Omron Vision Sensor User Manual

Vision Sensor

FH/FHV Series

Vision System

User's manual for Communication Settings

FH-1£££/FH-1£££-££ FH-2£££/FH-2£££-££ FH-3£££/FH-3£££-££ FH-5£££/FH-5£££-££ FH-L£££/FH-L£££-££ FHV7£-£££££-C FHV7£-£££££-S££/FHV7£-£££££-S££-££ FHV7£-£££££-H££/FHV7£-£££££-H££-££

Z342I-E3-14

NOTE

• 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 con-

tained 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 omis-

sions.

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.

• Intel, Core and Pentium are trademarks of Intel Corporation in the U.S. and/or other countries.

• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation

GmbH, Germany.

• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

• The SD, SDHC, microSD, and microSDHC logos are trademarks of SD-3C, LLC.

• QR Code is a registered trademark of DENSO WA

VE INCORPORATED.

• MELSEC is a registered trademarks of Mitsubishi Electric Corporation.

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

marks of their respective companies.

Copyrights

Microsoft product screen shots reprinted with permission from Microsoft Corporation.

Introduction

Thank you for purchasing the FH/FHV Series. This manual contains information that is necessary to use the FH/FHV Series. Please read this manual and make sure you understand the functionality and performance of the FH/FHV Series before you attempt to use it in a control system. Keep this manual in a safe place where it will be available for reference during operation.

Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).

• Personnel in charge of introducing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of installing and maintaining FA systems.

• Personnel in charge of managing FA systems and facilities.

Introduction

Applicable Products

This manual covers the following products.

• FH-1£££

• FH-1£££-££

• FH-2£££

• FH-2£££-££

• FH-3£££

• FH-3£££-££

• FH-5£££

• FH-5£££-££

• FH-L£££

• FH-L£££-££

• FHV7£-££££ Part of the specifications and restrictions are given in other manuals. Refer to Relevant Manuals on Relevant Manuals on page 2 and Related Manuals on page 17.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Relevant Manuals

The following table provides the relevant manuals for the FH/FHV Series. Read all of the manuals that are relevant to your system configuration and application before you use the FH/FHV Series.

Purpose of use

Basic information

FH/FHV Series Vision System

User's Manual

Hardware Setup Manual

FH Series Vision System

FHV Series Smart Camera

Setup Manual

Manual

FH/FHV Series Vision System

Processing Item Function

Reference Manual

FH Series Vision System

Macro Customize Functions

Programming Manual

FH/FHV Series Vision System

User’

s Manual for Communications Settings

FH/FHV Series Vision System

Operation Manual for Sysmac Studio

Overview of FH series

Overview of FHV7 series

Setup and Wiring

EtherCAT

EtherNet/IP

PROFINET

Ethernet

RS-232C

Parallel interface

Setup the communication setting of Sensor Controller

EtherCAT

EtherNet/IP

PROFINET

Ethernet

RS-232C

Parallel interface

Setup the Sensor Controller

EtherCAT

EtherNet/IP

PROFINET

Ethernet

RS-232C

Parallel interface

l l

l l l l

l l

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Purpose of use

Basic information

FH/FHV Series Vision System

User's Manual

Hardware Setup Manual

FH Series Vision System

FHV Series Smart Camera

Setup Manual

Relevant Manuals

Manual

FH/FHV Series Vision System

Processing Item Function

Reference Manual

FH Series Vision System

Macro Customize Functions

Programming Manual

FH/FHV Series Vision System

User’

s Manual for Communications Settings

FH/FHV Series Vision System

Operation Manual for Sysmac Studio

Create and Set the Scene

EtherCAT

EtherNet/IP

PROFINET

Ethernet

RS-232C

Parallel interface

Optimizing the Scene Flow

EtherCAT

EtherNet/IP

PROFINET

Ethernet

RS-232C

Parallel interface

Connecting the Controller

EtherCAT

EtherNet/IP

PROFINET

Ethernet

RS-232C

Parallel interface

Using Helpful Functions

EtherCAT

EtherNet/IP

PROFINET

Ethernet

RS-232C

Parallel interface

Troubleshooting and Problem Solving

l l

l l l l

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

4-9

4 Installation and Wiring

NJ-series CPU Unit Hardware User’s Manual (W500)

stinU gnitnuoM 3-4

stnenopmoC rellortnoC gnitcennoC 1-3-4

4-3 Mounting Units

The Units that make up an NJ-series Controller can be connected simply by pressing the Units together and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the same way to the Unit on the far right side of the Controller.

1 Join the Units so that the connectors fit exactly.

2 The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders

toward the back of the Units as shown below until they click into place.

Precautions for Correct UsePrecautions for Correct Use

4-3-1 Connecting Controller Components

Connector

Hook

Hook holes

Slider

Lock

Release

Move the sliders toward the back until they lock into place.

Level 1 heading Level 2 heading Level 3 heading

Level 2 heading

A step in a procedure

Manual name

Special information

Level 3 heading

Page tab

Gives the current headings.

Indicates a procedure.

Icons indicate precautions, additional information, or reference information.

Gives the number of the main section.

The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O Units, and CPU Bus Units must be completely locked (until they click into place) after connecting the adjacent Unit connectors.

Manual Structure

Page Structure

The following page structure is used in this manual.

Note This illustration is provided only as a sample. It may not literally appear in this manual.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Special Information

Special information in this manual is classified as follows:

Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information

Additional information to read as required. This information is provided to increase understanding or make operation easier.

Manual Structure

Conventions Used in This Manual

Use of Quotation Marks and Brackets In this manual, menus and other items are indicated as follows.

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

Italic Item name Indicates the item names displayed on the screen.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Manual Structure

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Sections in This Manual

Overview

Methods for Connecting and Communicating with External Devices

Appendices

Index

Sections in This Manual

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

CONTENTS

Introduction .............................................................................................................. 1

Intended Audience...........................................................................................................................................1

Applicable Products

Relevant Manuals..................................................................................................... 2

Manual Structure...................................................................................................... 4

Page Structure.................................................................................................................................................4

Special Information .......................................................................................................................................... 5

Conventions Used in This Manual ................................................................................................................... 5

Terms and Conditions Agreement........................................................................ 11

Safety Precautions................................................................................................. 13

.........................................................................................................................................1

Precautions for Safe Use ...................................................................................... 14

Precautions for Correct Use ................................................................................. 15

Regulations and Standards .................................................................................. 16

Related Manuals..................................................................................................... 17

Revision History..................................................................................................... 19

Sections in This Manual .......................................................................................... 7

Section 1 Overview

1-1 Introduction ............................................................................................................................1-2

1-2 Confirming the System Configuration

1-2-1 System Configuration..................................................................................................................1-3

1-3 Communicating with an External Device.............................................................................1-4

1-3-1 Basic Control Operations of the Sensor Controller .....................................................................1-4

1-3-2 Communications between the Sensor Controller and an External Device..................................1-5

1-3-3 Control Methods for the Sensor Controller..................................................................................1-7

1-3-4 Communication Protocols for Communicating with the Sensor Controller..................................1-9

1-3-5 Saving Sensor Controller Data to an External Device ..............................................................1-11

1-4 Control Methods Using an External Device ......................................................................1-13

1-4-1 Control with Control Signals and Status Signals.......................................................................1-13

1-4-2 Command/Response Method ...................................................................................................1-16

1-4-3 Data Output after Measurements..............................................................................................1-17

1-5 Setting Procedures for Communications .......................................................................... 1-28

1-5-1 Communications Setup Procedures..........................................................................................1-28

1-5-2 Communications Protocols and Communications Modules ......................................................1-29

1-6 Differences in Specifications Based on the Communications Protocol ........................1-31

1-6-1 List of Supported Signals by Communications Protocol ...........................................................1-31

1-6-2 Restrictions when Using Different Communication Protocols Simultaneously..........................1-33

1-6-3 Restrictions in Communication Protocols by Operation Mode ..................................................1-33

1-6-4 Models being Compatible with Communication Protocol ..........................................................1-34

.................................................................................1-3

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

CONTENTS

Section 2 Methods for Connecting and Communicating with Ex-

ternal Devices

2-1 EtherCAT Connections .......................................................................................................... 2-4

2-1-1 Introduction to EtherCA

2-1-2 Structure of CAN Application Protocol over EtherCAT (CoE) .....................................................2-7

2-1-3 EtherCAT Slave Information Files (ESI Files) .............................................................................2-8

2-1-4 Transitions of Communications States........................................................................................2-9

2-1-5 Process Data Objects (PDOs) ..................................................................................................2-10

2-1-6 Service Data Objects (SDOs) ...................................................................................................2-13

2-1-7 Communications between Master and Slaves for EtherCAT ...................................................2-14

2-1-8 Communication Method of FH Sensor Controller Connected by EtherCAT ..............................2-15

2-1-9 Communications Settings .........................................................................................................2-20

2-1-10 Communications Module Settings (Startup Settings)................................................................2-22

2-1-11 Communication Specifications Settings ....................................................................................2-23

2-1-12 Output Data Settings (Processing Item Registration) ...............................................................2-28

2-1-13 Setting Output Data (Numerical Values/Character Strings) ......................................................2-31

2-1-14 EtherCAT Network Configuration Settings ................................................................................2-37

2-1-15 Communication Test..................................................................................................................2-38

2-1-16 I/O Ports by Area (PDO Mapping) and Memory Allocation .......................................................2-39

2-1-17 I/O Signals.................................................................................................................................2-45

2-1-18 Measurement Results for which Output is Possible (Fieldbus Data Output) ............................2-49

2-1-19 Command List ...........................................................................................................................2-51

2-1-20 Measurement Trigger Input.......................................................................................................2-54

2-1-21 Command Response Processing..............................................................................................2-55

2-1-22 Data Output...............................................................................................................................2-57

2-1-23 Timing Chart..............................................................................................................................2-60

2-1-24 EtherCAT Troubleshooting ........................................................................................................2-64

2-1-25 Sysmac Error Status .................................................................................................................2-66

2-1-26 Sysmac Device Features ..........................................................................................................2-84

2-1-27 Object Dictionary.......................................................................................................................2-87

2-2 Communicating by PLC Link ............................................................................................ 2-126

2-2-1 Communications Processing Flow ..........................................................................................2-126

2-2-2 Communications Settings .......................................................................................................2-128

2-2-3 Communications Module Settings (Startup Settings)..............................................................2-129

2-2-4 Communication Specifications Settings ..................................................................................2-131

2-2-5 Output Data Settings (Processing Item Registration) .............................................................2-152

2-2-6 Setting Output Data (Numerical Values and Character Strings) .............................................2-157

2-2-7 Testing Communications .........................................................................................................2-163

2-2-8 Memory Allocation...................................................................................................................2-167

2-2-9 I/O Signals...............................................................................................................................2-171

2-2-10 Output Items............................................................................................................................2-174

2-2-11 Command List .........................................................................................................................2-175

2-2-12 Command Response Processing............................................................................................2-179

2-2-13 Data Output.............................................................................................................................2-182

2-2-14 Timing Chart............................................................................................................................2-184

2-2-15 PLC Link Troubleshooting.......................................................................................................2-187

2-3 Communicating by EtherNet/IP ........................................................................................2-190

2-3-1 Introduction to EtherNet/IP......................................................................................................2-190

2-3-2 Data Exchange with EtherNet/IP.............................................................................................2-191

2-3-3 EtherNet/IP Communications..................................................................................................2-194

2-3-4 Communications Processing Flow ..........................................................................................2-195

2-3-5 Communications Settings .......................................................................................................2-197

2-3-6 Communications Module Settings (Startup Settings)..............................................................2-198

2-3-7 Communication Specifications Settings ..................................................................................2-199

2-3-8 Setting Tag Data Link ..............................................................................................................2-206

2-3-9 Output Data Settings (Processing Item Registration) .............................................................2-211

2-3-10 Setting Output Data (Numerical Values and Character Strings) .............................................2-216

2-3-11 Testing Communications .........................................................................................................2-222

2-3-12 Memory Allocation...................................................................................................................2-224

2-3-13 I/O Signals...............................................................................................................................2-234

2-3-14 Output Items............................................................................................................................2-238

T.............................................................................................................2-4

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

CONTENTS

2-4 Communicating by PROFINET .........................................................................................2-259

2-5 Non-procedure Communications ..................................................................................... 2-313

2-6 Parallel Communications ..................................................................................................2-351

2-3-15 Command List .........................................................................................................................2-239

2-3-16 Command Response Processing

2-3-17 Data Output.............................................................................................................................2-247

2-3-18 Timing Chart............................................................................................................................2-249

2-3-19 Communicating with the Sensor Controller using EtherNet/IP Message Communications ....2-252

2-3-20 Example for Command Settings .............................................................................................2-255

2-3-21 EtherNet/IP Troubleshooting...................................................................................................2-256

2-4-1 Overview of PROFINET ..........................................................................................................2-259

2-4-2 PROFINET Communications ..................................................................................................2-262

2-4-3 Communications Processing Flow ..........................................................................................2-263

2-4-4 Communications Settings .......................................................................................................2-265

2-4-5 Communications Module Settings (Startup Settings)..............................................................2-266

2-4-6 Communication Specifications Settings ..................................................................................2-267

2-4-7 IO Data Communication Settings............................................................................................2-273

2-4-8 Output Data Settings (Processing Item Registration) .............................................................2-275

2-4-9 Setting Output Data (Numerical Values and Character Strings) .............................................2-279

2-4-10 Testing Communications .........................................................................................................2-285

2-4-11 Memory Allocation...................................................................................................................2-288

2-4-12 I/O Signals...............................................................................................................................2-294

2-4-13 Output Items............................................................................................................................2-298

2-4-14 Command List .........................................................................................................................2-299

2-4-15 Command Response Processing............................................................................................2-302

2-4-16 Data Output.............................................................................................................................2-305

2-4-17 Timing Chart............................................................................................................................2-307

2-4-18 PROFINET Troubleshooting ...................................................................................................2-310

2-5-1 Communications Processing Flow ..........................................................................................2-313

2-5-2 Communications Setup Procedures .......................................................................................2-314

2-5-3 Communications Module Settings (Startup Settings)..............................................................2-314

2-5-4 Communications Specifications Settings ................................................................................2-316

2-5-5 Output Data Settings (Processing Item Registration) ............................................................2-321

2-5-6 Output Data Settings (Numerical Values/Character Strings) ..................................................2-327

2-5-7 Testing Communications .........................................................................................................2-335

2-5-8 Output Items............................................................................................................................2-338

2-5-9 Command Formats .................................................................................................................2-340

2-5-10 Command List .........................................................................................................................2-342

2-5-11 Output Format .........................................................................................................................2-346

2-5-12 Non-procedure Communications Troubleshooting..................................................................2-348

2-6-1 Communications Processing Flow .........................................................................................2-351

2-6-2 Communications Setup Procedures .......................................................................................2-353

2-6-3 Communications Module Settings (Startup Settings)..............................................................2-354

2-6-4 Communications Specifications Settings ...............................................................................2-355

2-6-5 Output Data Settings (Processing Item Registration) .............................................................2-364

2-6-6 Output Data Settings (Numerical value/Judgment) ................................................................2-370

2-6-7 Testing Communications .........................................................................................................2-376

2-6-8 I/O Signals...............................................................................................................................2-378

2-6-9 Output Items............................................................................................................................2-389

2-6-10 Command Formats .................................................................................................................2-391

2-6-11 Time Charts.............................................................................................................................2-395

2-6-12 Parallel Troubleshooting..........................................................................................................2-409

............................................................................................2-243

Appendices

A-1 Command Control................................................................................................................. A-2

A-1-1 Parameter Notation Examples for Command Control

A-1-2 Details of Commands Used in EtherCAT Communications ....................................................... A-6

A-1-3 Command List ............................................................................................................................ A-7

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET ............................... A-15

A-1-5 Non-procedure Command Details............................................................................................ A-85

................................................................ A-2

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Terms and Conditions Agreement

Warranty, Limitations of Liability

• Warranties

Exclusive Warranty:

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

Limitations:

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT NONINFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. Omron further disclaims all warranties and responsibility of any type for claims or expenses based on 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) replace (in the form originally shipped 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.

