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proofreading errors or omissions.

Even if it conforms to all instructions in this safety guide, it isn't possible to guarantee
that  a  robot  system  will  be  free  from  an  accident  resulting  in  injury  or  death  or
considerable  damage  to  property  caused by  the  industrial  robot.  It  is  the customer's
responsibility  to  implement  appropriate  security  measures  based  on  their  own  risk
assessment.

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Summary of Contents for FH-SM02

Page 1: ...Vision Sensor FH FHV Series Robot Vision Application Construction Guide OMRON Corporation Edition ...

Page 2: ...LER 28 5 1 SETTING COMMUNICATIONS FOR VISION SENSOR 29 5 2 SETTING COMMUNICATIONS FOR ROBOT CONTROLLER 30 5 3 CONNECTING AND CHECKING VISION SENSOR AND ROBOT CONTROLLER 33 6 SETTING VISION SENSOR 38 6 1 OVERVIEW 38 6 2 PICK PLACE WITH FIXED CAMERA 46 6 3 GRIP CORRECTION WITH FIXED CAMERA 65 6 4 PICK PLACE WITH ON HAND CAMERA 82 6 5 BACKING UP SETTINGS 103 7 DESIGNING ROBOT PROGRAMS 105 7 1 CONNECT...

Page 3: ...7 7 DISCONNECTING VISION SENSOR FROM ROBOT CONTROLLER 112 8 REFERENCE INFORMATION 113 9 REVISION HISTORY 114 ...

Page 4: ...sion from Microsoft Corporation Windows is either registered trademarks or trademarks of Microsoft Corporation in the United States and other countries Other company names and product names in this document are the trademarks or registered trademarks of their respective companies ...

Page 5: ...of a FH FHV Series Controller Thoroughly read and understand the manuals for all of the devices that are used in this Manual to ensure that the system is used safely Review the entire contents of these materials including all safety precautions precautions for safe use and precautions for correct use Any part or whole of this operation manual may not be copied reproduced or reprinted without permi...

Page 6: ...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 wri...

Page 7: ...ammable Products Omron Companies shall not be responsible for the user s programming of a programmable Product or any consequence thereof 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 corr...

Page 8: ...ide it isn t possible to guarantee that a robot system will be free from an accident resulting in injury or death or considerable damage to property caused by the industrial robot It is the customer s responsibility to implement appropriate security measures based on their own risk assessment ...

Page 9: ...tware only on the Designated Equipment as follows Section 1 DEFINITION As used herein the following terms shall have the following meanings Terms Meanings Omron Omron Corporation this Agreement SOFTWARE LICENSE AGREEMENT Licensee a person either an individual or a legal entity who agrees to this Agreement and obtains Licensed Software to install copy or otherwise use Licensed Software the measurem...

Page 10: ...his Agreement Licensee shall not a distribute publish sell assign transfer rent lease or upload to any website or server the Licensed Software b reverse engineer de compile or disassemble the Licensed Software or c use or reproduce the Licensed Software in whole or in part other than as expressly permitted by this Agreement 2 3 Licensee shall not use the Licensed Software for any unlawful illegal ...

Page 11: ...gation to provide any support or engineering assistance of any sort to Licensee The terms and conditions in this Agreement shall govern the Licensed Software that Licensee has copied modified and or sublicensed Section 3 2 Australian Consumer Law for Licensee in Australia 3 1 1 In the event that this Agreement constitutes or involves a supply of goods or services to a consumer as defined in the Au...

Page 12: ...ENSED SOFTWARE IS PROVIDED AS A CONVENIENCE AND ACCOMMODATION TO LICENSEE TO THE EXTENT NO PROHIBITED BY LAW IN NO EVENT SHALL OMRON ITS AFFILIATES OR ANY OF ITS OR THEIR RESPECTIVE DIRECTORS OFFICERS EMPLOYEES OR AGENTS BE LIABLE TO LICENSEE OR ANY THIRD PARTY FOR ANY CAUSE WHATSOEVER INCLUDING BUT NOT LIMITED TO PERSONAL INJURY OR ANY DIRECT INDIRECT SPECIAL INCIDENTAL CONSEQUENTIAL OR PUNITIVE ...

Page 13: ...Agreement Section 6 INDEMNIFICATION Licensee agrees to indemnify defend and hold harmless Omron including its Affiliates directors officers or employees collectively the Omron Indemnitees from actual or alleged claims losses liabilities damages expenses and costs including reasonable attorney s fees and expert costs incurred by any Omron Indemnitees as a result of a a breach of this Agreement by L...

Page 14: ...the reasonable control of the party so affected including but not limited to war hostility riot revolution embargo enforcement of any law order or regulation fire wind earthquake flood severe weather or other acts of God the party so affected shall be excused from such performance to the extent of such prevention delay or restriction and shall not constitute a breach of this Agreement 10 2 License...

