Omron Vision Sensor FH Series Instruction Manual

Robot Connection Guide
NACHI-FUJIKOSHI CORP. Edition
Vision Sensor
FH Series
Vision System
Z464-E1-01

NOTE
•All rights reserved.
•No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any
form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the
prior written permission of OMRON.
•No patent liability is assumed with respect to the use of the information contained herein. Moreover,
because OMRON is constantly striving to improve its high-quality products, the information
contained in this manual is subject to change without notice. Every precaution has been taken in
the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or
omissions.
Neither is any liability assumed for damages resulting from the use of the information contained in
this publication.
Trademarks
•
Sysmac and SYSMAC are
trademarks or registered trademarks of OMRON Corporation in Japan
and other countries for OMRON factory automation products.
•
This software is based in part on the work of the Independent JPEG Group.
•
Microsoft, Windows, Windows Vista, Excel, and Visual Basic are either registered trademarks or
trademarks of Microsoft Corporation in the United States and other countries.
•
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 WAVE 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 used with permission from Microsoft.

1
CONTENTS
Introduction............................................................................................................................................ 3
Terms and Conditions Agreement....................................................................................................... 4
Safety Precautions................................................................................................................................ 6
Waring..................................................................................................................................................... 7
Precautions for Safe Use...................................................................................................................... 8
Precautions for Correct Use................................................................................................................. 9
Regulations and Standards................................................................................................................ 10
Related Manuals...................................................................................................................................11
Revision History.................................................................................................................................. 13
1. Overview....................................................................................................................................... 14
1.1. Overview ............................................................................................................................... 14
1.2. Instructions for Building a 3D Robot Vision Application................................................ 14
1.3. Robot Programs Covered in this Manual.......................................................................... 15
2. System Configuration.............................................................................................................. 16
2.1. Cautions for Robot Equipment .......................................................................................... 16
2.2. When using Vision Sensor FH Series 3D Vision Sensor................................................. 16
3. Connecting Vision Sensor to Robot Controller................................................................. 18
3.1. Setting Communications for Robot Controller ................................................................ 19
3.2. Connecting and Checking Vision Sensor and Robot Controller .................................... 21
3.3. Verify Commands Sent/Received .......................................................................................... 23
4. Coordinate System ................................................................................................................... 27
4.1. Name of Coordinate System .............................................................................................. 27
5. How to Start the Setup Program ......................................................................................... 29
6. Description of the Sample Programs.................................................................................. 31
6.1. Connecting Vision Sensor to Robot Controller ................................................................ 33
6.2. Switching Scenes on the Vision Sensor ........................................................................... 35
6.3. Moving Robot to Robot Image Position............................................................................ 35

2
6.4. Register the Current Robot Position in the Vision Sensor ............................................. 36
6.5. Executing Measurements on Vision Sensor..................................................................... 37
6.6. Getting the Measurement Results..................................................................................... 38
6.7. Moving Robot to Robot Approach Position at Measurement......................................... 39
6.8. Moving Robot to Robot Command Position at Measurement ....................................... 41
6.9. Disconnecting Vision Sensor from Robot Controller ...................................................... 41
7. Function Reference .................................................................................................................. 42
7.1. List of Functions..................................................................................................................... 42
7.2. Error Message........................................................................................................................ 42
7.3. List of global variables ........................................................................................................ 42
7.4. Function Details ................................................................................................................... 44

3
Introduction
Thank you for purchasing the FH Series.
This manual contains information that is necessary to use the FH Series.
Please read this manual and make sure you understand the functionality and
performance of the FH Series before you attempt to use it in a control system.
Keep this manual in a safe place where it will be available for reference during
operation.

4
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 NON-
INFRINGEMENT, 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
ANYWAY 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.

5
Application Considerations
Suitability 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 and
limitations of use which apply to the Product. This information by itself is not sufficient for a complete
determination of the suitability of the Product in combination with the end product, machine, system, or
other application or use. Buyer shall be solely responsible for determining appropriateness of the
particular Product with respect to Buyer’s application, product or system. Buyer shall take application
responsibility in all cases.
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 oth-
er 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 beenchecked and is believed to be accurate;however,
no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

6
Safety Precautions
For details on Safety Precautions, refer to Safety Precautions in the Vision System
FH Series 3D Robot Vision Application Construction Guide (Cat. No. Z446).

