Denso FZ Series Manuale utente
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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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