Page 15: ...e of this Agreement and all amendments and supplements hereto shall be governed and interpreted by and in accordance with the laws of Japan without reference to conflict of law rules 10 8 The prevailing party in any judicial action if any brought to enforce or interpret this Agreement or for relief for the breach hereof shall be entitled to recover its reasonable attorney s fees therein incurred 1...

Page 16: ... relating to the safety of industrial robot application When you use the FH FHV Vision Sensor Controllers in robot systems that use industrial robots be sure to verify the conformance to laws and regulations relating to the safety of industrial robot application Take measures to ensure safety as required ...

Page 17: ...k under specific conditions Explosion Hazard Indicates the possible danger of explosion under specific conditions Laser Radiation Hazard Indicates the possible danger of laser radiation or light High Temperature Caution Indicates the possible danger of injury by high temperature under specific conditions The filled circle symbol indicates operations that you must do The specific operation is shown...

Page 18: ...uct is not designed or rated for ensuring safety of persons Do not use it for such purposes Never connect the AC power supply with this product When the AC power supply is connected it causes the electric shock and a fire A lithium battery is built into the Controller and may occasionally combust explode or burn if not treated properly Dispose of the Controller as industrial waste and never disass...

Page 19: ...bnormal operation may result in serious accident Please take fail safe measures on your side in preparation for an abnormal signal due to signal conductor disconnection and or momentary power interruption An abnormal operation may result in a serious accident CAUTION Danger of burns Do not touch the case while the LED is ON or just after power is turned OFF since it remains extremely hot ...

Page 20: ...n applications described in this document are as follows Application Description Pick Place with a fixed camera In a robot vision system with a fixed camera mounted the robot can pick and place a workpiece The Vision Sensor measures the target workpiece for Pick Place and outputs a robot position for Pick Place to the robot controller Grip Correction with a fixed camera In a robot vision system wi...

Page 21: ...roller When combining the Grip Correction and Place the Vision Sensor outputs a placing position considering positioning deviation to the robot controller Pick Place with an on hand camera In a robot vision system with a camera mounted on the robot hand the robot can pick and place a workpiece Imaging Measurement Grip Correction Imaging Measurement Pick Place Imaging Measurement ...

Page 22: ...Sensor and the robot controller executing calibration between a camera and a robot using the robot control by the Vision Sensor and construct robot vision applications Additionally the readers need to have understood the use and implementation methodology for robot programs of the targeted robot controller ...

Page 23: ...or FH Series FH 050 Ver 6 21 or later Robot controller OMRON Robot controller SmartController EX 19300 000 Robot OMRON Vertical multi joint robot Viper 650 1720 36000 1720 36020 1720 36010 Viper 850 1720 38000 1720 38020 1720 38010 Teaching pendant OMRON Teaching pendant T20 10046 010 Switching hub Robot Robot controller Teaching Pendant Vision Sensor PC Data set output tool USB memory ACE PC soft...

Page 24: ...nsor FHV Series 2 2 1 System Configuration 2 2 2 Target Devices Device name Manufac turer Name Model Remarks Vision Sensor OMRON Vision Sensor FHV Series FHV7 M C FHV7 C C Ver 6 21 or later Ethernet Cable OMRON Ethernet Cable FHV VNB M FHV VNLB M Robot controller OMRON Robot controller SmartController EX 19300 000 Robot controller Teaching Pendant Vision Sensor PC Data set output tool PC software ...

Page 25: ...re Automation Control Environment ACE Ver 3 7 or later Switching hub OMRON Industrial switching hub W4S1 Recommended product USB memory OMRON USB memory FZ MEM2G 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 document does not provide operations installation and wiring met...

Page 26: ...ler 6 Setting the Vision Sensor 7 Designing robot programs 3 2 What You Can Obtain by This Startup Procedure 3 2 1 Creating Data for the Robot Vision When following the procedures in Chapter 4 you can create robot programs sample programs for the robot controller and data environment data for the Vision Sensor corresponding to the type of robot vision applications and camera mounting method Robot ...

Page 27: ...r When following the procedures in Chapter 6 you can complete settings for the Vision Sensor required for application construction calibration between camera and robot and controlling the robot such as driving robot by the Vision Sensor s operation Additionally you can check the setting results of the Vision Sensor by actually moving the robot Robot Robot controller Vision Sensor Environment data ...

Page 28: ...mentation procedures for robot programs noted in Chapter 7 are a reference You should design implement and test actual operated robot programs based on the used environment and robot applications Robot Robot controller Vision Sensor 2 Command execution Driving the robot etc 1 Control command 3 Command response Current position etc Robot program for startup Execution Switching hub PC Robot Robot co...

Page 29: ...on verification for each device have been finished The robot controller is in auto mode and the high power is turned on Additional Information This document does not provide operations installation and wiring methods for each device For details refer to manuals noted in Chapter 8 Reference Information ...

Page 30: ...obot manufacturer to connect application type to construct and camera mounting method to output a data set for the robot vision 4 1 Creating Data Set Follow the procedures below to create a data set for the robot vision 1 Launch the output tool for the data set for the robot vision 2 Select a robot manufacturer to connect from the combo box 3 Select an application to construct by clicking the radi...