See http://www.omron.com/global/ or contact your Omron representative for published information.

• Limitation on Liability; Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR 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 Companies exceed the individual price of the Product on which liability is asserted.

Application Considerations Warranties

• Suitablity of Use Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buyer’s request, Omron will provide applicable third party certification documents identifying ratings

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Terms and Conditions Agreement

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’ es. NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES 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’s programming of a programmable Product, or any consequence thereof.

Disclaimers

• Performance Data Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user 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 at any time based on improvements and other 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.

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

s application, product or system. Buyer shall take application responsibility in all cas-

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Safety Precautions

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

Safety Precautions

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Precautions for Safe Use

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

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Precautions for Correct Use

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

Precautions for Correct Use

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Regulations and Standards

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

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Related Manuals

The followings are the manuals related to this manual. Use these manuals for reference.

Name of Manual Cat. No.. Model Purpose Contents

Vision System FH Instruction Sheet

Vision System FH-L Instruction Sheet

Smart Camera FHV Instruction Sheet

Smart Camera Lighting Module

TM Instruction Sheet

FHV-L

Smart Camera Lens Module FHV-LEM-S Instruction Sheet

Smart Camera High-Speed Lens Module FHV-LEM-H Instruction Sheet

FHV Series Smart Camera Setup Manual

9608337-2

3102269-4

9606631-1

3129404-0

3129276-4

3128622-5

3129408-2

Z408

FH-1£££ FH-1£££-££ FH-3£££ FH-3£££-££

FH-2£££ FH-2£££-££ FH-5£££ FH-5£££-££

FH-L£££ FH-L£££-££

FHV7£-£££££-C

FHV-LTM££

-LEM-S££

FHV

-LEM-H££

FHV

FHV7£-£££££-C FHV7£-£££££-S££ FHV7£-£££££-S££-£

FHV7£-£££££-H££ FHV7£-£££££-H££-£

To confirm the safety and usage precautions of the V System FH series Sensor Controller

To confirm the safety and usage precautions of the Vision System FH-Lite series Sensor Control-

ler

To confirm the safety and usage precautions of the Smart Camera FHV7 series.

To confirm the safety and usage precautions of the Smart camera lighting module FHV-LTM.

To confirm the safety and usage precautions of the Smart camera lens module FHV-LEM-S.

To confirm the safety and usage precautions of the Smart camera high-speed lens module FHVLEM-H.

When User want to know about the hardware specifications or to setup the Smart camera FHV series.

ision

Describes the definitions of basic terms, meaning of signal words, and precautions for correct use of FH series in the manual.

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

Describes the definitions of basic terms, meaning of signal words, and precautions for correct use of FH-L series in the manual.

Describes the definitions of basic terms, the meaning of signal words, and precautions for correct use of FHV7 series in the manual.

Describes the definitions of basic terms, the meaning of signal words, and precautions for correct use of the lighting module FHV-LTM in the manual.

Describes the definitions of basic terms, the meaning of signal words, and precautions for correct use of the lens module FHV-LEM-S.

Describes the definitions of basic terms, the meaning of signal words, and precautions for correct use of the high-speed lens module FHVLEM-H.

Describes FHV series specifications, dimensions, part names, I/O information, installation information, and wiring information.

Related Manuals

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Related Manuals

Name of Manual Cat. No.. Model Purpose Contents

Vision System FH/FHV Series User's Manual

Vision System FH/FHV series Processing Item Function Reference Manual

Vision System FH/FHV Series User's manual for Communications Settings

Vision System FH series Hardware Setup Manual

ision System

V FH series Macro Customize Functions Programming Manual

Vision System FH/FHV Series Operation Manual for Sysmac Studio

Z365

Z341 When User confirm

Z342 When User confirm

Z366

Z367 When User operate

Z343

FH-1£££ FH-1£££-££ FH-2£££ FH-2£££-££ FH-3£££ FH-3£££-££ FH-5£££ FH-5£££-££ FH-L£££ FH-L£££-££ FHV7£-£££££-C FHV7£-£££££-S££ FHV7£-£££££-S££-£

FHV7£-£££££-H££ FHV7£-£££££-H££-£

FH-1£££ FH-1£££-££ FH-2£££ FH-2£££-££ FH-3£££ FH-3£££-££ FH-5£££ FH-5£££-££ FH-L£££ FH-L£££-££

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When User want to know about the FH/FHV series.

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

the setting of communication functions.

When User want to know about the Hard-ware specifications or to setup the Sensor Controller of

ision System

the V FH series.

or programming using Macro Customize functions.

When User connect to NJ/NX series via

T communi-

EtherCA cation.

Describes the soft functions, setup, and operations to use FH/FHV series/

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

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

Describes FH series specifications, dimensions, part names, I/O information, installation information, and wiring information.

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

Describes the operating procedures for setting up and operating FH/FHV series Vision Sensors from the Sysmac Studio FH/FHV T

T, and Non-procedure.

ools.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Revision History

Revision code

Cat. No. Z342-E1-14

A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual.

Revision History

Rev. Code Rev. Date Revision Contents

01 Jul. 2013 First edition Ver. 5.00

02 Aug. 2013 Additions for software version upgrade Ver. 5.10

03 Sep. 2013 Additions for software version upgrade Ver. 5.12

04 Jan. 2014 Additions for software version upgrade Ver. 5.20

05 Jun. 2014 Additions for software version upgrade Ver. 5.30

06 Oc. 2015 Additions for software version upgrade Ver. 5.50

07 Apr. 2016 Additions for software revision upgrade and descrip-

tion of FH-L series

08 Mar. 2017 Corrected mistakes.

Additions for software revision upgrade

09 Jun. 2017 Additions for software version upgrade Ver. 5.72

10 Jul. 2018 Additions for software version upgrade Ver. 6.10

11 Nov. 2018 Additions for software version upgrade Ver. 6.20

12 Jul. 2019 Additions for software version upgrade Ver. 6.30

13 Nov. 2019 Corrected mistakes. Ver. 6.30

14 Jun. 2020 Corrected mistakes. Ver. 6.40

Software Ver-

sion

Ver. 5.60

Ver. 5.71

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Revision History

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Overview

This section describes communication specifications to be used for communications between FH/FHV and an external device, and the Sensor Controller control methods.

1-1 Introduction

1-2 Confirming the System Configuration .........................................................1-3

1-2-1 System Configuration ..................................................................................... 1-3

1-3 Communicating with an External Device..................................................... 1-4

1-3-1 Basic Control Operations of the Sensor Controller......................................... 1-4

1-3-2 Communications between the Sensor Controller and an External Device ..... 1-5

1-3-3 Control Methods for the Sensor Controller ..................................................... 1-7

1-3-4 Communication Protocols for Communicating with the Sensor Controller ..... 1-9

1-3-5 Saving Sensor Controller Data to an External Device ...................................1-11

1-4 Control Methods Using an External Device............................................... 1-13

1-4-1 Control with Control Signals and Status Signals .......................................... 1-13

1-4-2 Command/Response Method ....................................................................... 1-16

1-4-3 Data Output after Measurements ................................................................. 1-17

1-5 Setting Procedures for Communications ..................................................1-28

1-5-1 Communications Setup Procedures ............................................................. 1-28

1-5-2 Communications Protocols and Communications Modules.......................... 1-29

1-6 Differences in Specifications Based on the Communications Pro-

tocol................................................................................................................ 1-31

1-6-1 List of Supported Signals by Communications Protocol ............................... 1-31

1-6-2 Restrictions when Using Different Communication Protocols Simulta-

1-6-3 Restrictions in Communication Protocols by Operation Mode...................... 1-33

1-6-4 Models being Compatible with Communication Protocol.............................. 1-34

.................................................................................................... 1-2

neously .......................................................................................................... 1-33

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-1

1 Overview

1-1

Introduction

This section describes a basic overview of the Sensor Controller control methods and the communication specifications, which is required when the FH/FHV series communicate with an external device.

Confirming the System Configuration

This section describes the external device configuration that is required to perform measurement processing with the FH/FHV. For details, refer to

Communicating with an External Device

This section describes the basic operations of the Sensor Controller, and the communication specifications between the Sensor Controller and an external device. For Basic Flow of Communications and Signals, refer to 1-3-1 Basic Control Operations of the Sensor Control-

on page

ler

1-4

• Process from Starting Measurements at the Sensor Controller to Data Output:

For details, refer to 1-3-2 Communications between the Sensor Controller and an External Device on page 1-5.

• Sensor Controller Control Methods (Control Signals, Commands, etc.)

For details, refer to 1-3-3 Control Methods for the Sensor Controller on page 1-7.

• Types of Communication Protocols for Communicating with the Sensor Controller

For details, refer to 1-3-4 Communication Protocols for Communicating with the Sensor Controller on page 1-9.

• Moving Data between the Sensor Controller and an External Device

For details, refer to 1-3-5 Saving Sensor Controller Data to an External Device on page 1-11.

Control Methods Using an External Device

This section describes the methods that you can use to control the Sensor Controller from an external device.

• Control with Control Signals and Status Signals

For details, refer to 1-4-1 Control with Control Signals and Status Signals on page 1-13.

• Command/Response Method

For details, refer to

• Data Output after Measurements

For details, refer to 1-4-3 Data Output after Measurements on page 1-17.

Setting Procedures for Communications

This section describes the procedures that are required to set up communications before starting communications between the Sensor Controller and an external device. For details, refer to 1-5-1 Communications Setup Procedures on page 1-28.

ferences in Specifications Based on the Communications Protocol

Dif

This section describes the types and differences of communication protocols that are used for communications with the Sensor Controller For details, refer to

1-2 Confirming the System Configuration on page 1-3.

↓

1-4-2 Command/Response Method on page 1-16.

↓

1-5-2 Communications Protocols and Communications Modules on page 1-29.

1-2

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Sensor Controller

External device (e.g, PLC)

Camera

1 Overview

1-2 Confirming the System Con-

1-2

1-2-1

Confirming the System Configuration

The FH/FHV are Vision Systems that perform measurement processing through the Sensor Controller on measurement objects imaged by a Camera. In a system configuration connected to an external device such as a PLC or a PC (personal computer), measurement commands can be received from and measurement results can be output to the external device.

System Configuration

An overview of the FH/FHV series system configuration is shown below.

figuration

1-2-1 System Configuration

The Sensor Controller and an external device (PLC, etc.) are connected with a communication cable and communicate with each other using various communication protocols. For details of various com-

munication protocols, refer to S Devices on page 2-1.

An LCD monitor (BOX type only) for operation and monitoring and a camera are connected to the Sensor Controller unit. For details, refer to Vision System FH Series User's Manual (Cat. No. Z365), Smart Camera FHV Series Setup Manual (Cat. No. Z408), and the Instruction Manual provided with each individual device.

Communications Protocol Communication Cable

Parallel Parallel I/O cable

PLC Link

EtherNet/IP Ethernet cable

EtherCAT Ethernet cable

PROFINET Ethernet cable

Non-procedure

ction 2 Methods for Connecting and Communicating with External

Ethernet cable

RS-232C cable

Ethernet cable

RS-232C cable

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-3

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.

1 Overview

1-3

1-3-1

Communicating with an External Device

This section describes the communication specifications, control methods in communications, and settings required before starting communications with an external device.

Basic Control Operations of the Sensor Controller

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

1-4

The following methods are used to exchange commands and data, between an external device and the Sensor Controller.

From an external device to the Sensor Controller

Type Description

Control signals (Input signal)

Control commands

Communications command input

From the Sensor Controller to an external device

Type Description

When the Sensor Controller recognizes a control signal or communication command in-

Status signals

Overall judgment

Measured values

put and starts measurement processing, it reports its status to the external device using status signals such as a BUSY signal. For details, refer to Control Signals and Status Signals on page 1-13.

NG is output whenever there is one or more NGs in the judgment results for multiple processing items. It can be output using the OR signal or the TJG output parameter. For details, refer to

The measured values for processing items are output. The items to be output need to be previously registered to the output data (data 0 to 7) using processing items for output. For details, refer to Settings Required for Data Output on page 1-21.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A measurement is performed when a measurement trigger (i.e., STEP signal: ON) is input. For information of control signals, refer to Control Signals and Status Signals on page 1-13.

ou can send commands to perform measurements, switch scene groups, or perform other tasks. The communication commands depend on the communication protocol used. For details, refer to the section for each communication protocol.

Control Signals and Status Signals on page 1-13.

Type Description

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

Character output

1 Overview

This is valid in PLC Link and Non-procedure communications protocols. You can output character strings and numbers read by processing items such as Character Inspection, Barcode, or 2D Code. Y a measurement is performed. For details, refer to Items that can be Output as Output Data on page 1-19.

ou can also use commands to acquire them after

1-3 Communicating with an Ex-

ternal Device

1-3-2

Additional Information

You can also use the FTP server to obtain logged image files and logged data files saved in the FH/FHV (including external storage) from a FTP client such as web browser.

Communications between the Sensor Controller and an External Device

Communications between the Sensor Controller and an external device are performed as shown below. Here, describe how to start measurement with a communication command and to output data.

1-3-2 Communications between the Sensor Controller and an External Device

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

(1) When the Sensor Controller receives a command from an external device such as a PLC, it performs the

(2) The measured data is output via the Communication module by the Output Unit (an abbreviation for

(3)

command and returns a response.

Results Output Unit) placed in the measurement flow.

The measurement data is output when the Output Unit is performed and not when the measurement is

completed.

1-5

1 Overview

*1 When output control is set to handshaking (data output is controlled by the DSA and GATE signals).

