Denso FZ Series User manual

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1
OMRON
Vision Sensor
MODEL: FZ Series

Introduction
This document is a user's manual for the provider to use "OMRON Vision Sensor FZ Series" connected to the DENSO
robot controller RC8 series. Note that some functions may be unavailable on the FZ series. For details and handling of
the connected device, refer to the user’s manual of "OMRON Vision Sensor FZ Series".
Caution: (1) Note that the functions and performance cannot be guaranteed if this product is used without
observing instructions in this manual.
(2) All products and company names mentioned are trademarks or registered trademarks of their
respective holders.
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This manual covers the following product
OMRON FZ3, FZ4, and FZM1 Series
FZ5, FH Series
FQ-M, FQ2 Series (Part of Commands)
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Important
To ensure proper and safe operation, be sure to read "Safety Precautions Manual" before using the provider.
Notice to Customers
1. Risks associated with using this product
The user of this product shall be responsible for embedding and using the product (software) on a system and any result
from using it.

Contents
Introduction...........................................................................................................................................................................2
Important...............................................................................................................................................................................2
Notice to Customers..............................................................................................................................................................2
1. Outline of This Product (Provider) ...............................................................................................................................4
2. How to Connect ............................................................................................................................................................6
3. Communication Settings for Robot Controller and Device Used .................................................................................7
4. Provider Execution Procedure ....................................................................................................................................10
5. Command Description ................................................................................................................................................11
6. Error code of FZ provider ...........................................................................................................................................31
7. Operation Panel Screen...............................................................................................................................................32
8. Sample Program..........................................................................................................................................................33
Revision History .................................................................................................................................................................34

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1. Outline of This Product (Provider)
1.1 Target device of provider
This provider can be used only when a DENSO robot controller (RC8 series) is connected to the FZ series.
1.2 Features of provider
This provider is provided to use the FZ native commands required to access FZ series in the robot program. Use of this
provider allows customers to establish communication with a robot easily without creating a communication program for
FZ series. The following shows a diagram of provider embedding.
Communication
circuit
[FZ]
[Robot controller]
Using the dedicated communication
format for FZ, data transmission is
performed.
Sub Main
Declare provider implementation
IF ** = 1 THEN<0}
Provider command
ELSE ~


END IF
End Sub
Provider
(Class library)

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1.3 Mechanism of provider
This provider offers various programs required to control the target device as a single provider. Just activate the license
to use the provider. Once provider implementation is declared on a desired program file, the functions prepared by the
provider can be used as commands in the user program. Since the provider is included in the controller, there is no need
of installation. Also, it is possible to implement multiple providers of different type. Note that a program (procedure)
cannot contain the providers of the same type.
Note: When the same provider exists in different programs like in the above figure, exclusion process is
required between the programs (tasks).
* The provider is provided as a dynamic link library (abbreviated as DLL) which can be used from PacScript.
If provider is compared to a folder,
the folder contains various commands.
Controller internal image
Group of providers
(cannot be used yet)
Program (1)
Program (2)
Embedding
&
Activation
Provider prepared in the system. This cannot be used yet.
Provider after embedding. This can be used in a provider-embedded program.
Different colors are used to indicate the provider type.

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2. How to Connect
2.1 Ethernet (TCP/IP) connection example
To connect to the robot controller via Ethernet, use a crossover LAN cable. Also, when a switching hub/router is used,
use the cable suitable for the switching hub/router specifications. (The provider for FZ does not support RS-232C.)
[FZ series]
LAN cable
[Robot controller]

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3. Communication Settings for Robot Controller and Device
Used
Use a teach pendant to adjust the communication settings for the device to be used.
3.1 Communication via Ethernet (TCP/IP)
3.1.1 Ethernet (TCP/IP) communication settings on robot controller
Set the robot controller's IP address.
(1) Press [F6 Setting] - [F5 Communication and Token] - [F2 Network and Permission] to display the
[Communication Settings] window. Set the IP address and subnet mask so that the robot controller and FZ series are
within the same subnet mask.