Page 31: ... for the data set Click OK when the Check dialog is displayed after the data set was output 5 Check that a folder was created with a name of year month day hour minute and second in the specified output path and there are FHdata and RobotProgram in it ...

Page 32: ...Setting communications for the robot controller To modify the communication settings for the robot controller connect the PC ACE and the robot controller Modify the default IP address of the robot controller with PC ACE according to the communication settings in the Vision Sensor 5 3 Connecting and checking the Vision Sensor and the robot controller Check the connection status of Ethernet using PI...

Page 33: ...set the communications for the Vision Sensor 1 Select Tool Configuration copy in the menu bar 2 Select Select a sensor controller project in the Load tab Select the FHdata folder in the folder outputted by using the data set output tool for the robot vision 3 Click Execute to restart it ...

Page 34: ...d then refer to the IP address for the robot controller on the SYSTEM INFORMATION window 2 Connect the PC and the robot controller with LAN cables 3 With right click select Network and Sharing Center Change adapter settings from the control panel of the PC and open the property for a network adapter connecting the robot controller The dialog shown on the right will be displayed select Internet pro...

Page 35: ...ess and network part of the referred robot controller are the same but the host part is different 4 Launch ACE 5 Enter the IP address of the robot controller and click OK 6 Select SmartController in the Workspace Explorer and click Configure The right dialog will be displayed select Configure Controller and click Finish ...

Page 36: ...address of the PC again based on the changed one for the robot controller 8 Reconnect to the robot controller 9 Right click V User Module in the Workspace Explorer and select Load from V File Select a robot program in the folder outputted by using the data set output tool for the robot vision Additional Information This document does not provide operation installation and wiring methods for each d...

Page 37: ...peration of the Vision Sensor Move the mouse cursor to lower left of the window to display Start Select Start All Programs Accessories Command Prompt to launch Command Prompt 3 Operation of the Vision Sensor Execute PING command to the IP address of the robot controller 4 Operation of the Vision Sensor When 32 byte data could be successfully sent received four times as shown in the figure on the r...

Page 38: ...C by LAN cables 2 Operation of the PC Press the R key while pressing and holding the Windows key to display the Run with file name window Type cmd and press the OK button to launch the Command Prompt window 3 Operation of the PC Execute PING command to the IP address of the robot controller 4 Operation of the PC When 32 byte data could be successfully transmitted received four times like the right...

Page 39: ...ddress of the Vision Sensor 6 Operation of the PC When 32 byte data could be successfully transmitted received four times like the right figure that means that the communications have been established and the wiring and settings of Ethernet is correctly done When 32 byte data cannot be transmitted received four times and PING command timed out check whether or not the robot controller is turned on...

Page 40: ...eration dialog 2 Operation of ACE Right click V User Module sample fhsetup_main from the Workspace Explorer and select Execute on Task Task 0 3 Operation of the Vision Sensor and ACE As shown in the figure on the right when nothing is displayed on the ACE s monitor window but Robot under program control is displayed on the robot jog operation dialog and then the Vision Sensor and the robot control...

Page 41: ... Vision Sensor and the current position of the robot on ACE s monitor window is displayed at the same position on the Main Window of the Vision Sensor sending receiving commands between them have been succeeded Correspondence relation of notation Vision Sensor ACE W yaw P pitch R roll Additional Information This document does not provide operation installation and wiring methods for each device Fo...

Page 42: ...log data are loaded Thereby you can start the setting without designing measurement flow from scratch Additionally with jog operation and auto calibration of robot by user dialog and controlling robot by operation of the Vision Sensor the design man hour can be reduced 6 1 1 Scene Data Configuration Scene data is assigned to fixed scene per application When setting it switch scenes with reference ...

Page 43: ...sion applications Robot Operation Check Checks the setting results of the Vision Sensor by the robot moved actually Robot Error You can check for an error caused by an operation in the above dialog Terms used in this dialog are defined as follows Term Description Robot Reference Position Robot Ref Position Generic name for the reference position of a workpiece and the robot needed to correctly ope...

Page 44: ... is the reference position of a workpiece for calculating the relative positional relationship between the workpiece and the robot For Grip Correction this is the reference position for calculating an amount of grip deviation Robot Base Position Origin Imaging Measurement Robot Image Position Robot Image Pos Robot Base Position Origin Imaging Measurement Robot Image Position Robot Image Pos Pick P...

Page 45: ...set distance from the robot movement position output to robot to a position robot approach position offset to Z axis direction in the world coordinate system This needs to be set so that the robot hand does not interfere with a workpiece when picking or placing it Robot Command Position at measurement Robot Command Pos This is a movement position of the robot that is output to it at measurement Th...

Page 46: ...ing The robot will not operate even if you are holding down the Jog operation Target position movement The robot performs the jog operation to the position set as a target position The movement amount with one click action follows the setting value of the jog operation setting The robot will not operate even if you are holding down the Jog operation Jog operation setting In the jog operation and t...

