nd ou

ng (p.32) for more information on handshaking.

utput time that are set in the EtherCAT settings so that all of the

n signal turning ON as a trigger for the data output

measurements for continuous measurements to

surement

s that was actually executed.

ts that are executed in the measurement flow.

e measurement flow is executed), 1

Methods for Connecting and Communicating with External Devices

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EtherCAT Connections (FH-1000 series/FH-3000 series only)

Page 96

EtherCAT Troubleshooting

Cannot Communicate with Sensor Controller

Problem Cause Action

There is absolutely no data I/O.

Slave Initialization Error (84230000 hex) will occur and EtherCAT communications will be lost.

Slave Application Error (84280000 hex) will occur and EtherCAT communications will be lost.

The node address is set incorrectly.

The devices are not connected correctly.

The Output Option is not selected in the Adjustment Window.

Incorrect Communication is set. Verify that Communication is set to EtherCAT.

PDO Mapping information is different between the FH Sensor Controller and NJ/NX series controller.

The Communication cycle (PDO Communication cycle time) is set lower than the minimum value.

Check the node address setting switches to see if they are set correctly.

Make sure that the EtherCAT connectors (input and output) are connected correctly.

Select the Output Option in the Adjustment Window.

Confirm that the following parameters are the same values between the FH Sensor Controller and NJ/NX series controller.

• the Data output byte size

• the use of the User area

• the Number of controlled lines

Do not set the communication cycle (PDO communication cycle time) for EtherCAT communication to a value lower than the applicable minimum time given in the following table. Refer to Minimum PDO Communications Cycle Time (p.58)

A Timeout Error Occurred

Problem Cause Action

A handshaking timeout error occurred.

Settings are not kept

Problem Cause Action

Settings, such as Fieldbus Data Output Calculations, or Comments, are not being kept.

The Result Set Request signal is being turned ON and OFF too slowly. The following patterns are possible.

• The Result Set Request signal does not turn ON after a measurement is completed.

• The Result Set Request signal does not turn OFF after the Result Notification signal turns ON.

• The Result Set Request signal does not turn ON after the Result Notification signal turns OFF.

Changed the Communication settings after setting of Fieldbus Data Output.

After the measurement command is executed, turn the Result Set Request signal ON and OFF within the timeout time that is set in the EtherCAT communications settings. Or, increase the length of the timeout time that is set in the EtherCAT settings.

Specify the Fieldbus Data Output settings after settings of Communication.

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Vision System FH/FZ5 Series User’s Manual

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Page 97

Errors that occur in the EtherCAT system, including sensor errors, are displayed as a Sysmac error status in Sysmac Studio

Note

(Standard Edition). Refer to Sysmac Error Status (p.96).

Methods for Connecting and Communicating with External Devices

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EtherCAT Connections (FH-1000 series/FH-3000 series only)

Page 98

Sysmac Error Status

The Sysmac Studio Standard Version displays errors that occur in the EtherCAT system (including Sensor errors) as Sysmac error status.

Sysmac Error Status Event Code Table

This section describes Sysmac error status event codes that are related to the sensor. Refer to the NJ-series Troubleshooting Manual (Cat. No. W503) for Levels: Maj: Major fault level, Prt: Partial fault level, Min: Minor fault level, Obs: Observ

Event code Event name Meaning Assumed cause

• A foreign object is interfering with fan operation.

08210000 hex

08220000 hex

Fan/Power Supply Error

Camera Overcurrent Detected

An error occurred in the fan or power

An overcurrent flowed to the Camera.

supply.

• A suitable power supply vo

ltage is not being used, resulting in an overvoltage or undervoltage.

• T

here is a short circuit

de the Camera cable

nsi or in a circuit inside the Controller.

details on event codes.

ation, Info: Information

Level

Maj Prt Min

√

Obs

Reference

Info

Reference:

(p.101)

Reference:

(p.101)

08230000 hex

182D0000 hex

385A0000 hex

Parallel I/O Overcurrent Detected

Setting Data Load Error

Change in Connected Camera

An overcurrent occurred in I/O interface.

Loadin

g the scene

group data failed.

The Camera that is conn

ected is diff from when data was last saved.

the pa

rallel

erent

• A parallel I/O interface l

e is short-circuited.

• The data is corrupted because the power supply was turned OFF while saving the previous scene data.

• As the result of changing the

operatio required amount of memory increased, resulting in insufficient memory.

• The Camera connection information in the scene data does not agree with the connection information for the Camera connected to the Controller.

n mode, the

√

Reference:

(p.102)

Reference:

(p.102)

Reference:

(p.103)

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Vision System FH/FZ5 Series User’s Manual

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Event code Event name Meaning Assumed cause

• A Camera is not

38590000 hex

48020000 hex System Error

58210000 hex

58220000 hex

78190000 hex

Camera Connection Error

Output Control Timeout for allel I/O, PLC Li

nk, or EtherNet/

Output Control Timeout for erCAT

Logging Disk Writ

e Error

The Camera connection is wrong.

An error occurred in the system.

out occurred in

A time

Par-

ta output handshaking control for measurement results.

A timeout occurred in data

Eth-

output handshaking control for measurement results.

Writing data to the logging disk failed.

nnected

Controller.

• The Camera cable is broken.