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3.1.2 Ethernet (TCP/IP) communication settings for FZ
- Operation procedure
Select Mode - [System] - [Communication specifications] - [Serial] - [Ethernet] to open the setting window.
[Status settings at startup]
- Operation procedure
Mode - [System] - [Controller] - [Startup setting] - [Communication]
Set the IP address and subnet mask so
that the robot controller and FZ are
within the same subnet mask.
The port (transmission) number must
be the same as that of the robot
controller (Default: 9876).
Set "Normal (TCP)".

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[Output settings]
[Flow edit] - [External output of results] - [Serial data output] - [Output format]
* For details, refer to the OMRON FZ user's manual.
・Communication method: Ethernet
・Output form: ASCII
・Minus: -
・0 suppress: Available
・Field separator: Comma
・Record separator: Delimiter

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4. Provider Execution Procedure
The basic process of the provider is implementation (declaration) -> execution. This provider takes a connection
process at the time of implementation. The operation can be repeated as many times as needed. A program example is
shown below.
Sub Main
On Error Goto ErrorProc (1) ‘Declare error process routine
Dim caoCtrl as Object (2) ‘Declare provider variable
Dim vntResult as Variant (3) ‘Declare result acquisition variable
caoCtrl = cao.AddController("FZ", "caoProv.OMRON.FZ", "", "conn=eth:192.168.0.2") (4)
"State from trigger to data receiving process" (5)
EndProc:
‘End process
Exit Sub
ErrorProc:
‘Error process
End Sub
(1) Declare the provider error processing routine as needed. (Connection error detection at declaration)
(2) Declare the provider implementation variable as Object type. The variable name can be specified arbitrarily.
(3) Declare the result acquisition variable. The data type depends on the command.
(4) Execute implementation with the provider declaration command cao.AddController. The parameters required for
settings vary by provider. From this point the provider commands are available using the implementation variable
caoCtrl.
(5) Now the program can be stated using the provider commands.

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5. Command Description
This page contains a description of commands. The commands are classified into connection commands, FZ commands,
and proprietary extension commands. For the detailed operation of FZ commands, refer to the reference manuals for the
OMRON FZ and FQ2 series.
Table 5-1 List of commands
Command
FZ series
command name
Usage Refer
to
Connection command
cao.AddController －
Implements the provider to a variable and makes a connection
to FZ. 13
FZ commands
SCENE SCENE Acquires the current scene number. 14
Changes the scene number currently in use.
15
SCENEGROUP SCENEGROUP Acquires the scene group number currently in use. 16
Changes the scene group number. 17
MEASURE MEASURE Executes measurement once and receives the result. 18
TRIGGER －Execute MEASURE command one time.
The result of MEASURE command is not received.
19
GETRESULT －Get the result of the serial data output. 20
SCRSWITCH SCRSWITCH
Switches between the adjustment screen and the operation
screen.
21
LAYOUTNO LAYOUTNO Get current layout number. 22
Switch currently used layout number. 23
UNITDATA UNITDATA
Acquires the parameters and measurement values of a
specified processing unit. 24
Changes the parameters of a specified processing unit. 25
CLRMEAS
CLRMEAS
Clears all the measurement values in the current scene.
26
Proprietary extension commands
RAW
－
Sends a specified command and receives a response. 27
CLEARPACKET －
Clear the received packet.
28
SETTIMEOUT
－
Set the communication timeout value. 29
GETTIMEOUT －
Get the timeout value.
30
Following abbreviated expressions are used for the command descriptions in this manual.
<Implementation variable>:<ImplVar>
<Property variable>:<PropVar>

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Table 5-2 FZ provider supported commands
FZ series
Non-procedure
commands Provider commands FZ3/4/FZM1 FZ5/FH FQ-M/FQ2
SCENE SCENE AAA
SCNGROUP SCNGROUP AANA
MEASURE MEASURE AAA
TRIGGER AAA
GETRESULT AAA
SCRSWITCH SCRSWITCH ANA NA
LAYOUTNO LAYOUTNO NA ANA
UNITDATA UNITDATA AANA
CLRMEAS CLRMEAS AAA
－RAW AAA
－CLEARPACKET AAA
－SETTIMEOUT AAA
－GETTIMEOUT AAA
A: Available
NA: Not available