Page 47: ...his coordinate system The jog operation with Rx Ry or Rz rotates the robot around X axis Y axis and Z axis respectively In the case of 4 axis robot Rx and Ry are not supported 6 axis robot 4 axis robot Tool coordinate system The flange position and posture of the robot is the reference position in this coordinate system The jog operation with Rx Ry or Rz rotates the robot around X axis Y axis and ...

Page 48: ...e robot controller can be set WARNING Clicking Jog operation or Robot move drives the robot Operate the robot in the state whereby pressing the Emergency stop button can stop its motion anytime CAUTION When the robot moves to Z axis direction check its motion by visual observation and not by camera image 𝑧 𝑥 𝑦 𝑧 𝑥 𝑦 𝑧 𝑥 𝑦 𝑧 𝑥 𝑦 ...

Page 49: ...CP no procedure protocol invoked by steps in Chapter 5 3 External trigger inputs or communications with outside will be disabled when operating the robot Operations except for the Main Window of the Vision Sensor such as opening setting screens for processing units is not executed If communications was disconnected during operations of the user dialog operations of the Vision Sensor may be unavail...

Page 50: ...the settings 6 2 1 Setting Calibration Set a scene for the Vision Sensor calibration to execute Perform settings related to camera target and calibration operation 6 2 2 Executing and Checking Calibration Check the results after executing the calibration with operations of the Vision Sensor to handle data in the robot base coordinate system 6 2 3 Setting Applications Set a scene for applications o...

Page 51: ... shape which the Shape Search III processing unit can detect Adjust the Z axis direction so that the imaging surface of a workpiece for Pick Place and the target are the same height 2 Click Scene switch on the Main Window of the Vision Sensor Select target scenes The target scenes are as follows Pick 127 Calibration_Pick_Fixed_xx_xxx Place 125 Calibration_Place_Fixed_xx_xx xxx_xxx Click OK to swit...

Page 52: ...amera tab Change the camera number based on the actual environment Select the set camera number tab on the Camera tab Adjust the focus and iris of the camera while watching the image displayed Adjust the shutter speed and gain of the camera on the Camera settings area 4 Change the image mode to Through on the Image Window Setting dialog on the Main Window of the Vision Sensor to display the camera...

Page 53: ...Emergency stop button can stop its motion anytime CAUTION When the robot moves to Z axis direction check its motion by visual observation and not by camera image Precautions for Correct Use Adjust the Z axis direction so that the calibration target will be the same height as the imaging surface of a workpiece for Pick Place 5 Click the 2 Shape search III icon on the Main Window of the Vision Senso...

Page 54: ...rement on the Measurement tab and check that the Count becomes one If it does not become one the settings are not proper Therefore execute the model registration again 6 Click the 3 Vision Master Calibration icon on the Main Window of the Vision Sensor to open the setting screen Select the Sampling setting tab and set First calibration setting Effective field of view Translation sampling setting D...

Page 55: ...current position of the robot and click Reg Calib Start Pos After clicking Close check that the Calib Start Position in the Calib Start Pos dialog has been updated WARNING An operation of the dialog will automatically set values to Scene and System variables previously set in the scenes loaded by the environment copy feature in Chapter 5 1 Do not directly set the values by TDM editor or setting sc...

Page 56: ...k Robot Move in the Calibration dialog to move the robot to the calibration start position WARNING These operations drive the robot Operate the robot in the state whereby pressing the Emergency stop button can stop its motion anytime 3 In the Calibration dialog clicking STEP Exec Robot Move for the number of sampling points set at step 6 in Chapter 6 2 1 or clicking Auto Exec Robot Move will execu...

Page 57: ...ve the robot Operate the robot in the state whereby pressing the Emergency stop button can stop its motion anytime 4 Click the 3 Vision Master Calibration icon on the Main Window of the Vision Sensor to open the setting screen Select the Calibration result tab to check whether or not the Error evaluation has converged within the accuracy required Select Tool Calibration support tool from the menu ...

Page 58: ...n the Calibration support tool to Anticlockwise If the relation such as directions and camera coordinate origin position between the camera and the robot base coordinate systems is the same as the actual system configuration the calibration has succeeded Like the NG example if the relation between the camera and the robot base coordinate systems is different the calibration has failed Review the c...

Page 59: ...the Tool menu For additional information on backing up settings data please refer to Section 6 5 5 Remove the calibration target from the robot 6 2 3 Setting Applications Follow the procedures below to set a scene for applications 1 Click Scene switch on the Main Window of the Vision Sensor Select target scenes The target scenes are as follows Pick 0 Pick_Fixed_x x Place 2 Place_Fixed_x x Click OK...

Page 60: ... the Vision Sensor to open the Robot Operation dialog Move the robot to a position to image measure a workpiece for Pick Place on the Robot Operation dialog WARNING These operations drive the robot Operate the robot in the state whereby pressing the Emergency stop button can stop its motion anytime 4 Click Get on the Main Window of the Vision Sensor to get the current position of the robot Click R...