• The Camera Selection se

ttings a the Camera Image Input and Camera Switching processing items.

• A Camera is not co

nnected port on the Controller according to the Camera Selection settings in the Camera Image Input and Camera Switching processing items.

• A

serious error occurred in the system in the Controll

• The data output hand the program (i.e., the ON/ OFF timing of the Result Set Request signal) are not correct.

• The output control t

imeout time is too short in comparison with the program processing time.

• The parallel I/O Result Se

t Request or Notification signal is not wired correctly.

• The data output hand the program (i.e., the ON/ OFF timing of the Result Set Request signal) are not correct.

• The output control t

imeout in comparison with the program processing time.

• A logging disk is not inserted.

• The available space on the sufficient.

• There is no logging fol

der.

• Security restrictions are se

t on

to the

re not correct in

to the Camera

er.

shaking co

time is too short

logging disk is not

the logging disk.

ntrols in

Result

ntrols in

Level

Maj Prt Min

√

Obs

Reference

Info

Reference:

(p.104)

(p.105)

(p.106)

(p.106

Methods for Connecting and Communicating with External Devices

)

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EtherCAT Connections (FH-1000 series/FH-3000 series only)

Page 100

Event code Event name Meaning Assumed cause

• Scene data was edited when

there wa available space on the RAM disk and the operation mode was Double Speed Multiinput.

• The data transfer button was cl

icked when

781A0000 hex

Setting Data T

ran

sfer Error

An error occurred while transferring the scene data.

was little available space on the RAM disk and the operation mode was Non-stop Adjustment Mode.

• Data measurements are being performed on a perio

d that is shorter than the time that is required for data output

781B0000 hex

Output Buffer Error (EtherCAT)

he data output buffer

for measurement

data

is full.

handshake controls in the program.

• There is a mistake in the PLC or Vision Sensor communications settings.

• The Ethernet or RS232C

cable is damaged.

88080000 hex

PLC Link Communications Error

A PLC Link cannot be established

s little

there

Level

Maj Prt Min

√

Obs

Reference

Info

Reference:

(p.107)

(p.108

)

*1: Major Fault Level

• These errors prevent control operations for the entire Controller. If a major fault level error is detected, user program execution is st

opped immediately and the loads for all slaves (including remote I/O) are turned OFF. You cannot reset major fault level errors from the user program, the Sysmac Studio, or an NS-series PT. To recover from a major fault level error, remove the cause of the error, and either cycle the power supply to the Controller or reset the Controller from the Sysmac Studio.

• Partial Fault Level

These errors prevent control operations in a certain function module in the Controller. The NJ-series CPU Unit continues to exec following to return to normal status.

•Reset the error from the user program, the Sysmac Studio, or an NS-series PT.

•Cycle the power supply to the Controller.

•Reset the Controller from the Sysmac Studio.

he user program even after a partial fault level error occurs. After you remove the cause of the error, execute one of the

ute t

• Minor Fault Level

These errors prevent part of the control operations in a certain fu

nction module in the Controller. The troubleshooting for

minor fault level errors is the same as the processing for partial fault level errors.

• Observations

These errors do not affect the control o

ions of the Controller. Observations serve as warnings to the user so that the

perat

error does not develop into an error at a higher level.

• Information

Events that are classified as information do not indicate errors.

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Vision System FH/FZ5 Series User’s Manual

for Communications Settings (Z342)

Omron FH, FZ5 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

FH/FZ5 Manual Configuration

Conventions Used in This Manual

Terms and Conditions Agreement

Safety Precautions

Precautions for Safe Use

Precautions for Correct Use

Regulations and Standards

Contents

Introduction

Confirming the System Configuration

System Configuration

Communicating with an External Device

Basic Control Operations of the Sensor Controller

Communication between the Sensor Controller and an External Device

Control Methods for the Sensor Controller

Communication Protocols for Communication with the Sensor Controller

Saving Sensor Controller Data to an External Device

Control Methods Using an External Device

Control with Control Signals and Status Signals

Command/Response Method

Data Output after Measurements

Setting Procedures for Communications

Communications Setup Procedures

Communications Protocols and Communications Modules

Differences in Specifications Based on the Communications Protocol

List of Supported Signals by Communications Protocol

Restrictions when Using Different Communication Protocols Simultaneously

Models That Are Compatible with the Communications Protocols

EtherCAT Connections (FH-1000 series/FH-3000 series only)

Introduction to EtherCAT

Structure of CAN Application Protocol over EtherCAT (CoE)

EtherCAT Slave Information Files (ESI Files)

Transitions of Communications States

Process Data Objects (PDOs)

Service Data Objects (SDOs)

Communications between an EtherCAT Master and Slaves

FH-series Vision Sensor Communications Method When Connected to EtherCAT

Communications Settings

Communications Module Settings (Startup Settings)

Communications Specifications Settings

Output Data Settings (Processing Item Registration)

EtherCAT Network Configuration Settings

Communications Test

I/O Ports by Area (PDO Mapping) and Memory Assignments

I/O Signals

Measurement Results That You Can Output with Fieldbus Data Output

Command List

Measurement Trigger Input

Command Response Processing

Data Output

Time Charts

EtherCAT Troubleshooting

Sysmac Error Status