For details, refer to Control Signals and Status Signals on page 1-13.

When handshaking is performed in the output control, the measurement data is held in the Communication module until a data output request (DSA signal) is received from the external device. For details, refer to Data Output Control with Handshaking on page 1-25.

Precautions for Correct Use

To output data, you must place an Output Unit processing item in the measurement flow. You can place multiple Output Unit processing items in the measurement flow. For details, refer to

Settings Required for Data Output on page 1-21.

1-6

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Trigger sensor

External device

Status signal

Control signal

Sensor Controller

1 Overview

1-3 Communicating with an Ex-

1-3-3

Control Methods for the Sensor Controller

There are three methods below to control the Sensor Controller with an external device such as a PLC. For details of each control method, refer to their corresponding section.

Control Methods

Method Overview Trigger type and area

Operation is controlled by the

Control signals and status signals

Control with commands and responses

Data output after measurement

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

Operation is controlled by sending control commands. The results performed by the commands can be checked with responses from the Sensor Controller.

After measurement was performed, the previously specified measurement data is automatically output.

ON/OFF status of the control signals and status signals

The control command code is stored in the I/O memory of the PLC and then the Request bit is turned ON.

Not required (Automatically output after measurement)

Signal and area to

be used

Control signals and status signals

PLC I/O memory (Command and Response Areas)

PLC I/O memory (Data Output Area)

ternal Device

1-3-3 Control Methods for the Sensor Controller

1. Control with Control Signals and Status Signals (Refer to 1-4-1 Control with Control Signals

and Status Signals on page 1-13.)

Control and status check for the Sensor Controller is performed with the ON/OFF status of the control and status signals. This method is best suited for basic operations such as measurement triggers or for checking the operating status of the Sensor Controller.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-7

External device

I/O memory

Sensor Controller

Command Area Response Area

(1) Command

(3) Response

Output Area

(2) Command execution

External device

I/O memory

Sensor Controller

Command Area Response Area

(2) Measurement data

Output Area

(1) Measurement processing

1 Overview

2. Control with Commands and Responses (Refer to 1-4-2 Command/Response Method on

3. Data Output after Measurement (Refer to 1-4-3 Data Output after Measurements on page

page 1-16.)

Control is performed by storing a control command and the response to it to the PLC’s I/O memory This method is best suited to send multiple commands to the Sensor Controller without using exclusive communication instructions for a PLC.

1-17.)

After measurement was performed, the previously specified measurement data is automatically output to the PLC’

s specified I/O memory. This allows you to output measurement results from the Sensor Controller to the PLC automatically without sending data requests from the PLC.

1-8

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

PLC

Computer

EtherNet/IP

EtherCAT

Non-procedure

Parallel

PLC Link

Sensor Controller

Control can be performed through different communications protocols.

PROFINET

1 Overview

1-3 Communicating with an Ex-

1-3-4

Communication Protocols for Communicating with the Sensor Controller

The Sensor Controller can be controlled using various communication protocols by an external device such as a PLC or a PC. The communication protocols to control the Sensor Controller by an external device are described be-

low

● Applicable Communications Protocols

The communication protocols and summary for each communication method available in the Sensor Controller are below.

OK: Supported, - : Not supported

ternal Device

1-3-4 Communication Protocols for Communicating with the Sensor Controller

Communica-

tion method

Contract input

Frame transmission

Communica-

tion

protocol

Parallel

Non-procedure

Overview

Using a combination of ON and OFF signals of multiple physical contacts exchanges data between an external device and the Sensor Controller.

Without using any specific communication protocol, command frames are sent to the Sensor Controller and response frames are received from it. By sending and receiving data in ASCII or binary formats, data is communicated between an external device such as a PLC or a PC and the Sensor Controller.

Communication Cable Type

Parallel

I/O

Ether-

net

- -

OK OK

RS-232C/

422

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-9

1 Overview

Communica-

tion method

Communica-

tion

protocol

Overview

Parallel

This is a communication protocol for the OMRON Vision System. Areas for control signals, Command,

PLC Link

Response, and measurement data are assigned in the PLC’

s I/O memory, and data is communicated between the PLC and the Vision System by sharing them cyclically.

This is an open communication protocol. Tag data links are used to communicate with the Sensor Controller

Structure variables corresponding to the

EtherNet/IP

control signals, command data and response data, and measurement data are created on the PLC. Those variables are used as tags to input and output data via the tag data links to exchange data between the PLC and the

Data sharing

Sensor Controller.

This is an open communication proto-

col. Areas for control signals, Command,

PROFINET

Response, and measurement data are assigned in the PLC’s I/O memory

, and data is exchanged between the PLC and the Vision System by sharing the data via IO data CR.

This is an open communication protocol. PDO (process data object) communications are used to communicate with the Sensor Controller. I/O ports corresponding to the control

EtherCAT

signals, command data, response data, and measurement data are prepared in advance, and the variables assigned to the I/O ports are used to input and output data via PDO communications to exchange data between the PLC and the Sensor Controller

*1. When a CJ series PLC is connected, specify each area in the I/O memory. *2. FH-1000/2000/3000/5000, and FHV series equip RS-232C only.

Communication Cable Type

RS-232C/

422

I/O

Ether-

net

- OK OK

- OK -

1-10

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Computer Sensor Controller

Ethernet

Saved directly.

• Logged images

• Logged data

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

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

Computer

Browser (FTP client)

Sensor Controller (FTP server)

Ethernet

Access via FTP

RAM disk

Images files moved to the computer.

Image files

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

1 Overview

1-3 Communicating with an Ex-

1-3-5

Saving Sensor Controller Data to an External Device

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

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

Connecting the FH/FHV 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.

• For external storage, refer to Using External Storage Devices in the Vision System FH/FHV Series User’s Manual (Cat. No. Z365). Data can be saved directly to a USB memory stick or SD Memory Card inserted into the slot on the Sensor Controller.

• For network drive, refer to the Shared folder on a computer connected to the network in the Vision System FH/FHV Series User’s Manual (Cat. No. Z365). You can save data directly to a shared folder on a computer connected via Ethernet.

ternal Device

1-3-5 Saving Sensor Controller Data to an External Device

• For data transfer (FTP server), refer to the Saving Data to an External Device in the Vision System

FH/FHV 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 needs to have an FTP client function to access the Sensor Controller of the FH/FHV series. The computer cannot be accessed directly from the Sensor Controller.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-11

Sensor Controller

Ethernet

Computer (FH/FZ5 Tool)

Hub

Sensor Controller

Operate/monitor

1 Overview

• For remote operation over a network, refer to the Remotely Operating the Controller (Remote

Operation) in the Vision System FH/FHV Series User

’s Manual (Cat. No. Z365).

If more than one Sensor Controller is connected via Ethernet, a computer (FZ tool) connected to the same Ethernet network can operate and monitor all the Sensor Controllers at once.

1-12

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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

1 Overview

1-4 Control Methods Using an

1-4

1-4-1

Control Methods Using an External Device

This section describes how to control the Sensor Controller from an external device such as a PLC.

Control with Control Signals and Status Signals

Control and status check for the Sensor Controller is performed with the ON and OFF status of the control and status signals. A PLC inputs measurement triggers or other commands as control signals. The operating status of the Sensor Controller, judgment results, and other status information can be checked with status signals output from the Sensor Controller.

External Device

1-4-1 Control with Control Signals and Status Signals

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

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

notify the external device and starts measurement.

(3) When the Sensor Controller completes the measurement, it outputs the judgment results on the OR signal

to notify the external device.

Control Signals and Status Signals

The signal types that are input and output to the Sensor Controller as control and status signals are described below.

Input Signals (PLC to Sensor Controller)

Signal Name Function

EXE

Command Request

rigger Measure Bit

STEP Measure Bit

DSA (Used only for handshaking output control)

Result Set Request

ERCLR

Error Clear

Control Command Execution Signal

Data Output Request Signal

Error Clear Bit

This is turned ON when the PLC will issue a command to the FH/FHV

This is turned ON when measurement will be performed.

During handshaking, the user (PLC) uses this signal to request to output data output results performed in the measurement flow to external from the Sensor Controller of the FH/FHV series.

This is turned ON when the ERR signal from the Sensor Controller will be cleared.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-13

1 Overview

Signal Name Function

XEXE

Flow Command Request

DI (DI0 to DI7) Command Input Signals

ENCTRIG

Flow Command Request Bit

Encoder Trigger Input (Phase A, B, Z)

This is turned ON when a command will be performed while PLC Link, Fieldbus, or parallel flow control is performed.

These are used to input commands from a parallel interface.

This is the encoder input signal. This signal is only available when the encoder trigger will be used.

Output Signals (Sensor Controller to PLC)

Signal Name Function

This signal indicates that new requests cannot be accepted because an external input such as a command is currently handled.

BUSY Busy Signal

FLG

Command Completion

Result Notification

READY

Trigger Ready

Total Judgment

DI (DO0 to DO15) Data Output Signals

XFLG

Flow Command Completion

XBUSY

Flow Command Busy

XWAIT

Flow Command W

Trigger ACK

Command Ready

ait

Control Command Completion Signal

Data Output Completion Signal

Camera Image Input Enabled Signal

Overall Judgment Output Signal

Flow Command Completion Bit

Measurement Command Busy Bit

Measurement Command W

ait Bit

Trigger Signal Acknowledged Bit

Command Execution Ready Bit

“ON” of this signal does not mean that a command is currently performed. To check whether a command is being executed, check the Command Completion (FLG) signal.

The Sensor Controller of the FH/FHV series uses this signal to inform the user (PLC) that a command has been completed.

This signal informs the user (PLC) of the timing to load output data. “ON” of this signal indicates that the Sensor Control-

ler is outputting the data.

This signal indicates that the STEP (Measurement

rigger) signal or the T When the multi-input function is used, following STEP signal or Trigger signal is accepted only when this signal is “ON”.

This signal notifies the overall judgment results.

These signals are used to output parallel data and parallel judgment through a parallel interface.

This signal indicates that a command performed while PLC Link or Fieldbus flow control is being performed has been completed.

This signal indicates that a command input while PLC Link or Fieldbus flow control is being performed is in execution.

This signal indicates that a command input can be accepted while PLC Link or Fieldbus flow control is being performed.

This signal indicates that the Sensor Controller of the FH/FHV series has accepted a T

This signal indicates that a control command is executable.

rigger signal can be input.

rigger signal.

1-14

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1 Overview

Signal Name Function

ERR

Error Status

RUN

Run Mode

ACK

SHTOUT

STGOUT Strobe Trigger Output This is the trigger signal for the strobe.

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

This has no linkage relation with the BUSY signal. Also, this has no linkage relation with the OR signal in the parallel communication protocol. Note that the operation is different when PLC Link is used. For details, refer to

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

When you use a camera with lighting controller, based on its type and connecting conditions, the time required for the READY or T it. For details, refer to Camera Image Input FH, Camera Image Input HDR, or Camera Image Input FHV in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

*3. The OR signal is output only when the Output option is selected in the Adjustment window.

2-2 Communicating by PLC Link on page 2-126.

Error Signal

Measurement Mode Signal

Command Completion Flag

Exposure Completion Signal

rigger Ready signal to turn OFF may increase in comparison with not using

This signal indicates that the FH/FHV detects the following errors.

• Camera connection error

• Battery error

• Fan error

• System error

• Communications timeout

• STEP input during measurement

The 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. For details, refer to Error Messages and

roubleshooting in the

User's Manual (Cat. No. Z365)..

This is a notification signal indicating the Sensor Controller of the FH/FHV series is in Run mode (In a measurement capable state with RUN signal output checked in the Layout settings for the currently displayed line).

This signal indicates that the DI command execution has been completed.

This signal indicates that Camera exposure has been completed.

Vision System FH/FHV Series

1-4 Control Methods Using an

External Device

1-4-1 Control with Control Signals and Status Signals

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-15

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

1 Overview

1-4-2

Command/Response Method

● Parallel

Commands are input to the Sensor Controller by turning the DI signals (DI0 through DI7) ON and OFF Since there is no direct response for these commands, so check the ACK signal whether or not a command was accepted. The command code is input with signals DI0 through DI6, and the command is performed by turning DI7 ON.

● PLC Link, EtherNet/IP, EtherCAT, or PROFINET

By storing control commands from the PLC to the Sensor Controller and responses from the Sensor Controller to the PLC into the PLC’s I/O memory changed. This enables you to control the Sensor Controller using commands such as single measurement and scene switch without any sequence control such as issuing communication commands from the PLC.

Memory Areas Used by the Command/Response Method

, command and response control signals are ex-

Command Area

Response Areas

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

You read the performed results of the control commands written in the Command Area from this area.

Flow of Communications between the PLC and the Sensor Controller

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

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

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

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

(5) The PLC (the user) stores the response in a specified PLC’s I/O memory area (the Response Area).

The communication commands depend on the communication protocol used. For details, refer to A-1-3 Command List on page A-7.

1-16

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Data

Output Area

• Specified data is automatically output.

• Output characters

(2) Data

CPU Unit

PLC

I/O memory

(communications areas)

Sensor Controlle

Measurement

execution

(1)

1 Overview

1-4 Control Methods Using an

1-4-3

Additional Information

Command-driven character string output is not supported when using EtherNet/IP tag data link communication, EtherCAT

, or PROFINET. To output character strings, use commands equivalent to Non-procedure communication in the EtherNet/IP message communication. For details, refer to 2-3-19 Communicating with the Sensor Controller using EtherNet/IP Mes- sage Communications on page 2-252

● Non-procedure Communications

Communication 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

Just after a Single Measurement or Start Continuous Measurement command is executed, the Sensor Controller automatically outputs the data associated with the measurement specified in advance as output items to the PLC. This allows you to easily pass measurement results data from the processing items to the PLC. Y receive the data (i.e., when handshaking is enabled). The output destination for data depends on the protocol that is used to communicate between the external device and the Sensor Controller

ou can also choose to output only when the PLC meets the conditions required to

, as described below.

External Device

1-4-3 Data Output after Measurements

● PLC Link, EtherNet/IP, EtherCAT, or PROFINET

The output data is automatically output to the PLC’s specified I/O memory below.

Area of Memory Used for Data Output after Measurements:

Data output area

After measurement performed, the output data associated with the measurement is written to this area by the Sensor Controller.

Flow of Communications between the PLC and the Sensor Controller:

The data to output after measurement performed and the PLC I/O memory area (Data Output Area) to store that data need to be specified in advance. For details, refer to Settings Required for Data Output on page 1-21.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Measurement is performed.

(1)

(2) After the measurement was performed, the specified measurement data is stored in the Data Output Area

in the PLC.

1-17

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.

1 Overview

● Parallel

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

● Non-procedure Communications

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

Outputting the Measurement Data

The measurement data is output to the external device via the Communications Module by the processing unit for data output (hereafter, Output Unit) placed in the measurement flow Therefore, to output measurement data, you must place an Output Unit in the measurement flow in advance. The measurement data is output when the Output Unit is performed and not when the measurement has been completed.