Page 61: ... not directly set the values by TDM editor or setting screens for processing items If application operations are performed without registering the Robot Image Pos the robot would produce unexpected motion Please be sure to register the position 5 Place a workpiece for Pick Place into the field of view 6 Click the 0 Camera Image Input FH icon on the Main Window of the Vision Sensor to open the sett...

Page 62: ...hapter 6 2 1 8 Select Camera image meas on the Main Window of the Vision Sensor and detect a workpiece position for Pick Place with clicking Measure Click Robot Ref Position on the Main Window of the Vision Sensor to open the Robot Ref Position dialog Click Edit on the Robot Ref Position dialog to open the Workpiece Ref Pos dialog Click Reg Workpiece Ref Pos on the Workpiece Ref Pos dialog to regi...

Page 63: ...etting screens for processing items If application operations are performed without registering the Workpiece Ref Pos the robot would produce unexpected motion Please be sure to register the position 9 Click Robot operation on the Main Window of the Vision Sensor to open the Robot Operation dialog Move the robot to a position to grip a workpiece for Pick Place on the Robot Operation dialog WARNING...

Page 64: ...rip Pos on the Robot Image Pos dialog to register the current position of the robot After clicking Close check that the Robot Image Pos on the Robot Ref Position dialog has been updated WARNING An operation of the dialog will automatically set values to Scene and System variables previously set in the scenes loaded by the environment copy feature in Chapter 5 1 Do not directly set the values by TD...

Page 65: ...ted 12 Click Robot Move of the Robot Image Pos on the Robot Ref Position dialog to check that the robot moves to the imaging position registered Click Robot Move of the Robot Grip Pos on the Robot Ref Position dialog to check that the robot moves to the grip position registered Click Robot Move of the Robot Approach Dist on the Robot Ref Position dialog to check that the robot moves toward Z direc...

Page 66: ...t produced unexpected motion please register the robot approach distance again WARNING These operations drive the robot Operate the robot in the whereby pressing the Emergency stop button can stop its motion anytime ...

Page 67: ...eration Check dialog Click Robot Move of the Robot Image Pos on the Robot Operation Check dialog and move the robot to the imaging position WARNING These operations drive the robot Operate the robot in the whereby pressing the Emergency stop button can stop its motion anytime 2 Select Camera image meas on the Main Window of the Vision Sensor and detect a workpiece position for Pick Place with clic...

Page 68: ...obot Command Pos on the Robot Operation Check dialog and move the robot to the command position WARNING These operations drive the robot Operate the robot in the state whereby pressing the Emergency stop button can stop its motion anytime Check the measurement results before operating the robot The robot may produce unexpected motion Change positions and angles of the workpiece for Pick Place to c...

Page 69: ...ration Set a scene for the Vision Sensor calibration to execute Perform settings related to camera target and calibration operation 6 3 2 Executing and Checking Calibration Check the results after executing the calibration with operations of the Vision Sensor to handle data in the robot base coordinate system 6 3 3 Setting Applications Set a scene for applications of the Vision Sensor for the Grip...

Page 70: ...such as pattern or shape which the Shape Search III processing unit can detect Adjust the Z axis direction so that the imaging surface of a workpiece for Grip Correction and the target are the same height 2 Click Scene switch on the Main Window of the Vision Sensor Select the target scene 126 Calibration and Grip correction_xx_xxx Click OK to switch scenes Calibration target The target mark is on ...

Page 71: ...Image Input FH unit and in its place set Camera Image Input FHV as Unit 0 Check the set Camera No by clicking Select camera tab Change the camera number based on the actual environment Select the set camera number tab on the Camera tab Adjust the focus and iris of the camera while watching the image displayed Adjust the shutter speed and gain of the camera on the Camera settings area ...

Page 72: ...the center of the field of view After checking the position return the image mode from Through to Freeze WARNING These operations drive the robot Operate the robot in the state whereby pressing the Emergency stop button can stop its motion anytime CAUTION When the robot moves to Z axis direction check its motion by visual observation and not by camera image Precautions for Correct Use Adjust the Z...

Page 73: ... clicking OK after fitting the registering figure to the calibration target Click Edit on the Region setting tab to set the measurement region according to the field of view for a camera to use Click OK after the setting Click Measurement on the Measurement tab and check the Count becomes one If it does not become one the settings are not proper Therefore execute the model registration again ...

Page 74: ...ive field of view Translation sampling setting Division point number according to the actual environment When using the FHV Series Smart Camera Vision Sensor select the Calibration tab and in the field for Image Input select Camera Image Input FHV 7 Click Get on the Main Window of the Vision Sensor to get the current position of the robot Click Calibration to open the Calibration dialog ...