7
Waring
For details on Waring, refer to Waring in the Vision System FH Series 3D Robot
Vision Application Construction Guide (Cat. No. Z446).

8
Precautions for Safe Use
For details on Precautions for Safe Use, refer to Precautions for Safe Use in the
Vision System FH Series 3D Robot Vision Application Construction Guide (Cat. No.
Z446).

9
Precautions for Correct Use
For details on Precautions for Correct Use, refer to Precautions for Correct Use in
the Vision System FH Series 3D Robot Vision Application Construction Guide (Cat.
No. Z446).

10
Regulations and Standards
For details on Regulations and Standards, refer to Regulations and Standards in the
Vision System FH Series 3D Robot Vision Application Construction Guide (Cat. No.
Z446).

11
Related Manuals
<Application Construction Guide>
<Robot Manual OMRON>
Name of Manual
Cat. No.
Model
Purpose
Contents
Robot Safety Guide
I590
-
When User
want to
know how
to handle an
industrial
robot safely
Describes precautions for
safe handling of the
robot.
<Robot Manual NACHI-FUJIKOSHI>
Name of Manual
Cat. No.
Model
Purpose
Contents
V
ision Sensor
F
H Series
3
D Robot Vision
Application
Construction
Guide
Z446
FH-5050
FH-SMDA-GS050B
When User
want to
know about
the FH
series 3D
robot vision
system.
Describes the soft
functions, setup,
and operations to use FH
series 3D
robot vision system.
Name of Manual
Cat. No.
Model
Purpose
Contents
CFD/CFDL
CONTROLLER
INSTRUCTION
MANUAL SETUP
MANUAL
TCFEN-159
MZ07-01
CFD controller
When User
want to
know how
to setup
the
robot.
Describes basic
operations, setup and
programming of the
robot.
CFD/CFDL
CONTROLLER
INSTRUCTION
MANUAL BASIC
OPERATIONS
MANUAL
TCFEN-160
CFD MZ07-01
When User
want to
know how
to operate
the robot.
Describes basic
operations of the robot
by
teach pendant,
FD CONTROLLER
INSTRUCTION
MANUAL Robot
language
TFDEN-012
-
When User
want to
know how
to develop
the
application.
Describes the Syntax,
Procedure, Debug of the
programming language.
FD CONTROLLER
INSTRUCTION
COMMAND
REFERENCE
TFDEN-092
-
When User
want to
know the
command of
robot.
Describes the
programming language
about command
reference.
FD CONTROLLER
INSTRUCTION
MANUAL
User Task
TFDEN-123
When User
want to
know the
“user task”.
Describes the
programming language
about command
reference of “user task”.

12

13
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.
Revision code
Rev. Code Rev. Date Revision Contents
01 Dec. 2021 Original product
Cat. No.
Z464-E1-01

14
1. Overview
1.1. Overview
This manual describes procedures for connections and settings required for
constructing robot vision applications by connecting your robot controller to the
Vision Sensor FH (hereafter referred to as Vision Sensor).
Utilizing this manual and Robot Vision Application Construction Guide can reduce
man-hours to connect the Vision Sensor to your robot controller, set the Vision Sensor,
and create robot programs.
1.2. Instructions for Building a 3D Robot Vision Application
Please follow the flow below for constructing 3D robot vision applications
Procedure
Reference
Creating Data Set for Robot Vision [3D Robot Vision Application
Construction Guide] Chapter 6
↓
System Settings for Vision Sensors [3D Robot Vision Application
Construction Guide] Chapter 7
↓
Setting Communications for Robot controller
Refer to Chapter 3.1
↓
Connecting Vision Sensor to Robot Controller Refer to Chapter 3.2
Refer to Chapter 3.3
↓
Robot Vision Settings for Vision Sensors [3D Robot Vision Application
Construction Guide] Chapter 8
↓
Description of the sample programs
Refer to Chapter 6