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cao.AddController
Usage Implements the provider to a variable and makes a connection to FZ.
Syntax cao.AddController (<Controller name>,<Provider name>,
<Provider running machine name>,<Option>)
Argument:
<Controller name> Assign a name (The name is used for control).
<Provider name> "CaoProv.OMRON.FZ"
<Provider running machine name> Omit this parameter.
<Option> [Connection parameter], [Timeout period]
[Connection parameter] "conn=eth:<IP address>[:Port number]"
Default port number is 9876.
(The port number is optional.)
[Timeout period] Specify the timeout period (msec) for transmission.
"Timeout[=<Time>]" Default: 500
(The timeout period is optional.)
Description The provider becomes effective when implemented to a variable. From this point the
implemented Object type variable is used to access the provider. (The implemented
variable is called "Implementation Variable".）
Example
Dim caoCtrl as Object
caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "","conn=eth:192.168.0.2")
* Specify a port number and timeout period as follows:
caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "","conn=eth:192.168.0.2:9876,
Timeout = 500")

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<ImplVar>.SCENE
Usage Acquires the scene number currently in use.
Syntax <ImplVar>.SCENE
Return value: The scene number currently in use (integer).
Description The scene number currently in use is acquired.
Example
Dim caoCtrl as Object
Dim iResult as Integer
caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2")
iResult = caoCtrl.SCENE

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<ImplVar>.SCENE
Usage Changes the scene number to be used.
Syntax <ImplVar>. SCENE <Scene number>
Argument: <Scene number> Scene number (integer).
Description The scene number to be used is changed.
Example
Dim caoCtrl as Object
caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2")
caoCtrl.SCENE 2 'To scene number 2

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<ImplVar>.SCNGROUP
Usage Acquires the scene group number currently in use.
Syntax <ImplVar>.SCNGROUP
Return value: The scene group number currently in use (integer).
Description The scene group number currently in use is acquired.
Example
Dim caoCtrl as Object
Dim iResult as Integer
caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2")
iResult = caoCtrl.SCNGROUP

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<ImplVar>.SCNGROUP
Usage Changes the scene group number to be used.
Syntax <ImplVar>.SCNGROUP <Scene group number>
Argument: <Scene group number> Scene group number (integer).
Description The scene group number to be used is changed.
Example
Dim caoCtrl as Object
caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2")
caoCtrl.SCNGROUP 4 'To scene group number 4

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<ImplVar>.MEASURE
Usage Executes measurement once and receives the result.
Syntax <ImplVar>.MEASURE
Return value: Measurement result (Variant type).
Description Measurement is executed once and the measurement result specified in the serial data
output setting is received. If the serial data output is not set, the command waits until
the timeout period passes. If multiple items of data are received, they are stored as an
array.
Example
Dim caoCtrl as Object
Dim vntResult as Variant
caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2")
vntResult = caoCtrl.MEASURE

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<ImplVar>.TRIGGER
Usage Send MEASURE command.
Syntax <ImplVar>.TRIGGER
Return value: None
Description Send MEASURE command. To obtain the result of serial data output, use
GETRESULT command. Use this command when serial data output is not set.
Example
Dim caoCtrl as Object
Dim vntResult as Variant
caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2")
caoCtrl.TRIGGER
vntResult = caoCtrl.GETRESULT

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<ImplVar>.GETRESULT
Usage Get the result of the serial data output.
Syntax <ImplVar>.GETRESULT
Return value: Measurement result (serial data output) (Variant type)
Description Get the result of the serial data output.
Example
Dim caoCtrl as Object
Dim vntResult as Variant
caoCtrl=cao.AddController("FZ","CaoProv.OMRON.FZ", "", "conn=eth:192.168.0.2")
caoCtrl.TRIGGER
vntResult = caoCtrl.GETRESULT