Page 75: ...em variables previously set in the scenes loaded by the environment copy feature in Chapter 5 1 Do not directly set the values by TDM editor or setting screens for processing items If proceeding to the following steps without registering the calibration start position the robot would produce unexpected motion Please be sure to register the position 6 3 2 Executing and Checking Calibration Follow t...

Page 76: ...g clicking SETP Exec Robot Move for the number of sampling points set at step 6 in Chapter 6 3 1 or clicking Auto Exec Robot Move will execute the calibration If stopping this motion on the way the target measurement may not have been executed correctly Review the camera settings model registration and environment of lightings WARNING These operations drive the robot Operate the robot in the state...

Page 77: ...ation result tab to check whether or not the Error evaluation has converged within the accuracy required Select Tool Calibration support tool from the menu bar In the Data setting tab set the unit No to the 3 Vision Master Calibration to check the relationship between the camera and robot coordinate systems got from the calibration ...

Page 78: ...as succeeded Like the NG example if the relation between the camera and the robot base coordinate systems is different the calibration has failed Review the camera settings model registration and environment of lightings and then execute the calibration again When using the FHV Series Smart Camera Vision Sensor you can use the Simulation Software to load a settings data file that has been saved fo...

Page 79: ...t from the robot 6 3 3 Setting Applications Follow the procedures below to set a scene for applications 1 Click Scene switch on the Main Window of the Vision Sensor Select the target scene 1 Grip correction_XX Click OK to switch scenes ...

Page 80: ...program described in Chapter 7 3 Click Robot Operation on the Main Window of the Vision Sensor to open the Robot Operation dialog With a workpiece ideally gripped move the robot to a position to image measure the workpiece for the Grip Correction on the Robot operation dialog WARNING These operations drive the robot Operate the robot in the state whereby pressing the Emergency stop button can stop...

Page 81: ...ose check that the Robot Image Pos on the Robot Ref Position dialog has been updated WARNING An operation of the dialog will automatically set values to Scene and System variables previously set in the scenes loaded by the environment copy feature in Chapter 5 1 Do not directly set the values by TDM editor or setting screens for processing items If application operations are performed without regi...

Page 82: ... set camera number tab on the Camera tab Adjust the shutter speed and gain of the camera on the Camera settings area 6 Register a workpiece as a model for Grip Correction by operations as same as those at step 5 in Chapter 6 3 1 7 Select Camera image meas on the Main Window of the Vision Sensor and detect a workpiece position for Grip Correction with clicking Measure Click Robot Ref Position on th...

Page 83: ...copy feature in Chapter 5 1 Do not directly set the values by TDM editor or setting screens for processing items If application operations are performed without registering the Workpiece Ref Pos the robot would produce unexpected motion Please be sure to register the position 8 Click Robot Move of the Robot Image Pos on the Robot Ref Position dialog to check that the robot moves to the imaging pos...

Page 84: ...open the Robot Operation Check dialog Click Robot Move of the Robot Image Pos on the Robot Operation Check dialog and move the robot to the imaging position WARNING These operations drive the robot Operate the robot in the state whereby pressing the Emergency stop button can stop its motion anytime 2 Select Camera image meas on the Main Window of the Vision Sensor and detect a workpiece position f...

Page 85: ...ot Operate the robot in the state whereby pressing the Emergency stop button can stop its motion anytime Check the measurement results before the robot operation The robot may produce unexpected motion Change positions and angles of the workpiece for Grip Correction to check the operation sufficiently 4 Stop the robot program launched by procedures in Chapter 5 3 ...

Page 86: ...or the settings 6 4 1 Setting Calibration Set a scene for the Vision Sensor calibration to execute Perform settings related to camera target and calibration operation 6 4 2 Executing and Checking Calibration Check the results after executing the calibration with operations of the Vision Sensor to handle data in the robot base coordinate system 6 4 3 Setting Applications Set a scene for application...

Page 87: ...or deform by operations of the robot The target should have a mark such as pattern or shape which the Shape Search III processing unit can detect 2 Click Scene switch on the Main Window of the Vision Sensor Select target scenes The target scenes are as follows Pick 127 Calibration_Pick_On hand_xx_ xxx Place 125 Calibration_Place_On hand_xx _xxx Click OK to switch scenes Calibration Target Adjustin...

Page 88: ...amera tab Change the camera number based on the actual environment Select the set camera number tab on the Camera tab Adjust the focus and iris of the camera while watching the image displayed Adjust the shutter speed and gain of the camera on the Camera settings area 4 Change the image mode to Through on the Image Window Setting dialog in the Main Window of the Vision Sensor to display the camera...

Page 89: ...ese operations drive the robot Operate the robot in the state whereby pressing the Emergency stop button can stop its motion anytime CAUTION When the robot moves to Z axis direction check its motion by visual observation and not by camera image Precautions for Correct Use Adjust the Z axis direction so that the calibration target will be the same height as the imaging surface of a workpiece for Pi...