You can output character strings read by processing items such as Character Inspection, Barcode, or 2D Code. (Available only for PLC Link and Non-procedure protocols) Character strings are output simultaneously when the processing item is performed.

1-18

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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.

Additional Information

1 Overview

1-4 Control Methods Using an

External Device

1-4-3 Data Output after Measurements

Command-driven character string output is not supported when using EtherNet/IP tag data link communication, EtherCAT

Items that can be Output as Output Data

● Measurement Data

You can output at once up to eight items (32 bytes) with performing one Output Unit.

Additional Information

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

in the measurement flow. For details, refer to

• The number of data items that can be output by one Output Unit can be increased by chang-

ing a setting when using PLC Link or EtherCAT communications, as shown below.

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

- EtherCAT: 64 max. (256 bytes max.)

Outputting Multiple Measurement Data Items on page 1-23

The following items can be output.

• Judgment result

•

• Results calculated based on the values of the measured parameters

• Judgment results for expression results (Parallel Judgment Output)

● Character Output (Available only for PLC Link and Non-procedure Protocols)

You can output character strings read by processing items such as Character Inspection. The maximum number of output characters are as follows.

• Character Inspection: 32 characters

• Barcode: 1,024 characters

• 2DCode: 652 characters

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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

1-19

1 Overview

• 2DCode II: 652 characters

• OCR: 128 characters (32 characters x 4 lines) NULL (\0) is attached at the end of the read string to be output.

The processing items supporting character strings output are listed below

• Character Inspection

• Barcode

• 2DCode

• 2DCode II

• OCR For details of the character output format, refer to each processing item description in the Vision System FH/FHV Series Processing Items Reference Manual (Cat. No. Z341).

Additional Information

Command-driven character string output is not supported when using EtherNet/IP tag data link communication, EtherCAT To output character strings, use commands equivalent to Non-procedure communication in the EtherNet/IP message communication. For details, refer to 2-3-19 Communicating with the Sensor Controller using EtherNet/IP Mes- sage Communications on page 2-252

, or PROFINET.

1-20

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1 Overview

1-4 Control Methods Using an

Settings Required for Data Output

Use the following procedures to set up Output Unit for data output.

● Measurement Data

1. Place the data output processing unit(s) in the processing flow. Place the processing unit for data output in the measurement flow.

Processing Units That Serve as Output Units:

On the processing item tree in the Flow Editor window serve as Output Units.

Output Unit Selection:

Select the Output Units with the following combination according to a communication protocol to be used. For details of communication protocols, refer to 1-3-4 Communication Protocols for Communicat- ing with the Sensor Controller on page 1-9.

, the processing items under Output result

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

External Device

1-4-3 Data Output after Measurements

Communication Protocol

Output unit

Result Output (I/O)

Result Output (Message) - - - - - OK

Result Output (Parallel I/O)

Parallel Data Output OK - - - - -

Parallel Judgment Output OK - - - - -

Serial Data Output - OK - - - OK

Fieldbus Data Output - - OK OK OK -

*1. Except message communications

Parallel

- OK

PLC Link

EtherNet/IP EtherCAT PROFINET

OK OK -

procedure

Precautions for Correct Use

When Non-procedure UDP is used to output data of Result output (Message), the Sensor Controller outputs the data to only the device whose command was accepted in the end.

2. Set the items to output Set the items to output as output data in the Output Units placed in the measurement flow

. For the procedures to set output items in the Output Units, refer to the description for each communication protocol.

Non-

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-21

1 Overview

● Character Output (Available only for PLC Link and Non-procedure Protocols)

Perform the character output settings for processing items to read output characters such as Character Inspection. Since the above processing items perform the character output operation, it does not need to set Output Units in the measurement flow. For the settings to output characters, refer to the description for each processing item in the V No. Z341).

• Character Inspection

• Barcode

• 2DCode

• 2DCode II

• OCR

ision System FH/FHV Series Processing Items Reference Manual (Cat.

Additional Information

, or PROFINET.

1-22

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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.

1 Overview

1-4 Control Methods Using an

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 dif put more than nine different data items, you must register multiple Output Units in the measurement flow.

Although data output is performed for each Output Unit placed in the measurement flow, the output destination for the data is the same PLC’s I/O memory area (Data Output Area). Therefore, the first output data is overwritten by the following output data if you do nothing. When you want to save all the output data, take one of the following means.

ferent types of data during measurement flow processing, or if you want to out-

External Device

1-4-3 Data Output after Measurements

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

● Outputting Data with Result Output (I/O) or Result Output (Message) Processing Unit

The “Result Output (I/O)” or “Result Output (Message)” processing item can output nine or more items by only one processing item. For details, refer to Result Output (I/O) or

Result Output (Message) in the Vision System FH/FHV

Series Processing Items Reference Manual (Cat. No. Z341).

1-23

Processing

order

Measurement started.

0.Camera Image Input FH

1.Search

N+1. Result output (I/O)

Communications

Module

Measurement flow

ensor Controller PLC

Command

Area

I/O memory

Response

Area

Output Area

2. Advanced filter

N. -------------

Output the results of

Search or

Advanced filter

1 Overview

Offsets (Available only for PLC Link Communication Protocol):

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 Registration) on page 2-152.

Controlling Data Output with Handshaking:

When handshaking is used to control data output, the timing of outputting the data is controlled by I/O signals. Therefore, each time that data is output, read and move the data to a different part in the PLC’s I/O memory. For details, refer to Data Output Control with Handshaking on page 1-25.

The following two types of Output Units can be used via parallel communications:

Offset for the Data Output. For details, refer to 2-2-5 Output Data Settings (Processing Item

Additional Information

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

Output unit Output data

Parallel Data Output The measurement data is output. Up to eight items can be output.

The judgment results are output. Up to 16 judgment results can be output. The fol-

Parallel Judgment Output

lowing two types of judgment results can be output.

• Judgment results for specified processing items.

• Judgment results of arbitrary judgment conditions set for specified item values

1-24

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

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

16 bits

Parallel data output

PLC

0. Measurement data 0

7. Measurement data 7

Reception buffer

ata output order

Measurement data 7

Measurement data 0

GATE signal

DO0 to DO15 signals

OFF

1 Overview

● Outputting Multiple Items with Parallel Data Output

The items set for output data numbers 0 through 7 via parallel data output are output to the PLC’s reception buf

put, the GATE signal turns ON. In that time, the first data item output to the PLC’s reception buffer (data 0) is overwritten with the following output data item (data 1). Therefore, the data output to the PLC’s reception buffer needs to be moved to the PLC’s memory each time the GATE signal turns ON.

fer in ascending order, one data item at a time (16-bit units). Each time a data item is out-

1-4 Control Methods Using an

External Device

1-4-3 Data Output after Measurements

*1: The operation of the DSA signal depends on whether Handshaking for output control is enabled.

For details, refer toData Output Control with Handshaking on page 1-25.

Data Output Control with Handshaking

The timing for data output can be controlled through the DSA and GATE signals. As the timing for transferring output data can be controlled, it is useful when output data from multiple Output Units is received.

● Requirements for Using Data Output Control with Handshaking

When controlling data output, set the output control method to Handshaking in the communication protocol settings. For details, refer to Communications Specifications Setting for each communication protocol.

Parallel Communications: 2-6-4 Communications Specifications Settings on page 2-355

PLC Link Communications: 2-2-4 Communication Specifications Settings on page 2-131

EtherNet/IP Communications: 2-3-7 Communication Specifications Settings on page 2-199

EtherCA

PROFINET Communications: 2-4-6 Communication Specifications Settings on page 2-267

T Communications: 2-1-11 Communication Specifications Settings on page 2-23

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

● Handshaking

When when 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 GA

TE signal turns ON when the measurement data is output from the Sensor Controller. The external device takes in the measurement data when the GATE signal turns ON.

Signals Used for Handshaking

1-25

External device

(1) DSA signal

(3) Measurement results output

(2) GATE signal

Sensor Controlle

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

1 Overview

DSA

GATE

*1. When handshaking is not enabled for output control, the GATE signal will also be turned ON when data is

Signal Name Description

Data Output Request Signal

Data Output Completion Signal

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

This signal is sent by the external device (PLC) to the Sensor Controller to request data output.

This signal is sent by the Sensor Controller to inform the external device (PLC) of the timing to load output data. This signal is out-

put only when the DSA signal is ON.

(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.

(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 performed.

● DSA Signal ON Timing

The DSA signal needs to be turned ON when data is required. When an Output Unit has been performed and data to output is ready, the Sensor Controller will output the data when it detected the DSA signal turned ON.

To output measurement results immediately, issue the measurement trigger and turn ON the DSA signal. The Sensor Controller does not check the change from OFF to ON of the DSA signal but checks the ON state. As the measurement results are output from the Sensor Controller to the external device immediately when the Output Unit is performed, the PLC takes in the output data at once.

1-26

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

utput Unit 2 executed.

utput 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

1 Overview

● Receiving Multiple Continuous Output Data Items

When multiple output data items from multiple Output Units are received, receive the data one at a time using the DSA and GATE signals.

(i.e., PLC Link Communications with handshaking).

1-4 Control Methods Using an

External Device

1-4-3 Data Output after Measurements

(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 ON, and it outputs the first data.

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

(4) The Sensor Controller checks that the DSA signal is turned OFF and turns OFF the GATE signal automat-

(5)

(6) When the second data is output, the second data output is received when the GATE signal is turned ON

Step 3 to 5 above are repeated for all subsequent data output items.

the output data received in the PLC’ ory

ically.

The user (PLC) turns ON the DSA signal again after receiving the output data has completed and the GATE signal is turned OFF

and step 3 to 5 are repeated.

, and waits for the second data.

s Data Output Area and moves it to another area in the PLC I/O mem-

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-27

1 Overview

1-5

1-5-1

Setting Procedures for Communications

This section describes an overview of the setting procedures that the Sensor Controller starts communication with an external device such as a PLC, and the communication modules to be used for the communications.

Additional Information

For connection with a Touch Panel Monitor, refer to Settings for Touch Panel Monitor in the Vision System FH/FHV Series User’s Manual (Cat. No. Z365).

Communications Setup Procedures

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

··· The communication method to be used is determined by selecting

1. Setting the Communications Module (Startup settings)

↓

···

2. Communications specifications settings

↓

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

3. Setting output data

↓

4. Testing communications

*1. When performing control through data sharing (data output after measurement).

··· If communications are not working properly, check the communica-

a communication module. For details, refer to Communications Module Settings (Startup

Settings) for each communication protocols in the Methods for Connecting and Communicating with External Devices.

The communication specifications are set for the communications method of the Communications Module that was selected in step

1. Set the communication area assignments for exchanging data with the external device. For details, refer to Communication Specifications Settings for each communication protocol in the Methods for Connecting with External Devices.

• The setting data (including communication settings) can be

saved and loaded as system data (extension: .ini) or system + scene group 0 data (extension : .bkd). For details, refer to Saving Settings Data to the Controller RAM

Disk or an External Storage Device in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

Output Unit. The Output Unit(s) is placed in the processing flow in the same way as for other processing items.

tions setup in the step 2 and perform a communication test to determine whether or not the Sensor Controller can be detected on the network. If that does not solve the problem, refer to the troubleshooting section.

1-28

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1 Overview

1-5 Setting Procedures for Com-

1-5-2

Communications Protocols and Communications Modules

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

Communications Module Settings

The Communication Module used for communications is selected in the startup settings.

System Settings to open the system settings.

1 On the Main window, click T

ool -

2 On the Multiview Explorer on the left, select System settings - Startup - Startup setting and

then click the Communication tab. For details of setting procedures, refer to Communications Module Settings for each communications protocol.

Precautions for Correct Use

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 communications.

munications

1-5-2 Communications Protocols and Communications Modules

Selecting a Communications Module

Select one of the following Communication Modules based on a combination of the communication protocol used to connect between the Sensor Controller and an external device, and the communication interface.

Communications

protocol

Parallel Parallel Standard Parallel I/O

PLC Link

EtherNet/IP EtherNet/IP

Communication inter-

face

Ethernet

RS-232C/422

Communication Module

Serial (Ethernet)

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

• PLC Link (SYSMAC CS/CJ/CP/One) (TCP)

• PLC Link (MELSEC QnU/QnAS) (UDP)

• PLC Link (MELSEC QnU/QnAS) (TCP)

• PLC Link (JEPMC MP)

Serial - PLC Link (RS-232C/422)

• PLC Link (SYSMAC CS/CJ/CP/One)

• PLC Link (MELSEC QnU/Q/QnAS)

Fieldbus

• EtherNet/IP

• EtherCA

• PROFINET

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-29

1 Overview

Communications

protocol

Non-procedure

Communication inter-

face

Ethernet

RS-232C/422

Communication Module

Serial (Ethernet)

• Non-procedure (UDP)

• Non-procedure (TCP)

• Non-procedure (TCP Client)

• Non-procedure (UDP) (Fxxx series method)

Serial (RS-232C/422)

• Non-procedure

• Non-procedure (Fxxx series method)

1-30

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1 Overview

on the Communications Protocol

1-6 Differences in Specifications Based

1-6

1-6-1

Differences in Specifications Based on the Communications Protocol

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

List of Supported Signals by Communications Protocol

Some of the control and status signals to be used depend on the communication protocol as shown below. The table below can be used to check which signals exist in each communication protocol by means of a vertical arrangement. Note that this table does not indicate whether signals of one communication protocol can be used simultaneously with signals of other communication protocols. For restriction on communication protocols that can be used simultaneously, refer to 1-6-2 Restrictions when Using Different Communication Protocols Simultaneously on page 1-33.

