Omron FH, FZ5 User Manual
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
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.
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
T
o
confirm the safety and
usage precautions of the
Vision System FH series
Sensor Controller.
To
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.
Wh
en User connect to NJ
series via EtherCA
communication.
ns of the
ty and
ty and
mmunication
T
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,
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)
1
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.
2
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
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)
3
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
s
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
at
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
re
4
ty is assumed for clerical, typographical or proofreading errors or omissions.
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
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)
5
MEMO
6
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
Contents
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
... 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
49
. 50
.... 60
.... 70
.............. 76
8
3
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
7
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
5
. 94
.. 110
.. 162
.. 189
.. 210
.. 213
214
217
228
.. 236
267
267
.. 285
8
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
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)
9
10
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
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
1
Overview
Setting Procedures for Communications......
Differences in Specifications Based on the
Communications Protocol................................................ 37
.................. 35
Introduction
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.
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
12
Introduction
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
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
1
Overview
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
Confirming the System Configuration
13
Communicating with an External Device
Trigger sensor
PLC
External device
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.
*1
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
n
14
Communicating with an External Device
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
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
1
Overview
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
Communicating with an External Device
15
Communication between the Sensor Controller and an External Device
PLC or other external device
Camera Input
Search
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
16
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)
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.
1
Overview
Data output after
me
asurement
s
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
17
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
18
Communicating with an External Device
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
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.
us
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
1
Overview
*2
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
*1
icate with the Sensor Controller.
se data, and measurement data are
a/Respo
bles are created
nse Area, and
that
OK --- ---
--- OK OK
--- OK ---
--- OK ---
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
Communicating with an External Device
19
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.
US
to the network in the Vision System FH/FZ5 Series
a computer connected via Ethernet.
*2
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.
20
Communicating with an External Device
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
• 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
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
1
Overview
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
Communicating with an External Device
21
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
Da
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
22
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
for Communications Settings (Z342)
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
Z)
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
1
Overview
GATE
Result Notification
READY
Trigger Ready
OR
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
*1
*2
*3
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.
V
Z365).
• Camera connection error
• Battery error
• Fan error
Th
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
nt
23
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
f
24
Control Methods Using an External Device
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
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
1
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).
me
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
25
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.
26
Control Methods Using an External Device
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
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
1
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.
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
Control Methods Using an External Device
27
Items that Can Be Output as Output Data
Note
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.
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).)
28
Control Methods Using an External Device
Vision System FH/FZ5 Series User’s Manual
for Communications Settings (Z342)
Loading...