Page 90: ...l by clicking OK after fitting the registering figure to the calibration target Click Edit on the Region setting tab to set the measurement region according to the field of view for a camera to use Click OK after the setting Click Measurement on the Measurement tab and check the Count becomes one If it does not become one the settings are not proper so execute the model registration again ...

Page 91: ... setting Division point number according to the actual environment When using the FHV Series Smart Camera Vision Sensor select the Calibration tab and in the field for Image Input select Camera Image Input FHV 7 Click Get on the Main Window of the Vision Sensor to get the current position of the robot Click Calibration to open the Calibration dialog Click Edit in the calibration dialog to open the...

Page 92: ...cenes loaded by the environment copy feature in Chapter 5 1 Do not directly set the values by TDM editor or setting screens for processing items If proceeding to the following steps without registering the calibration start position the robot would produce unexpected motion Please be sure to register the position 6 4 2 Executing and Checking Calibration Follow the procedures below to execute and c...

Page 93: ...g clicking SETP Exec Robot Move for the number of sampling points set at step 6 in Chapter 6 4 1 or clicking Auto Exec Robot Move will execute the calibration If stopping this motion on the way the target measurement may not have been executed correctly Review the camera settings model registration and environment of lightings WARNING These operations drive the robot Operate the robot in the state...

Page 94: ...icon on the Main Window of the Vision Sensor to open the setting screen Select Calibration result tab to check whether or not the Error evaluation has converged within the accuracy required Select Tool Calibration support tool from the menu bar ...

Page 95: ...ng tab in the Calibration support tool to Anticlockwise If the relation such as directions and camera coordinate origin position between the camera and the robot flange coordinate systems is same as the actual system configuration the calibration has succeeded Like the NG example if the relation between the camera and the robot flange coordinate systems is different the calibration has failed Revi...

Page 96: ...ion Software to load a settings data file that has been saved for backup This will allow you to launch the Calibration Support Tool from the Tool menu For additional information on backing up settings data please refer to Section 6 5 5 Remove the calibration target from the robot ...

Page 97: ... Pick_On hand_xx Place 2 Place_On hand_xx Click OK to switch scenes 2 Check that the check box for Output is not checked The serial data for the measurement value is not output until the Vision Sensor setting is completed Place a check in the check box when executing a robot sample program described in Chapter 7 3 Click Robot Operation on the Main Window of the Vision Sensor to open the Robot Oper...

Page 98: ...he state whereby pressing the Emergency stop button can stop its motion anytime 4 Click Get on the Main Window of the Vision Sensor to get the current position of the robot Click Robot Ref Position on the Main Window of the Vision Sensor to open the Robot Ref Position dialog Click Edit of Robot Image Pos on the Robot Ref Position dialog to open the Robot Image Pos dialog ...

Page 99: ...or or setting screens for processing items If application operations are performed without registering the Robot Image Pos the robot would produce unexpected motion Please be sure to register the position 5 Place a workpiece for Pick Place into the field of view 6 Click the 0 Camera image input FH icon on the Main Window of the Vision Sensor to open the setting screen When using the FHV Series Sma...

Page 100: ...apter 6 4 1 8 Select Camera image meas on the Main Window of the Vision Sensor and detect a workpiece position for Pick Place with clicking Measure Click Robot Ref Position on the Main Window of the Vision Sensor to open the Robot Ref Position dialog Click Edit on the Robot Ref Position dialog to open the Workpiece Ref Pos dialog Click Reg Workpiece Ref Pos on the Workpiece Ref Pos dialog to regis...

Page 101: ...tting screens for processing items If application operations are performed without registering the Workpiece Ref Pos the robot would produce unexpected motion Please be sure to register the position 9 Click Robot Operation on the Main Window of the Vision Sensor to open the Robot Operation dialog Move the robot to a position to grip the workpiece for Pick Place on the Robot Operation dialog WARNIN...

Page 102: ...Grip Pos on the Robot Grip Pos dialog to register the current position of the robot After clicking Close check that the Robot Grip Pos on the Robot Ref Position dialog has been updated WARNING An operation of the dialog will automatically set values to Scene and System variables previously set in the scenes loaded by the environment copy feature in Chapter 5 1 Do not directly set the values by TDM...

Page 103: ...ted 12 Click Robot Move of the Robot Image Pos on the Robot Ref Position dialog to check that the robot moves to the imaging position registered Click Robot Move of the Robot Grip Pos on the Robot Ref Position dialog to check that the robot moves to the grip position registered Click Robot Move of the Robot Approach Dist on the Robot Ref Position dialog to check that the robot moves to Z direction...

Page 104: ...n Operations Follow the procedures below to check that scenes for applications are operable 1 Click Robot Operation Check on the Main Window of the Vision Sensor to open the Robot Operation Check dialog Click Robot Move of the Robot Image Pos on the Robot Operation Check dialog and move the robot to the imaging position WARNING These operations drive the robot Operate the robot in the state whereb...