Precautions for Correct Use

1-6-1 List of Supported Signals by Communications Protocol

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

Input Signals (PLC to Sensor Controller)

OK: Can be used, - : Cannot be used

Signals for each communication protocol

Signal Name

EXE

Command Request - - - OK -

Trigger Measure Bit - - - OK -

STEP Measure Bit OK - OK - OK

DSA (Used only for handshaking output control)

Result Set Request - - - OK -

ERCLR

Error Clear - - - OK -

XEXE

Flow Command Request

DI (DI0 to DI7)

ENCTRIG

Control Command Execution Signal

Data Output Request Signal

Error Clear Bit

Flow Command Request Bit

Command Input Signals

Encoder Trigger Input (Phase A, B, Z)

Parallel PLC Link

- OK OK - OK

OK OK OK - OK

- - OK - -

- OK OK - OK

- - - OK -

OK - - - -

EtherNet/I

EtherCAT

PROFI-

NET

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-31

1 Overview

Output Signals (Sensor Controller to PLC)

OK: Can be used, - : Cannot be used

Signals for each communication protocol

Signal Name

BUSY Busy Signal

FLG

Command Completion

GATE

Result Notification - - - OK -

READY

Trigger Ready - - - OK -

Total Judgment - - - OK -

Control Command Completion Signal

Data Output Completion Signal

Camera Image Input Enabled Signal

Overall Judgment Output Signal

Parallel PLC Link

- OK OK - OK

- - - OK -

OK - - - -

One-shot Overall

One-shot OR

Judgment Result

OK - - - -

Signal

DI (DO0 to DO15)

XFLG

Flow Command Completion

XBUSY

Flow Command Busy

XWAIT

Flow Command

ait

Trigger ACK

Command Ready

ERR

Error Status - - - OK -

Run

Run Mode - - - OK -

ACK

SHTOUT

STGOUT

Data Output Signals

Flow Command Completion Bit

Measurement Command Busy Bit

Measurement Command W

ait Bit

Trigger Signal Acknowledged Bit

Command Execution Ready Bit

Error Signal

Measurement Mode Signal

Command Completion Flag

Exposure Completion Signal

Strobe Trigger Output

OK - - - -

- OK OK - OK

- - - OK -

- OK OK - OK

- - - OK -

OK OK - OK

- - -

- - - OK -

OK - OK - OK

OK - - - -

OK - - OK -

OK - - - -

*1. This will not be detected while commands received through any other protocol are processed. The

BUSY signal in Parallel can be shared in all protocols. If you use more than one protocol and need to

detect command execution, use the BUSY signal in Parallel. *2. Data is not output when there is no handshaking used in PLC Link. *3. The OR signal is unavailable in PLC Link. *4. The one-shot OR signal is only available in Parallel.

EtherNet/I

EtherCAT

OK - OK

OK -

PROFI-

NET

1-32

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1 Overview

on the Communications Protocol

1-6 Differences in Specifications Based

1-6-2

Restrictions when Using Different Communication Protocols Simultaneously

The FH/FHV series can use different communication protocols together. Restrictions in combined use are as follows:

The Parallel Communication Module can be used with any other Communication Modules.

•

Communication Modules other than the Parallel ones have the following restrictions in the combination. PLC Link for Vision Systems is unavailable simultaneously with Ethernet and RS-232C/422. PLC Link for Vision Systems is unavailable simultaneously with EtherNet/IP, EtherCAT, and PROFINET. PROFINET is unavailable simultaneously with other non-procedure protocol using Ethernet. All combinations of Communication Modules other than above are available.

Precautions for Correct Use

If control signals or commands are input simultaneously to the Sensor Controller from different Communications Modules, 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.

1-6-2 Restrictions when Using Different Communication Protocols Simultaneously

1-6-3

Restrictions in Communication Protocols by Operation Mode

The Sensor Controller for the FH/FHV series can select its operating mode. The following describes typical restrictions for each operating mode.

in the

For details, refer to Setting Operation Mode No. Z365)..

● Double Speed Multi-input Mode

o use the Multi-input function, use Parallel or EtherCAT in which the state of the READY signal can be

• T

checked. For EtherCA

• While the Multi-input function is used, most of the CPU's loads are assigned to measurement process-

ing. Therefore, its performance might drop (response may be delayed or packets lost) or communications errors might occur. While the Multi-input function is used, do not use EtherNet/IP or PROFINET communication protocols.

• If triggers are continuously inputted with speed that communication outputs will not be in time, it may

cause STEP not to be output or measurements to be delayed. Be sure to input triggers with the timing at which communications delay will not occur.

● Multi-line Random-trigger Mode

• Only Line 0 is available in Non-procedure or PLC Link.

• Depending on communication protocols, each line needs to be set.

• For Parallel communications, the I/O function and terminals vary depending on the number of lines.

This function is not supported by FHV series.

● Non-stop Adjustment Mode

• Communication commands accepted during non-stop data transfer are only the Measurement com-

mand (in Parallel, Non-procedure, and PLC Link) and Continuous Measurement command (only Parallel).

T, check the Trigger Ready signal instead of the READY signal.

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

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-33

1 Overview

1-6-4

Models being Compatible with Communication Protocol

This section describes external devices which can communicate with the FH/FHV series based on communication protocols.

PLC Link and NGn-procedure Communications

• Ethernet

OMRON

OK: Can connect, Cond.: Only some models can connect, NG: Cannot connect

Interface

Series CPU unit

SYSMAC_CJ2 CJ2H or CJ2M Cond. (Built-in port only)

CJ1H or CJ1G NG

SYSMAC_CJ1

CJ1M Cond. (Built-in port only)

SYSMAC_CS

SYSMAC_CP1

SYSMAC_One NSJ NG NSJW-ETN21

CS1H, CS1D or CS1G

CP1L Cond. (Built-in port only) -

CP1H NG

Direct connection with CPU unit (Built-in port)

Connection via Ethernet unit

CJ1W-EIP21 (PLC Link only) or CJ1WETN21

Mitsubishi Electric

OK: Can connect, Cond.: Only some models can connect, NG: Cannot connect

1-34

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Series Model name CPU unit CPU unit

Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU,

MELSECQnU

MELSECQ Series

MELSECQnAS Series

QnUDECPU

Universal models

QnUDCPU

QnUCPU

Basic models QnCPU

High-performance models

- -

QCPU

Q10UDEHCPU, Q13UDEHCPU, Q20UDEHCPU, Q26UDEHCPU

Q03UDCPU, Q04UDHCPU, Q06UDHCPU, Q10UDHCPU, Q13UDHCPU, Q20UDHCPU, Q26UDHCPU

Q00UJCPU, Q00UCPU, Q01UCPU, Q02UCPU

Q00JCPU, Q00CPU, Q01CPU

Q02CPU, Q02HCPU, Q06HCPU, Q12HCPU, Q25HCPU

Q2ASCPU, Q2ASCPU-S1, Q2ASHCPU, Q2ASHCPU-S1

Interface

Direct connec-

tion with CPU

unit

(Built-in port)

1 Overview

Ethernet

Connection

via Ethernet

unit

QJ71E71-100 QJ71E71-B2 QJ71E71-B5

on the Communications Protocol

1-6 Differences in Specifications Based

1-6-4 Models being Compatible with Communication Protocol

• RS-232C/422 OMRON

OK: Can connect, Cond.: Only some models can connect, NG: Cannot connect

Series CPU unit

CJ2H OK CJ1W-SCU21-V1,

SYSMAC_CJ2

SYSMAC_CJ1 CJ1H, CJ1G, or CJ1M OK

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

CJ2M Cond. (Built-in port only)

Direct connection with

CPU unit

(Built-in port)

Interface

Connection via serial commu-

nication unit

-SCU31-V1,

CJ1W

-SCU41-V1,

CJ1W CJ1W-SCU22, CJ1W-SCU32, CJ1W-SCU42

CJ1W-SCU21-V1, CJ1W

-SCU31-V1,

-SCU41-V1,

CJ1W CJ1W-SCU22, CJ1W-SCU32, CJ1W-SCU42

1-35

1 Overview

Interface

Series CPU unit

SYSMAC_CS CS1H, CS1D, or CS1G OK

SYSMAC_CP1 CP1E, CP1L, or CP1H Cond. (Built-in port only) CP1W-CIF01

SYSMAC_One NSJ OK -

SYSMAC NJ NJ501 or NJ301 NG

Direct connection with

CPU unit

(Built-in port)

Connection via serial commu-

nication unit

CS1W-SCB££-V1 CS1W-SCU21-V1 CS1W

-SCU31-V1

CJ1W-SCU22

-SCU32

CJ1W CJ1W

-SCU42

Mitsubishi Electric

OK: Can connect, Cond.: Only some models can connect, NG: Cannot connect

Interface

Direct connec-

Series Model name CPU unit CPU unit

Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU,

MELSECQnU

MELSECQ Series

MELSECQnAS Series

QnUDECPU

Universal models

QnUDCPU

QnUCPU

Basic models QnCPU

High-performance models

- -

QCPU

Q10UDEHCPU, Q13UDEHCPU, Q20UDEHCPU, or Q26UDEHCPU

Q03UDCPU, Q04UDHCPU, Q06UDHCPU, Q10UDHCPU, Q13UDHCPU, Q20UDHCPU, or Q26UDHCPU

Q00UJCPU, Q00UCPU, Q01UCPU, or Q02UCPU

Q00JCPU, Q00CPU, or Q01CPU

Q02CPU, Q02HCPU, Q06HCPU, Q12HCPU, or Q25HCPU

Q2ASCPU, Q2ASCPU-S1, Q2ASHCPU, or Q2ASHCPU-S1

tion with CPU

unit

(Built-in port)

Connection

via serial

communica-

tion unit

QJ71C24N or QJ71C24NR2

A1SJ71QC24 N1 or A1SJ71QC24 N1-R2

1-36

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

EtherNet/IP

OK: Can connect, Cond.: Only some models can connect, NG: Cannott connect

Interface

Series CPU unit

SYSMAC NJ NJ501 or NJ301 OK

SYSMAC_CJ2

SYSMAC_CJ1

SYSMAC_CS

EtherCAT

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

CJ1H or CJ1G NG CJ1W-EIP21

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

CS1H, CS1D, or CS1G

Direct connection with CPU unit (Built-in port)

Connection via Ethernet unit

CJ1W-EIP21 (Only version 2.1 supports Sysmac NJ connection. This applies to NJ versions 1.01 and later

NG CS1W-EIP21

1 Overview

on the Communications Protocol

1-6 Differences in Specifications Based

1-6-4 Models being Compatible with Communication Protocol

OK: Can connect, Cond.: Only some models can connect, NG: Cannot connect

Interface

Series CPU unit

SYSMAC NJ NJ501 or NJ301 OK NG

PROFINET

Direct connection with CPU unit

(Built-in port)

Connection via master unit

OK: Can connect, Cond.: Only some models can connect, NG: Cannot connect

Interface

Series CPU unit

SYSMAC NJ NJ501 or NJ301 NG CJ1W-PNT21

Direct connection with CPU unit

(Built-in port)

Connection via master unit

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-37

1 Overview

1-38

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Methods for Connecting and Communicating with External Devices

This section describes the communication specifications, data I/O methods, communication settings, communication commands, and other details for each communication protocol used to communicate between the Sensor Controllers for the FH/FHV series and external devices.

2-1 EtherCA

2-1-1 Introduction to EtherCAT................................................................................. 2-4

2-1-2 Structure of CAN Application Protocol over EtherCAT (CoE) ......................... 2-7

2-1-3 EtherCAT Slave Information Files (ESI Files) ................................................. 2-8

2-1-4 Transitions of Communications States ........................................................... 2-9

2-1-5 Process Data Objects (PDOs) ...................................................................... 2-10

2-1-6 Service Data Objects (SDOs) ....................................................................... 2-13

2-1-7 Communications between Master and Slaves for EtherCAT ....................... 2-14

2-1-8 Communication Method of FH Sensor Controller Connected by EtherCAT . 2-15

2-1-9 Communications Settings ............................................................................. 2-20

2-1-10 Communications Module Settings (Startup Settings) ................................... 2-22

2-1-11 Communication Specifications Settings........................................................ 2-23

2-1-12 Output Data Settings (Processing Item Registration) ................................... 2-28

2-1-13 Setting Output Data (Numerical Values/Character Strings) .......................... 2-31

2-1-14 EtherCAT Network Configuration Settings .................................................... 2-37

2-1-15 Communication Test ..................................................................................... 2-38

2-1-16 I/O Ports by Area (PDO Mapping) and Memory Allocation........................... 2-39

2-1-17 I/O Signals .................................................................................................... 2-45

2-1-18 Measurement Results for which Output is Possible (Fieldbus Data

2-1-19 Command List............................................................................................... 2-51

2-1-20 Measurement Trigger Input........................................................................... 2-54

2-1-21 Command Response Processing ................................................................. 2-55

2-1-22 Data Output .................................................................................................. 2-57

2-1-23 Timing Chart ................................................................................................. 2-60

2-1-24 EtherCAT Troubleshooting............................................................................ 2-64

2-1-25 Sysmac Error Status..................................................................................... 2-66

2-1-26 Sysmac Device Features.............................................................................. 2-84

2-1-27 Object Dictionary .......................................................................................... 2-87

2-2 Communicating by PLC Link ....................................................................2-126

2-2-1 Communications Processing Flow.............................................................. 2-126

2-2-2 Communications Settings ........................................................................... 2-128

2-2-3 Communications Module Settings (Startup Settings) ................................. 2-129

2-2-4 Communication Specifications Settings...................................................... 2-131

2-2-5 Output Data Settings (Processing Item Registration) ................................. 2-152

2-2-6 Setting Output Data (Numerical Values and Character Strings)................. 2-157

T Connections .................................................................................. 2-4

Output) .......................................................................................................... 2-49

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-1

2 Methods for Connecting and Communicating with External Devices

2-2-7 Testing Communications............................................................................. 2-163

2-2-8 Memory Allocation ...................................................................................... 2-167

2-2-9 I/O Signals .................................................................................................. 2-171

2-2-10 Output Items ............................................................................................... 2-174

2-2-11 Command List............................................................................................. 2-175

2-2-12 Command Response Processing ............................................................... 2-179

2-2-13 Data Output ................................................................................................ 2-182

2-2-14 Timing Chart ............................................................................................... 2-184

2-2-15 PLC Link Troubleshooting........................................................................... 2-187

2-3 Communicating by EtherNet/IP................................................................. 2-190

2-3-1 Introduction to EtherNet/IP ......................................................................... 2-190

2-3-2 Data Exchange with EtherNet/IP ................................................................ 2-191

2-3-3 EtherNet/IP Communications ..................................................................... 2-194

2-3-4 Communications Processing Flow.............................................................. 2-195

2-3-5 Communications Settings ........................................................................... 2-197

2-3-6 Communications Module Settings (Startup Settings) ................................. 2-198

2-3-7 Communication Specifications Settings...................................................... 2-199

2-3-8 Setting Tag Data Link.................................................................................. 2-206

2-3-9 Output Data Settings (Processing Item Registration) ..................................2-211

2-3-10 Setting Output Data (Numerical Values and Character Strings) ................. 2-216

2-3-11 Testing Communications............................................................................. 2-222

2-3-12 Memory Allocation ...................................................................................... 2-224

2-3-13 I/O Signals .................................................................................................. 2-234

2-3-14 Output Items ............................................................................................... 2-238

2-3-15 Command List............................................................................................. 2-239

2-3-16 Command Response Processing ............................................................... 2-243

2-3-17 Data Output ................................................................................................ 2-247

2-3-18 Timing Chart ............................................................................................... 2-249

2-3-19 Communicating with the Sensor Controller using EtherNet/IP Mes-

sage Communications................................................................................. 2-252

2-3-20 Example for Command Settings ................................................................. 2-255

2-3-21 EtherNet/IP Troubleshooting....................................................................... 2-256