15
1.3. Robot Programs Covered in this Manual
The two types of robot programs covered in this manual are output from the Robot
Vision Dataset Output Tool. Each program is used for a different purpose.
Program
Program Name
Detail
Setup Program fhsetup_main This program allows the Vision Sensor to give
operating instructions to the robot to
configure the Vision Sensor for robot vision.
This program consists of the following
functions
- Send the current robot position to the Vision
Sensor.
- Move to the indicated position on the Vision
Sensor.
Sample Program fhsample_main This program is a sample of the basic
program flow for a pick application.
In this program, the robot gives control
instructions to the Vision Sensor.
The program consists of the following
functions
- Connecting to the Vision Sensor
- Scene switching of the Vision Sensor
- Moving to the measurement position
- Registering the current robot position to
the Vision Sensor
- Execute measurement instructions to the
Vision Sensor
- Receives the position of the workpiece to
be recognized
- Move to approach position
- Move to the target work location (grasping
position)
Based on this program, a pick-and-place
application is built by adding the robot
movement to operate the end-effector (hand)
and to place the workpiece.

16
2. System Configuration
This chapter describes the system configuration and target devices to construct robot
vision applications.
2.1. Cautions for Robot Equipment
None.
2.2. When using Vision Sensor FH Series 3D Vision Sensor
2.2.1. System Configuration
2.2.2. Target Devices
Device name
Manufacturer
Name
Model
Remarks
Vision Sensor OMRON Vision Sensor
FH Series
FH-5050 Ve r. 6 . 40 or
later
Controllers other
than FH-5050
are not
supported.
3D Camera
OMRON
3D Vision Sensor
FH-SMDA-GS050B
-
Camera Cable OMRON Ethernet cable
super bending
resistance
FHV-VNBX□M
FHV-VNLBX□M
-
Camera I/O cable OMRON I/O cable super
bending
resistance
FH-VSDX-BX□M
FH-VSDX-LBX□M
-
Calibration target OMRON Handeye
Calibration Target
FH-XCAL-R -
OMRON Camera
Calibration Target
FH-XCAL-S -
Switching Hub
Robot Robot controller
Teaching Pendant
Vision Sensor
PC
USB memory
PC software
LAN cable
（
Straight cable
）
3D Camera
Calibration Target
Data set output tool
for 3D Robot Vision

17
3D Software OMRON 3D Robot Vision
Software Installer
FH-UM3D1 -
Robot controller
NACHI-FUJIKOSHI
Robot controller
CFD Controller
Ve r. 4.29
Robot NACHI-FUJIKOSHI Vertical multi-
joint robot
CFD MZ07-01 -
Teaching pendant NACHI-FUJIKOSHI Teaching pendant - -
PC software OMRON Data set output
tool for 3D robot
vision
- Ve r. 1 . 30 or later
Please contact
us for how to
obtain it.
Switching Hub OMRON Switching Hub for
industrial
W4S1-□□□ Recommended
product
USB memory OMRON USB memory FZ-MEM8G Recommended
product
Precautions for Correct Use
Do not use any device except mentioned above for each device of the system
configuration.
Additional Information
This manual does not provide operations, installation, and wiring methods for each
device.
For details, refer to manuals noted in Related Manuals.

18
3. Connecting Vision Sensor to Robot Controller
This chapter describes procedures to connect the Vision Sensor to the robot controller.
Please follow the flow below for the settings.
The IP address of each device is described below.
Vision Sensor (Ethernet1) : 10.5.5.100
Robot controller : 10.5.5.101
3.1
Setting communications for the
robot controller
Modify the default IP address of the
robot controller with the teaching
pendant to fit the communication
settings in the Vision Sensor.
▼
3.2
Verifying Ethernet
Communication
Check the connection status of
Ethernet using PING command.
▼
3.3 Verify Commands Sent/Received
Run a robot program for startup to
establish the TCP/IP connection
between the Vision Sensor and the
robot controller.
Check the communication status by
sending and receiving commands.