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CONTENTS
Introduction ............................................................................................................................................ 2
Terms and Conditions Agreement ....................................................................................................... 3
Safety Precautions ................................................................................................................................ 5
Waring ..................................................................................................................................................... 6
Precautions for Safe Use ...................................................................................................................... 7
Precautions for Correct Use ................................................................................................................. 8
Regulations and Standards .................................................................................................................. 9
Related Manuals .................................................................................................................................. 10
Revision History ...................................................................................................................................11
1. Overview ....................................................................................................................................... 12
1.1. Overview ................................................................................................................................ 12
1.2. Instructions for Building a 3D Robot Vision Application ......................................................... 12
1.3. Robot Programs Covered in this Manual ............................................................................... 13
2. System Configuration .................................................................................................................. 14
2.1. Cautions for Robot Equipment ............................................................................................... 14
2.2. When using Vision Sensor FH Series 3D Vision Sensor ....................................................... 14
3. Connecting Vision Sensor to Robot Controller ........................................................................ 16
3.1. Setting Communications for Robot Controller ........................................................................ 17
3.2. Connecting and Checking Vision Sensor and Robot Controller ............................................ 22
3.3. Verify Commands Sent/Received .......................................................................................... 24
4. Coordinate System ...................................................................................................................... 28
4.1. Name of Coordinate System .................................................................................................. 28
5. How to Start the Setup Program ................................................................................................ 30
6. Description of the Sample Programs ......................................................................................... 31
6.1. Connecting Vision Sensor to Robot Controller ....................................................................... 33
6.2. Switching Scenes on the Vision Sensor ................................................................................. 34
6.3. Moving Robot to Robot Image Position .................................................................................. 34
6.4. Register the Current Robot Position in the Vision Sensor ..................................................... 35
6.5. Executing Measurements on Vision Sensor .......................................................................... 36
6.6. Getting the Measurement Results .......................................................................................... 37
6.7. Moving Robot to Robot Approach Position at Measurement ................................................. 37
6.8. Moving Robot to Robot Command Position at Measurement ................................................ 39
6.9. Disconnecting Vision Sensor from Robot Controller .............................................................. 39
7. Function Reference ..................................................................................................................... 40
7.1. List of Functions ..................................................................................................................... 40
7.2. Error Message ........................................................................................................................ 40
7.3. Function Details ...................................................................................................................... 41
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