2-4 Communicating by PROFINET.................................................................. 2-259

2-4-1 Overview of PROFINET.............................................................................. 2-259

2-4-2 PROFINET Communications...................................................................... 2-262

2-4-3 Communications Processing Flow.............................................................. 2-263

2-4-4 Communications Settings ........................................................................... 2-265

2-4-5 Communications Module Settings (Startup Settings) ................................. 2-266

2-4-6 Communication Specifications Settings...................................................... 2-267

2-4-7 IO Data Communication Settings ............................................................... 2-273

2-4-8 Output Data Settings (Processing Item Registration) ................................. 2-275

2-4-9 Setting Output Data (Numerical Values and Character Strings)................. 2-279

2-4-10 Testing Communications............................................................................. 2-285

2-4-11 Memory Allocation ...................................................................................... 2-288

2-4-12 I/O Signals .................................................................................................. 2-294

2-4-13 Output Items ............................................................................................... 2-298

2-4-14 Command List............................................................................................. 2-299

2-4-15 Command Response Processing ............................................................... 2-302

2-4-16 Data Output ................................................................................................ 2-305

2-4-17 Timing Chart ............................................................................................... 2-307

2-4-18 PROFINET Troubleshooting....................................................................... 2-310

2-5 Non-procedure Communications .............................................................2-313

2-5-1 Communications Processing Flow.............................................................. 2-313

2-5-2 Communications Setup Procedures .......................................................... 2-314

2-5-3 Communications Module Settings (Startup Settings) ................................. 2-314

2-5-4 Communications Specifications Settings.................................................... 2-316

2-5-5 Output Data Settings (Processing Item Registration) ................................ 2-321

2-5-6 Output Data Settings (Numerical Values/Character Strings) ..................... 2-327

2-5-7 Testing Communications............................................................................. 2-335

2-5-8 Output Items ............................................................................................... 2-338

2-5-9 Command Formats ..................................................................................... 2-340

2-5-10 Command List............................................................................................. 2-342

2-2

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2 Methods for Connecting and Communicating with External Devices

2-5-11 Output Format............................................................................................. 2-346

2-5-12 Non-procedure Communications Troubleshooting ..................................... 2-348

2-6 Parallel Communications ..........................................................................2-351

2-6-1 Communications Processing Flow ............................................................. 2-351

2-6-2 Communications Setup Procedures .......................................................... 2-353

2-6-3 Communications Module Settings (Startup Settings) ................................. 2-354

2-6-4 Communications Specifications Settings ................................................... 2-355

2-6-5 Output Data Settings (Processing Item Registration) ................................. 2-364

2-6-6 Output Data Settings (Numerical value/Judgment) ................................... 2-370

2-6-7 Testing Communications............................................................................. 2-376

2-6-8 I/O Signals .................................................................................................. 2-378

2-6-9 Output Items ............................................................................................... 2-389

2-6-10 Command Formats ..................................................................................... 2-391

2-6-11 Time Charts ................................................................................................ 2-395

2-6-12 Parallel Troubleshooting ............................................................................. 2-409

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-3

EtherCAT master

Slave Data

Slave

Ethernet frames

OUT

• The slave reads output data addressed to it.

• The slave writes input data.

2 Methods for Connecting and Communicating with External Devices

2-1

2-1-1

EtherCAT Connections

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

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. Each node achieves a short communication cycle time by transmitting Ethernet frames at high speed. Although EtherCAT is a unique communication protocol, standard Ethernet technology is used for the physical layer, which means you can use Ethernet cables for wider applications. And the effectiveness of EtherCAT can be fully utilized not only in large control systems that require high processing 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 allocated to it in the frame in a few nanoseconds. The Ethernet frames that are transmitted by the EtherCAT master pass through all EtherCAT slaves without 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 real-time data transmission.

2-4

The data exchanges that are cyclically performed between the EtherCAT master and EtherCAT slaves use EtherCA Each EtherCAT telegram consists of a telegram header (including the data length and one or more slave addresses), data, and a working counter (i.e., check bits).

T telegrams

that are stored directly in the Ethernet frames.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Ethernet

header

CRC

Ethernet data (1,498 bytes max.)

Data

header

WKC

1st to nth EtherCAT telegrams

EtherCAT

header

1st EtherCAT

2nd EtherCAT

nth EtherCAT

EtherCAT frame

Ethernet frame

WKC: Working counter

2 Methods for Connecting and Communicating with External Devices

2-1 EtherCAT Connections

2-1-1 Introduction to EtherCAT

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-5

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

2 Methods for Connecting and Communicating with External Devices

Types of EtherCAT Communications

The following 2 types of communications are available with EtherCAT. PDO communications are processed in each EtherCAT communication cycle to refresh data continuously

. SDO communications are processed between PDO communications.

Process Data Communications (PDO Communications)

The process data communication function (PDO communications) 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 communications) is used to perform message communication. Whenever necessary, the EtherCA

T master sends a command to a slave, and then the slave returns a response to the EtherCAT master. The mailbox communication function (SDO communication) has the following functions.

• Reading and writing process data

• Setting slaves

• Monitoring slave status

2-6

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

FH Sensor Controller

EtherCAT physical layer

Transitions of

communications

states

SDO (mailbox)

FH Unit application

Object dictionary

PDO mappings

PDO communications (cyclic)

EtherCAT data link layer

Registers Mailbox

Process data

FMMU SyncManager

Application layer

2 Methods for Connecting and Communicating with External Devices

2-1-2

Structure of CAN Application Protocol over EtherCAT (CoE)

EtherCAT allows the use of multiple protocols for communication. EtherCAT slave terminal adopts

CAN application protocol over EtherCA

T (CoE) as a device profile for CAN application protocol

is one of the open network standards, which provides the communication interface to apply to EtherCAT devices. The following figure indicates the CoE structure in the EtherCAT coupler unit.

which

2-1 EtherCAT Connections

2-1-2 Structure of CAN Application Protocol over EtherCAT (CoE)

The object dictionary for the CAN application protocol is roughly classified into PDOs (process data objects) and SDOs (service data objects).

PDOs consist of the mappable object dictionaries, and the contents in process data are defined by the PDO mappings. PDOs are used for PDO communications to exchange process data periodically.

Moreover

, SDOs can read and write all object dictionaries and are used for non-periodic SDO (event-

driven message) communications.

In EtherCAT, by setting the object dictionaries for PDOs and SDOs using the CoE interface, EtherCAT devices that have the same device profiles as the CAN application protocol can be provided.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-7

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.

2 Methods for Connecting and Communicating with External Devices

2-1-3

EtherCAT Slave Information Files (ESI Files)

The setting information for an EtherCAT slave is provided as ESI file (EtherCAT Slave Information).

In EtherCA and the network connection information for the connected slaves.

Installing ESI files into the network setup software (configuration tool) can generate the network con-

figuration information. Downloading the generated network configuration information to the EtherCAT master enables you to setup the EtherCAT network.

, its various communication settings are defined based on the ESI definition information

(*1)

ESI files for the FH/FHV can be downloaded from the OMRON website.

*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 have already installed in the Sysmac Studio. Auto-update function in the Sysmac Studio enables you to get the ESI files for the latest models.

2-8

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Init

Pre-Operational

Safe-Operational

Operational

Power supply ON

2 Methods for Connecting and Communicating with External Devices

2-1-4

Transitions of Communications States

2-1 EtherCAT Connections

The EtherCAT master controls the state transition model for communication control of its slave terminals. The following figure indicates the transition for the communication state since the power has been turned ON.

2-1-4 Transitions of Communications States

The following table indicates whether or not data objects can be sent or received in each communication state.

SDO

Status

Init.

Pre-Operational (PreOp)

Safe-Operational (Safe-Op)

Operational (Op) Possible Possible Possible

commu-

nications

Not possible

Possible

Possible Possible

Sending

PDOs

Not possible

Receiv-

ing PDOs

Not possible

Description

Communications is in initialization. Communications are not possible.

Only SDO (message) communications are possible. After the initialization, the network settings is initialized in this state.

Sending PDOs in addition to SDO (message) communications are possible in this state. The slave terminals can send Information such as status with sending PDOs.

Normal state in communications. The I/O data can be controlled with PDO communications.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-9

TxPDO

EtherCAT master

EtherCAT Slave Terminal

RxPDO

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

Example: Built-in

EtherCAT port on NJ-series CPU Unit

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

2 Methods for Connecting and Communicating with External Devices

2-1-5

Process Data Objects (PDOs)

This section describes the process data objects (PDO) used in EtherCAT communications.

Introduction

Real-time data transfer in cyclic communication uses Process Data Objects (PDOs). There are two types of Process Data Objects (PDOs): RxPDOs, which are used by the EtherCAT slave terminal to receive data from the EtherCA CAT slave terminal to send data to the EtherCAT master.

T master; and TxPDOs, which are used by the Ether-

2-10

The EtherCAT application layer can hold more than one object to enable the transfer of various process data of the EtherCA

T slave terminal. The contents of the process data is defined in the PDO mapping objects. EtherCA

T slave terminals support PDO mapping for I/O control.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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 0x2001:01 on the Sysmac Studio.

Sysmac error status

512th transmit PDO mapping

PDO-Length : 8 Bit

Mapping

object

Application

object

2 Methods for Connecting and Communicating with External Devices

PDO Mappings

PDO mapping objects contain the I/O data for EtherCAT slave terminals. PDO mapping objects are managed with indexes in the object dictionary: from 1600 to 17FF Hex for the RxPDO, and from 1A00 to 1BFF Hex for TxPDO.

PDO Mapping Scheme in EtherCAT

The following describes the PDO mapping scheme in EtherCAT. Three application objects (Object A, B, and D) are allocated to the PDO (name: PDO_1) at index 1ZZZ Hex. Like mentioned above, PDO mappings indicates how application objects are allocated to PDOs. Indexes and sub-indexes are also allocated to application objects.

2-1 EtherCAT Connections

2-1-5 Process Data Objects (PDOs)

PDO Mapping for EtherCAT Slave Terminals

EtherCAT slave terminals have PDOs for each EtherCAT coupler unit and the Sensor Controller for FH/FHV series. Application objects are allocated by default (factory settigs) to PDOs for each unit. The following figure describes a specific example for one of PDOs in a Sensor Controller for the FH/FHV series.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-11

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

2 Methods for Connecting and Communicating with External Devices

In the above example, a single application object is allocated to the PDO at index 1BFF Hex (name: 512th transmission PDO mapping). This PDO is for TxPDO. The application object contains the Sysmac error status at index 2001 Hex and sub-index 01 Hex.

Allocating PDOs

Scheme for Allocating PDOs to EtherCAT Slaves

Multiple PDOs can be allocated to an EtherCAT slave. The following example indicates the PDO allocation. Here, PDOs are allocated to index 1C12 Hex for the RxPDO, and 1C13 Hex for the TxPDO.

2-12

In the example, three PDOs (PDO A, PDO B, PDO D) are allocated to index 1C13 Hex for the TxPDO. Likewise, a PDO for the RxPDO is also allocated to index 1C12 Hex. The above allocation defines the PDO types for communications between the EtherCAT master and slave.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2 Methods for Connecting and Communicating with External Devices

2-1-6

Service Data Objects (SDOs)

This section describes the service data objects (SDO) used in EtherCAT communications.

Introduction

EtherCAT slave terminals support SDO communications. The EtherCAT master can set parameters and monitor status by reading and writing data from and to entries in the object dictionary using SDO communications. For the objects that SDO communications are available, refer to 2-1-27 Object Dictionary on page 2-87.

Abort Codes

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

Abort code value Meaning

05030000 Hex Toggle bit not changed

05040000 Hex SDO protocol timeout

05040001 Hex Client and server command specifiers not valid or unknown

05040005 Hex Out of memory area

06010000 Hex Unsupported access to an object

06010001 Hex Attempt to read a write-only object

06010002 Hex Attempt to write to a read-only object

06020000 Hex Non-exist object in the object dictionary

06040041 Hex Unable to map the object to the PDO

06040042 Hex Number and length for the mapped object exceed the PDO length.

06040043 Hex General parameter incompatibility

06040047 Hex General internal incompatibility in the device.

06060000 Hex Access failure due to a hardware error.

06070010 Hex Mismatch of data type and service parameter length

06070012 Hex Data type mismatch and service parameter length is too long.

06070013 Hex Data type mismatch and service parameter length is too short.

06090011 Hex Missing sub-index.

06090030 Hex Parameter value is out of range. (Only for write-access)

06090031 Hex Written parameter value is too high.

06090032 Hex Written parameter value is too low.

06090036 Hex Maximum value is smaller than minimum value.

08000000 Hex General error

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

08000021 Hex Data cannot be transferred or stored to the application because of local control.

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 dictionary, or no object dictionary exists.

2-1 EtherCAT Connections

2-1-6 Service Data Objects (SDOs)

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-13

2 Methods for Connecting and Communicating with External Devices

2-1-7

Communications between Master and Slaves for EtherCAT

This section describes the communication modes between the master and slaves for EtherCAT and the communication modes for EtherCA

T slave terminals.

Communication Modes for Communications between Master and Slaves for EtherCA

Free-run Mode (FH/FHV series not supported)

In the free-run mode, a slave performs the I/O processing (updating the I/O data) asynchronously to the communication cycle of the master.

DC Mode

In the DC mode, a slave performs the I/O processing (updating the I/O data) synchronously with the communication cycle of the master. The synchronization in EtherCA distributed clock (DC) to share the same clock in the master and slaves. Interruptions (Sync0) are generated in the slaves at precise intervals based on the clock. Each slave performs the I/O processing at the precise timing.

T communications uses a

Communication Modes for EtherCAT Slave Terminals

The FH/FHV series support DC mode. They do not support the free-run mode.

Communication Cycle

The communication cycle is determined by the settings for it in the EtherCAT master. For details of communication cycle supported by the built-in EtherCAT port in the NJ series CPU units, refer to

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

2-14

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2 Methods for Connecting and Communicating with External Devices

2-1-8

Communication Method of FH Sensor Controller Connected by EtherCA

With commands and responses via communications between an EtherCAT master and a Sensor Controller, the master can control the Sensor Controller and make it output data after measurement. T

o connect a Sensor Controller of the FH series to an NJ series CPU unit by EtherCAT, use Sysmac Studio (standard edition) version 1.09 or later. Using the Sysmac Studio, the Sensor Controller of the FH series is registered to the EtherCAT slave configuration on the Edit Network Configuration tab page. For details of the registration procedures, refer to Controller Configurations and Setup in the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).

Precautions for Correct Use

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.

Additional Information

Up to eight Sensor Controllers of the FH series can be connected to an NJ-series Controller by EtherCAT

2-1 EtherCAT Connections

2-1-8 Communication Method of FH Sensor Controller Connected by EtherCAT

In EtherCAT communications, communications are performed via I/O ports in the following six areas in the Controller. The I/O ports in the Sysmac Error Status Area are used only when a CPU Unit of the NJ series is connected as a EtherCA

(1) I/O ports in the

Command/response method

Data output after measurements

Error status

User area

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

T master.