Page 105: ...tate whereby pressing the Emergency stop button can stop its motion anytime 4 Click Robot Move of the Robot Command Pos on the Robot Operation Check dialog and move the robot to the command position WARNING These operations drive the robot Operate the robot in the state whereby pressing the Emergency stop button can stop its motion anytime Check the measurement results before the robot operation T...

Page 106: ...102 5 Stop the robot program launched by procedures in Chapter 5 3 ...

Page 107: ...iguration copy feature Follow the procedures below to back up the settings 1 Select Tool Configuration copy on the Main Window of the Vision Sensor to open the Configuration copy screen A Confirm dialog is displayed Click Continue 2 In the Save tab on the Configuration copy screen Set the 3 Line 0 for a template setting Set the destination device to the Save to and the project name for the backup ...

Page 108: ...104 System setting System variable Scene group Communication command macro Custom dialog Click Execute to save the settings ...

Page 109: ...es 7 1 Connecting the Vision Sensor to the robot controller Declare internal variables and initialize external variables Set IP addresses and port numbers as arguments of a connection function to the Vision Sensor and execute the function 7 2 Switching scenes on the Vision Sensor Set a switching destination scene number as arguments of a scene switching command execution sample function and execut...

Page 110: ... the Vision Sensor to the Robot Controller follow the procedures below 1 Omitted Refer to the source code Declare internal variables 2 2 Initialaize global variables CALL fhdefglobal err_scene_no 1000 Scene No error min_scene_no 0 Mim scene No max_scene_no 127 Max scene No socket_no 0 err_no success TYPE Initialization Done Execute the initialization function fhdefglobal for external variables 3 1...

Page 111: ...t a scene No for your application 0 Workpiece picking scene 1 Grasp adjustment scene 2 Workpiece picking scene scene_no 0 Set a scene number for the switching destination to a variable For scene numbers for each application refer to the following Pick Scene 0 Grip Correction Scene 1 Place Scene 2 2 CALL fhsample_chgscn socket_no retry_count time_out scene_no err_no Error check IF err_no success TH...

Page 112: ...td_img_pos_y 350 std_img_pos_y 350 std_img_pos_y 0 std_img_pos_y 180 std_img_pos_y 45 Set the referenced robot image position to the variables 3 CAUTION The following function drives a robot motion immediately Confirm the settings before execution CALL fhsample_move std_img_pos_x std_img_pos_y std_img_pos_z std_img_pos_w std_img_pos_p std_img_pos_r Error check IF err_no success THEN TYPE ERROR fhs...

Page 113: ...the current robot position Done Before executing measurements execute the current position registration command execution sample function fhsmaple_regpos to the Vision Sensor 2 4 Execute measurement and get the measurement results of the FH CALL fhsample_chgscn socket_no retry_count time_out scene_no err_no Error check IF err_no success THEN TYPE ERROR fhsample_main Measure on the Vision controlle...

Page 114: ..._pos_z res_cmd_pos_z std_appro_dist res_appro_pos_x res_cmd_pos_x res_appro_pos_x res_cmd_pos_x res_appro_pos_x res_cmd_pos_x Set the referenced robot approach distance to the variable and add the robot approach distance to the measurement results acquired at step 3 in Chapter 7 4 4 CAUTION The following function drives a robot motion immediately Confirm the settings before execution CALL fhsample...

Page 115: ...ition You have to edit this section for your application e g Adding an end effector control depart path motion etc CAUTION The following function drives a robot motion immediately Confirm the settings before execution CALL fhsample_move res_cmd_pos_x res_cmd_pos_y res_cmd_pos_z res_cmd_pos_w res_cmd_pos_p res_cmd_pos_r Error check IF err_no success THEN TYPE ERROR fhsample_main The measuring robot...

Page 116: ...t Controller follow the procedures below 1 10 4 Example Finalization sequence 1 Disconnect from the FH server WHILE bconnected 1 THEN CALL fhclose socket_no err_no END TYPE Disconnection Done 11 TYPE EXIT Program Execute the disconnection function to the Vision Sensor Disconnection function to the Vision Sensor FH server ...

Page 117: ...peration manual I604 E eV language User s manual I590 E Robot Robot Safety Guide Man No Model Manual name Z365 Vision Sensor FH FHV series User s manual Z342 Vision Sensor FH FHV series User s manual Communication settings 3102269 4B FH 2 FH 5 Image Processing System Instruction Sheet 9607479 9B FH 1 FH 3 Image Processing System Instruction Sheet 9606631 1B FH L550 L550 10 Image Processing System ...

Page 118: ...114 9 Revision History Revision Symbol Revision Date Description A July 2018 First Edition B November 2018 Add Vision Sensor FHV Series C November 2019 Add support for FH FHV Series version 6 21 ...

Page 119: ...es IL 60169 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com Kyoto JAPAN OMRON ASIA PACIFIC PTE LTD No 438A Alexandra Road 05 05 08 Lobby 2 Alexandra Technopark Singapore 119967 Tel 65 6835 3011 Fax 65 6835 2711 OMRON CHINA CO LTD Room 2211 Bank of China...

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