These I/O ports are used that you write control commands to perform for the Sensor Controller.

These I/O ports are used that the Sensor Controller writes the results which the control commands written in the Command Area were performed.

These I/O ports are used that the Sensor Controller writes the measurement parameters, judgment results, and other results after measurements are performed.

These I/O ports are used that the Sensor Controller writes the error status. V and V

ision Tool used together.

These I/O ports are used that you write the data that you defined for the Sensor Controller.

These I/O ports are used that the Sensor Controller write the data that you defined for the Sensor Controller.

alid only for Sysmac Studio

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-15

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.

Controller (master)

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.

Command/ response method

Data output after measurements

Error status

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

28 bytes

Vision Sensor (slave)

Commands

Responses

External outputs

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

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

Execution

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

• Sysmac error status

1 byte

24 bytes

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

Communications Module

Data is written to the Communications Module.

• Measurement Flow

Execution of processing item for the Output Unit.

Execution of processing item A

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

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

User area

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

32 byte

Input

Output

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

I/O ports in the user input area

I/O ports in the user output area

2 Methods for Connecting and Communicating with External Devices

*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: For details of the Output Units outputting measurement data, refer toSettings Required for Data

Output

on page 1-21. *3: Use the Macro Customization Function to input and output to the User Area. For details of the Macro Customization Function, refer to EtherCAT communication of the IO Module List in the Vision System FH Macro Customize Functions Programming Manual (Cat. No. Z367).

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Line 0

Line 1

Line 6

Line 7

NJ-series Controlle

You can specify the output data size for each line.

Line 0 PDO communications

Line 1 PDO communications

Line 6 PDO communications

Line 7 PDO communications

2 Methods for Connecting and Communicating with External Devices

Communications in Multi-line Random-trigger Mode

In Multi-line Random-trigger mode, a Sensor Controller for the FH series can control up to eight lines. In Multi-line Random-trigger mode, the I/O ports (areas) for communications between the Sensor Controller and the master are allocated as shown below.

Command/response method

Data output after measurements I/O ports in the Data Output Area

User area

Error status

Independent areas for PDO communications are allocated for each line by allocating a Module (line) to each EtherCAT communication slot using Sysmac Studio (standard edition).

I/O ports in the Command Area

I/O ports in the Response Area

I/O ports in the User Input Area

I/O ports in the User Output Area

I/O ports for Sysmac Error Status Area

Allocated for each line.

The same for all lines.

2-1 EtherCAT Connections

2-1-8 Communication Method of FH Sensor Controller Connected by EtherCAT

Available Size for Output Data

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

The upper limits for the output data size depend on the number of lines and User Area to be used as shown below

Number of lines Not Using User area Using User area

1 line Max. 256 bytes Max. 256 bytes

2 lines

3 lines

4 lines

5 lines Max. 128 bytes

6 lines Max. 128 bytes

7 lines

8 lines

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2 Methods for Connecting and Communicating with External Devices

Minimum PDO Communication Cycle Time

Do not set the communication cycle (PDO communication cycle time) for EtherCAT communications to a value lower than the minimum time in the following table. The minimum communication cycle time (PDO communication cycle time) depends on the number of lines to control, the number of bytes for output data, and the User Area to use as shown below. In Multi-line Random-trigger mode, the minimum value for the communication cycle is the minimum value for the maximum byte size for each line. If the communication cycle (PDO communication cycle time) were set lower than the minimum value below tion will become unavailable.

Not Using User area

, a slave application error (AL status code: 0x0035) will occur and EtherCAT communica-

Number of lines to

be controlled

1 line 125 μs 250 μs

2 lines 250 μs

3 lines 250 μs 500 μs

4 lines 500 μs

5 lines 500 μs 1000 μs

6 lines 500 μs 1000 μs Unavailable

7 lines 500 μs 1000 μs Unavailable

8 lines 1000 μs Unavailable

Using User area

Number of lines to

be controlled

1 line 125 μs 250 μs

2 lines 250 μs 500 μs

3 lines 500 μs

4 lines 500 μs 1,000 μs

5 lines 500 μs 1,000 μs Unavailable

6 lines 1,000 μs Unavailable

7 lines 1,000 μs Unavailable

8 lines 1,000 μs Unavailable

32 bytes 64 bytes 128 bytes 256 bytes

Byte size of output data

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2 Methods for Connecting and Communicating with External Devices

Applicable Models

• OMRON OK: Can connect, Cond.: Only some models can connect, NG: Cannot connect

Interface

Series CPU unit

SYSMAC NJ/NX NJ501, NJ301, NJ101,

NX701

• Beckhoff

TwinCA

T PC edition, Industrial PCs, Embedded PCs (When you use a Beckhoff’s master, contact us to get an ESI file for Sensor Controllers of the FH series.)

Direct connection with

CPU unit (Built-in port)

OK -

Connection via master

unit

2-1 EtherCAT Connections

2-1-8 Communication Method of FH Sensor Controller Connected by EtherCAT

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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2 Methods for Connecting and Communicating with External Devices

2-1-9

Communications Settings

The following settings are required to use EtherCAT communications.

1. Communication Module settings (Startup settings)

↓

2. Communications specifications settings

↓

3.Output data settings (processing item registration)

↓

4. EtherCA configuration settings

5. Communications test

T network

↓

··· The communication method to be used is determined by selecting a communication module. For details, refer to 2-1-10 Communications Module Settings (Startup Settings) on page 2-22.

···

··· The data output to the Data Output Area is registered in the Out-

··· Using Sysmac Studio, register Sensor Controllers of the FH/FHV

··· In normal communication state, ECAT RUN-LED on the Sensor

The communications specifications are set for the communications method of the Communication Module selected in step 1. Moreover, The data size settings output to the Data Output Area and whether or not to use the User Area are also set. For details, refer to tings on page 2-23.

put Unit. The Output Unit is placed in the processing flow in the same way as for other processing items. For details, refer to 2-1-12 Output Data Settings (Processing Item Registration) on page 2-28.

series in the EtherCA Moreover, When multiple lines are used in Multi-line Randomtrigger Mode, set the Communication Module for each line. For details, refer to 2-1-14 EtherCAT Network Configuration Set- tings on page 2-37.

Controller lights green. If communications were not working properly, check the communications setup from step 2. If communications were not performed properly registered in the troubleshooting of the Sysmac Studio. Check them to solve the problem. For details, refer to 2-1-15 Communication Test on page 2-38.

2-1-11 Communication Specifications Set-

T slave configuration.

, error events are

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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.

2 Methods for Connecting and Communicating with External Devices

Additional Information

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

2-1 EtherCAT Connections

2-1-9 Communications Settings

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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2 Methods for Connecting and Communicating with External Devices

2-1-10

Communications Module Settings (Startup Settings)

1 On the Main window, click Tool -

System Settings to open the system settings.

2 On the Multiview Explorer on the left, select System settings - Startup - Startup setting and

then click the Communication tab.

3 In the Communication Module Selection Area, select EtherCA

Apply.

in the Fieldbus, and then click

4 Click Data save in the Toolbar

5 On the Main window, click Function - System restart.

6 Click OK in the System restart dialog box to restart the Sensor Controller.

When the Sensor Controller was restarted, the set Communication Module will operate with the default settings.

7 Set the IP address and other parameters for external devices such as a PLC.

Precautions for Correct Use

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 EtherCA

ting to the Vision Sensor, and then restart the system.

(2) After the system has been restarted, set the Fieldbus Box to

Module settings for line 1, save the setting to the Vision Sensor, and then restart the system. Repeat this step for the rest of the lines.

EtherCAT in the Communications

, save the set-

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2 Methods for Connecting and Communicating with External Devices

Additional Information

You can save the Communication Module settings to a file. Use the System data or System + Scene group 0 data option for saving settings to a file. For details, Refer to Saving Settings Data to the Controller RAM Disk or an External Storage

Device in the Vision System FH/FHV Series User

’s Manual (Cat. No. Z365).

2-1 EtherCAT Connections

2-1-11

Communication Specifications Settings

Here, set output data size, output handshaking, and output controls to perform EtherCAT communications.

Precautions for Correct Use

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

• Do not input signals to EtherCA tem settings.

• Before you set the communications specifications, set the Communications Module to EtherCAT. Restart the system after you save the data to the Vision Sensor. For details, Refer to 2-1-10 Communications Module Settings (Startup Settings) on page 2-22.

1 On the Main window, click Tool

T from an external device while performing the EtherCAT sys-

- System Settings to open the system settings.

2 Select System Settings and then select Communications - EtherCAT.

Communication settings window appears.

2-1-11 Communication Specifications Settings

3 Set each item.

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2 Methods for Connecting and Communicating with External Devices

Setting item

Judge output polarity

Error output polarity

Output control

Output period [cycle]

Output time [cycle]

Timeout [s]

Setting value

[Factory default]

• ON at OK

• [ON at NG]

• [ON at error]

• OFF at error

• [None]

• Handshaking

2 to 5,000 [2]

1 to 1,000 [1]

0.5 to 120.0 [10.0]

Description

ON at OK: ON when the judgment result is OK. For the overall judgment, ON when all judgment results are OK. ON at NG: ON when the judgment result is NG. For the overall judgment, ON when one of the judgment results is NG.

ON at error: ON when an error occurs. OFF at error: OFF when an error occurs.

None: The Sensor Controller outputs measurement results without synchronizing with external devices. Handshaking: The Sensor Controller outputs measurement results with synchronizing with external devices.

Set the cycle by which measurement results are output. Set the number of cyclic communications of the EtherCA to output the measurement results from the Sensor Controller.

Set the cycle by which the output of measurement results are held. Set the number of EtherCAT PDO communication cycles to hold the output from the Sensor Controller

Valid only when Handshaking is set to Output Control. Set the timeout time. A timeout error will occur if external devices could not perform handshaking within the time set here.

T PDO communication cycle after which

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2 Methods for Connecting and Communicating with External Devices

Setting item

Line n Data Output number

Setting value

[Factory default]

• 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)

Description

Set the number of data items to output for each line. There are two types in the output data size: 4 bytes (DINT) and 8 bytes (LREAL). Select the output data size and the number of outputs from the types below

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 1 (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 data 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)

wo 4-byte data items

T and three 8-byte data items are output, for a total of five data items. (Total: 32 bytes)

Four 4-byte data items and six 8-byte data items are output, for a total of 10 data items. (Total: 64 bytes)

Eight 4-byte data items and twelve 8-byte data items are output, for a total of 20 data items. (Total: 128 bytes)

Sixteen 4-byte data items and twenty-four 8-

byte data items are out-

put, for a total of 40 data items. (Total: 256 bytes)

2-1 EtherCAT Connections

2-1-11 Communication Specifications Settings

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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2 Methods for Connecting and Communicating with External Devices

Setting item

Setting value

[Factory default]

• Result Data Format

12 (ByteArray 32 byte)

• Result Data Format

13 (ByteArray 64 byte)

Description

Result Data Format 12 (ByteArray 32 byte)

Result Data Format 13 (ByteArray 64 byte)

Result Data Format 14 (ByteArray 128 byte)

A character string of 32 bytes is output.

A character string of 64 bytes is output.

A character string of 128 bytes is output.

• Result Data Format

14 (ByteArray 128 byte)

• Result Data Format

15 (ByteArray 256 byte)

User area

• [OFF]

• ON

*1. When you control six to eight lines in Multi-line Random trigger mode, you cannot use the output

data size of 256 bytes.

Result Data Format 15 (ByteArray 256 byte)

Set whether or not to use the user area (user input area/user output area) for each line.

A character string of 256 bytes is output.

4 Click Apply.

Precautions for Correct Use

If you change any of the Line N Data Output Number and User area settings, restart the Con-

troller

Additional Information

If you use alignment, select the data type of the output data according to the application.

• DINT Data: This data type holds a single-precision floating-point number

. Coordinate values are multiplied by 1,000 and are output as integers. Only 1/1,000 of the precision is output.

• 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 Controller or other PLC will be slower than processing 32-bit calculations.

• ByteArray Data: This is used to output a character string. (Other than characters cannot be output.)

1) Select Result Data Format on the EtherCAT setting screen in the Sensor Controller of the

FH/FHV series. (Data with Array of Byte format is output to the NJ series Controller.)

2) Use the AryToString command in the program on the NJ series Controller to convert the

received data with Array of Byte format to String format.

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2 Methods for Connecting and Communicating with External Devices

EtherCAT Communications Settings for Multi-line Random-trigger Mode

When you use Multi-line Random-trigger mode to perform EtherCAT communications on multiple lines, you can only configure EtherCAT communication settings on line 0 Setting tab page. The EtherCA

Output control Common settings for all lines

Output period Common settings for all lines

Output setting Set for each line.

T communication settings on multiple-line are as follows.

Setting item Description

The settings of the Fieldbus data output for each line vary depending on the settings of the number of Data Output. For details, refer to 2-1-12 Output Data Settings (Processing Item Regis- tration) on page

2-28.

2-1 EtherCAT Connections

2-1-11 Communication Specifications Settings

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2 Methods for Connecting and Communicating with External Devices

2-1-12

Output Data Settings (Processing Item Registration)

Here, set the output items and output format to be used with EtherCAT. This processing item is not available in the FHV series. When you set output data in the FHV series, refer to 2-1-13

Setting Output Data (Numerical V

alues/Character Strings) on page 2-31.

Registering Processing Items

1 Click Edit flow in the T

oolbar.

2 Select the Fieldbus Data Output processing item in the processing item tree.

3 Click Append.

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

4 Click the Fieldbus Data Output icon and set the data output items and data format.

For details of the settings, refer to the following. Setting the Output Data on page 2-29

Precautions for Correct Use

Fieldbus Data Output

Perform the communication settings before the settings of Fieldbus Data Output. Note that if you changed the communication settings after the settings of Fieldbus Data Output, the changed settings will not be displayed on the Fieldbus Data Output setting display.

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2 Methods for Connecting and Communicating with External Devices

Additional Information

• Depending on the Data Output Number setting for the line, you can set from 4 to 64 data items for output with one data output processing item. Examples: DINT16: You can register up to 16 data items. LREAL 24: Y For the number of data items that you can output for each Data Output Number setting., refer to 2-1-11 Communication Specifications Settings on page 2-23. If you need to output more data items than given above, use more than one Output Unit. However, the data is output to the same destination, so if you do not control the output, the data that was output first will be overwritten by the subsequent data. Use the following method to read each set of output data.

• Controlling Data Output with Handshaking

When 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 different part of I/O memory in the PLC. For more information on handshaking, refer to Data Output Control with Handshaking on page 1-25.

• Data is output in the order of registration in the measurement flow, with each data output processing item executed at a different timing. (Data output is executed in the order that it is registered in the measurement flow.) For details, refer to Outputting the Measurement Data on page 1-18.

ou can register up to 24 data items.

2-1 EtherCAT Connections

2-1-12 Output Data Settings (Processing Item Registration)

Setting the Output Data

Set the output data with expressions. Set the expression for each four-byte data (DINT) and eight-byte data (LREAL).

Additional Information

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 DINT Setting and LREAL Setting tabs and the number of the output data are displayed according to the EtherCAT communication settings.

3 In the item tab area, click either tab,

The DINT Setting and LREAL Setting tabs are displayed according to the EtherCA nication settings.

DINT Setting or LREAL Setting.

T commu-

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

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2 Methods for Connecting and Communicating with External Devices

The selected output data number is displayed under the list.

5 Click

Specify the processing items, measurement results, and measurement data in the expression. Arithmetic or function calculations can be applied to the measurement data to output. For details of the calculation settings, refer to Calculation in the Vision System FH/FHV Series Processing Items Reference Manual (Cat. No. Z341).

6 Click

The entered comment will be displayed in the detailed results area on the Main window. For example, stead of Expression 0 in the detailed results areas on the Main window.

next to the expression text box and set the expression.

for the Comment text box and enter the description for the expression.

Test was entered as the comment for the expression 0, Test will be displayed in-

7 Repeat step 4 to 5 to set expressions for each output data number.

8 In the item tab area, click either tab, DINT Setting or LREAL Setting and set the expressions

in the same way as for step 3 to 5 above.

Additional Information

2-30

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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2 Methods for Connecting and Communicating with External Devices

2-1-13

Setting Output Data (Numerical Values/Character Strings)

Registering Processing Items

1 In the Main window, click Edit flow in the Toolbar

2 Click Result output (I/O) in the processing item tree.

3 Click Append.

The Result output (I/O) processing item is added at the bottom of the unit list (flow).

2-1 EtherCAT Connections

2-1-13 Setting Output Data (Numerical Values/Character Strings)

4 Click Result output (I/O) icon in the unit list (flow) or Set to set the output device and the

output data.

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2 Methods for Connecting and Communicating with External Devices

Setting the Output Device

Here, set a communication method when data is output.

1 Click Result output (I/O) icon in the unit list (flow) or Set to set the output device and the

output data. The Result output (I/O) setting window is displayed.

2 Click Output setting.

The Output setting window is displayed.

3 Click at the right side of the Output device text box to select the communication method to

use.

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

(a)

(b)

(c)

2 Methods for Connecting and Communicating with External Devices

Precautions for Correct Use

• The displayed output device is determined based on the selection of Communication module in the

System settings in the item tab.

• Executing measurements without an output device selected causes a failure (NG: No measurement) in the judgment of the processing unit.

Setting the Output Data

Here, set the data to output such as processing item data or fixed character strings.

1 In the item tab area, click Output data.

The Result output (I/O) setting window is displayed.

2-1 EtherCAT Connections

2-1-13 Setting Output Data (Numerical Values/Character Strings)

a) Setting data display area

The No. (output number), Offset (indicating the byte position from the beginning), Data type (integer

, double, string), Data, Value, and Title (data description) are displayed in this area.

A value is displayed when a variable is assigned to data.

b) Output data display area

Contents in the output data display area in binary (Hex) are displayed in this area.

c) Button

Button Description

Moves the selected data up one position.

Moves the selected data down one position.

Adds new data to the selected data position.

Deletes the selected data. The following data moves up after the deletion.

Edits the selected data.

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2 Methods for Connecting and Communicating with External Devices

Button Description

Saves the current settings and returns to the previous view.

Discards the current settings and returns to the previous view.

2 In the list, select the output data number to set the output and then click Insert.

The following Output data editing dialog box is displayed.

Setting item

Setting value

[Factory default]

Description

• Integer

Data type

• Double

Sets the data type.

• String

Data -

There are two input methods.

• Enter strings directly

• Assign variables

Title - Enters the description for data.

String settings Valid when String is selected in the Data type.

Size

Character code

*1. Any arithmetic expression cannot be used. If it is used, it will be handled as character strings.

0 to 4,095 [10]

[0] Sets the code page according to the language to be used.

Sets the number of characters.

• Character code: Specify the following code page for each language.

Language Code page Language Code page Language Code page

Japanese 932 English 1252

German 1252 French 1252

Italian 1252 Spanish 1252 Korean 949

Vietnamese 1258 Polish 1250

Chinese (simplified)

Chinese (traditional)

936

950

2-34

• The default 0 is no language-dependent letters in ANSI code page.

• If non-existing code page is selected, corresponding data is handled as invalid data (NULL).

3 Click at the right side of the Data type text box to select the data to output.

Integer, Double, or String are selectable.

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2 Methods for Connecting and Communicating with External Devices

Data type Description

• Entered data is handled as four-byte data.

• Allowable entering range is a range of signed INT.

Integer

Double

String

• When string variables are specified for data, character strings like digits which

can be converted into numerical values will be converted and output.When decimal digits are included, they are truncated.Moreover they are not convertible.

• Entered data is handled as eight-byte data.

• The allowable entering range is a range of eight-byte floating decimal value.

• When string variables are specified for data, character strings like digits which

can be converted into numerical values will be converted and output. Moreover, they are handled as “0” if they are not convertible.

• Entered data is set based on specified Size.

Example: Size is four and the entered data is ABCD. ABCD → ABC+NULL

• The number of allowable entering characters is up to 4,095.

If this limit is exceeded, nothing is displayed and output.

• When NULL is included in the entered character string, the character string fol-

lowing NULL is not output.

• The following escape sequence codes can be entered. The entered escape se-

quence codes are handled as fixed character strings. \N: Carriage return, \r: Line feed, \t: Tab, \xXX: ASCII code specified by “XX” (numerical value), \”: Double quotation mark, \\: Backslash

2-1 EtherCAT Connections

, they are handled as “0” if

2-1-13 Setting Output Data (Numerical Values/Character Strings)

4 Enter data into Data text box.

Data that can be output with one data No. is a range only to be handled as one string.

1) When directly entering an output content into the Data text box. A string enclosed with ” “ (double quotation marks) handled as one string and the rest following it is not output. Example: “AA”TEST → only “AA” is output.

2) In the case where assignment variable is assigned o data:

Directly enter a variable name (Scene variable: SC.~) or specify a variable in Variable

assignment window displayed by clicking

• Only one variable is valid for one data No.

Example: SC.A$+SC.B$ → Only SC.A$ is output. When a fixed string, e.g. AA, is entered before a variable, the subsequent variable is also

•

handled as a fixed string. Example: AA+SC.AA& → “AA+SC.AA&”

• When “String” is selected in the “Data type” but “Integer” or “Double” is set to the varia-

ble, then the variable is converted to a string and then output.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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2 Methods for Connecting and Communicating with External Devices

5 Enter Title that indicates the content of output data.

6 When

set.

Example:

String is selected in Data type, the following items in String setting area also needs to be

2-36

7 Click OK in the end of entering data to close the settings.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2 Methods for Connecting and Communicating with External Devices

2-1-14

EtherCAT Network Configuration Settings

To communicate with an NJ series Controller using EtherCAT, use the Sysmac Studio to register the Sensor Controller of the FH/FHV series to the network configuration.

Precautions for Correct Use

To connect the Sensor Controller of the FH/FHV series to an NJ/NX series Controller by EtherCAT

, first connect Sysmac Studio to with the Sensor Controller online and then perform the

EtherCAT network configuration.

Registering the Sensor Controller in the EtherCAT Slave Configuration

Using the Sysmac Studio, the Sensor Controller of the FH/FHV series is registered to the EtherCAT slave configuration on the Edit Network Configuration tab page. For details of the registration procedures, refer to Controller Configurations and Setup in the Studio Version 1 Operation Manual (Cat. No. W504).

Precautions for Correct Use

Sysmac

2-1 EtherCAT Connections

2-1-14 EtherCAT Network Configuration Settings

Use Sysmac Studio Standard Edition version 1.09 or later to perform the settings for the EtherCAT connections between the Sensor Controller of the FH series and an NJ-series Controller.

Setting the Data Output Size

Use the Sysmac Studio to assign individual PDO communication area for each line in the master according to the Data Output Number settings in the EtherCAT communication specifications settings in the Sensor Controller of the FH/FHV series. There are two setting methods.

Online Settings

When the data output size has already set in the Sensor Controller of the FH/FHV series, follow the procedures below to perform the settings for the Sysmac Studio.

1 Connect the Sysmac Studio to the Sensor Controller of the FH/FHV series on-line.

2 Make the Sensor Controller of

the Sysmac Studio.

f-line after on-line connection, the setting data will be loaded to

3 PDO communication areas will be assigned in the master according to the setting conditions of

the EtherCA

Offline Settings

When the data output size has not yet set in the Sensor Controller of the FH/FHV series and it will be set by the Sysmac Studio, follow the procedures below in offline state.

T communication specifications too.

1 Display the window to edit the system data for the FH/FHV series.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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2 Methods for Connecting and Communicating with External Devices

2 Display the EtherCAT settings window and select the check boxes for the EtherCAT settings.

3 Restart the FH/FHV simulator to reflect the settings.

4 After the simulatorwas restarted, display the EtherCAT settings window again and set the Data

Output Number for each line.

5 Restart the FH/FHV simulator to reflect the settings.

PDO communication areas will be assigned in the master according to the setting conditions of the EtherCA

Additional Information

If you change any parameter that requires that the Vision Sensor be restarted, will be displayed by the model in the Multiview Explorer. If this icon is displayed, restart the V

T communication specifications too.

ision Sensor.

2-1-15

Precautions for Correct Use

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 cannot be used. If such 256-byte data output size is set, a warning mark will appear in Sysmac Studio. *1: Three types: Result Data Format 3 (DINT 64), Result Data Format 7 (LREAL 32), Result

Data Format 11 (DINT16 + LREAL 24)

Communication Test

Here, check whether or not the EtherCAT communication settings are correct. In normal communication state, ECAT RUN-LED on the Sensor Controller lights green. If the communications are not properly performed, check the communication specification settings. As error events are registered in the troubleshooting of the Sysmac Studio, check them to solve the problem. For details, refer to

Additional Information

For LED specifications of ECAT RUN LED for the Sensor Controller of the FH/FHV series, refer to 3-1 Sensor Controller in the Vision System FH series Hardware Setup Manual (Cat. No.

or Smart Camera FHV series Setup Manual (Cat. No. Z408).

Z366)

2-1-25 Sysmac Error Status on page 2-66.

2-38

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2 Methods for Connecting and Communicating with External Devices

2-1-16

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

This section describes each I/O port for the Command, Response, Data Output, User, and Sysmac Error Status Areas. For the size, data type, initial value, and other information for each I/O port, refer to V

Specific Objects in the

Manufacturer Specific Objects on page 2-116.

ision Sensor

I/O Ports for the Command Area

Controller (Master) to Sensor Controller (Slave)

I/O port name Signal name Function

Control Flag Control signal

Switches from OFF to ON when the Controller (master) instructs the Sensor Controller (slave) to process the control command. (Sets the control command code and parameters

Command Request Command Request

Trigger

Flow Command Request

Error Clear Clear Error

Result Set Request

Command Code Command Code

Command Parameter 0 to 3

*1. Valid only when the output handshaking is set to ON.

Measurement Trigger

Flow Command Request

Data Output Re-

quest

Command parameters

and then switches from OFF to ON.)

Switches from ON to OFF by the Controller (master) when the Sensor Controller (slave) turns ON the Command Completion signal.

Switches from OFF to ON when the Controller (master) instructs the Sensor Controller (slave) to process the measurement execution.

Switches from ON to OFF when the Trigger Acknowledged signal is turned ON.

Switches from OFF to ON when an entered command execution is instructed during the execution of the Fieldbus flow control.

Switches from ON to OFF when the Flow Command Completion signal is turned ON

Switches from OFF to ON when the Error Status signal from the Sensor Controller (slave) is turned OFF

Switches from ON to OFF by the Controller (master) when the Error Status signal is turned OFF.

Switches from OFF to ON when the Controller (master) requests to output data. With this request, the Sensor Controller (slave) outputs the data.

Switches from ON to OFF by the Controller (master) when the Sensor Controller (slave) turns ON the Result Notification signal.

Stores the command code

Stores the command parameters

2-1 EtherCAT Connections

2-1-16 I/O Ports by Area (PDO Mapping) and Memory Allocation

Precautions for Correct Use

Since Command Parameter 3 is the reserved area, it is unavailable. Use Command Parameter 0 to 2.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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2 Methods for Connecting and Communicating with External Devices

I/O Ports for the Response Area

Sensor Controller (Slave) to Controller (Master)

I/O port name Signal name Function

Status Flag Status signal

Switches from OFF to ON when the Sensor Controller

(slave) completes the control command execution and Command Completion

BUSY Busy

Trigger Ready Trigger Ready

otal Judgment

Run Mode Run Mode

Trigger ACK

Command Ready Command Ready

Shutter Output

Flow Command Completion

Flow Command Busy

Flow Command W

Command Completion

Overall Judgment Output

Trigger Acknowledged

Shutter Trigger Output

Flow Command Completion

Flow Command Busy

Flow Command

ait

Wait

stores the control command code, response code, and re-

sponse data.

Automatically switches from ON to OFF when the Controller

(master) turns OFF the Command Request signal.

Turns ON when the Sensor Controller (slave) cannot perform

the control command.

Turns OFF when the Sensor Controller (slave) can perform

the control command.

Turns OFF when the Sensor Controller (slave) cannot per-

form the measurement trigger

urns OFF when the image window is set to “Through”. In

this case, the measurements can be processed.

Turns ON when the Sensor Controller (slave) can perform

the measurement trigger.

Turns ON when the overall judgment is NG.

Turns OFF when the overall judgment is OK.

Turns ON when the Sensor Controller is in Run mode (In a

measurement capable state with RUN signal output

in the Layout settings for the currently displayed line).

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

mode.

Turns ON when the Sensor Controller receives the Trigger

signal.

Automatically turns OFF when the Trigger signal turns OFF.

Turns ON when the control command can be performed.

Turns OFF when the control command cannot be performed.

Turns ON at the timing when the imaging elements complete

exposure.

Turns OFF after one output cycle of the EtherCAT communi-

cations.

Turns ON after the echo back, response code, and response

data for the executed command code are set during the exe-

cution for the Fieldbus flow control.

Turns OFF after checking the Flow Command Request sig-

nal turned OFF

urns ON when an entered command is being executed dur-

ing the execution of the Fieldbus flow control.

Turns OFF after checking the Flow Command Request sig-

nal turned OFF.

urns ON when a command can be entered during the exe-

cution of the Fieldbus flow control.

Turns OFF when an executed command is completed.

checked

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Omron Vision Sensor User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual