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Vision System FH/FZ5 Series User`s Manual for Communications

1. First word in Command Bit Tie Description Command Area code 12t0o15 8to11 4to7 0to3 2 8030 1000 0000 0011 0000 Command code 3 0020 0000 0000 0010 0000 Response Sensor Controller to PLC First word in Command Bit i Description Response Area code 12to15 8to11 4to7 0to3 ER 2 8030 1000 0000 0011 0000 Command code 3 0020 0000 0000 0010 0000 Response target command codes gt To 4 0000 0000 0000 0000 Response code 2 Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 P NG Not 0 0000 0000 6 0000 0000 0000 0000 Response data Terminal state Bit 0 DIO Bit 1 DI1 Bit 2 DI2 7 0000 0000 0000 0000 Bit 3 DI3 Bit 4 DI4 Bit 5 DI5 Bit 6 DI6 Bit 7 DI7 Acquires the Login Account Name Acquiring the user name for the currently logged in account Command PLC to Sensor Controller First wordin Command Bit nays Description Command Area code 412to15 8to11 4to7 Oto3 2 9000 1001 0000 0000 0000 Command code 3 0020 0000 0000 0010 0000 4 0000 0000 0000 0000 Item to acquire 0 Local 5 0000 0000 0000 0000 1 Remote Vision System FH FZ5 Series User s Manual for Communications Settings Z342 353 Command Control Response Sensor Controller to PLC First word in Command Bit ee De
2. Loading Scene Group Data Reads scene group data Command PLC to Sensor Controller First word in Command Bit Pyar Description Command Area code 12to15 8to11 4to7 Oto3 2 2000 0010 0000 0000 0000 Command code 3 0060 0000 0000 0110 0000 4 0000 0000 0000 0000 Number of scene group to read 5 0000 0000 0000 0000 6 0000 0000 0000 0000 47 0000 0000 0000 0000 Name of the file to be read with an absolute path Up to 256 characters 0000 0000 0000 0000 382 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Response Sensor Controller to PLC ssolpueddy po First word in Command Bit E Response Area code 12to15 8to11 4to7 0 to 3 2 2000 0010 0000 0000 0000 Gommancieade 3 0060 0000 0000 0110 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Loading System Data Reads system data Command PLC to Sensor Controller First word in Command Bit Bescipaon Command Area code 12to15 8to11 4to7 0to3 2 3000 0011 0000 0000 0000 Command code 3 0060 0000 0000 0110 0000 4 0000 0000 0000 0000 45 0000 0000 0000 0000 Name of the file to be read with an absolute path Up to 256 characters 0000
3. Command Area Function Reference 3 2 0040 4040 Gets the set image logging prefix Reference p 372 0040 4050 Gets the conditions that are set for data logging Reference p 373 0040 4060 Gets the DI terminal offset data that is set Reference p 374 Commands to Write Data First word in Command Area Function Reference 3 2 0050 1000 Sets the unit data Reference p 375 0050 2000 Sets the date time Reference p 376 0050 4000 Changes settings related to image logging Reference p 377 0050 4010 Sets the screen capture folder name Reference p 378 0050 4020 Sets the data logging folder name Reference p 378 0050 4030 Sets the screen capture folder name Reference p 379 0050 4040 Sets the image logging prefix Reference p 380 0050 4050 Sets the data logging conditions Reference p 380 0050 4060 Sets the DI terminal offset data Reference p 381 File Load Commands First word in Command Area Function Reference 3 2 0060 1000 Loads the scene data Reference p 382 0060 2000 Loads the scene group data Reference p 382 0060 3000 Loads system data Reference p 383 0060 5000 Loads System Scene group 0 data Reference p 384 File Save Commands First word in Command Area Function Reference 3 2 0070 1000 Saves the scene data Reference p 385 0070 2000 Saves the scene group data
4. Replace the Ethernet or RS 232C cable with a new one Use a flexible cable or take other mea sures to prevent the Ethernet or RS 232C cable from becoming broken None for Communications Settings Z342 You can download the PLC Link Connection Guide from your OMRON website SedlAeq Jeuse xy UM Bunjesiunuwoy pue Bunosuuog 104 SPON Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only 9 Sysmac Device Features The control device product designed according to standardized communications and user interface specifications for OMRON control devices are called a Sysmac Device And the features available with such a Device is called Sysmac Device Features This section describes the features the FH series Vision Sensor provides when combined with a Machine Automation Controller such as NJ series and automation software Sysmac Error Status Because in Sysmac Devices errors that may occur in slaves are systematized you can check the causes and remedies for errors with a common procedure The status of an error can be monitored in the Sysmac Error Status 2002 01 hex To display the error status detected by the FH series Vision Sensor in Sysmac Studio the Sysmac Error Status 2002 01 hex must be mapped to the PDO Sysmac Studio by default uses the 512th transmit PDO Mapping assignment to map the Sysmac Error Status 2002 01 hex automatically to the PDO Note e
5. Size 4 bytes U32 Access RO PDO map Not possible Sub index34 34th Input Object to be mapped Range Unit Default 60052220 hex Size 4 bytes U32 Sub index35 35th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60052320 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index36 36th Input Object to be mapped Range Unit Default 60052420 hex Size 4 bytes U32 Sub index37 37th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60052520 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index38 38th Input Object to be mapped Range Unit Default 60052620 hex Size 4 bytes U32 Sub index39 39th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60052720 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index40 40th Input Object to be mapped Range Unit Default 60052820 hex Size 4 bytes U32 EtherCAT Connections FH Only Access RO PDO map Not possible Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Sub index41 41st Input Object to be mapped Range
6. Size 4 bytes U32 Access RO PDO map Not possible Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s n d eu19 x3 UM Bugeorunwwop pue Huosuuog JO spoule Sub index14 14th Input Object to be mapped Range Unit Default 6 0050E20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index15 15th Input Object to be mapped Range Unit Default 6 0050F20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index16 16th Input Object to be mapped Range Unit Default 60051020 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions e 6005 hex Image Processing Results Integer Data 112 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 1A06 hex 7th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 32 hex Size 1 byte U8 Sub index1 1st Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050120 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 2nd Input Object to be mapped Range Unit Default 60050220 hex Size 4 bytes
7. The Camera that is connected is different from when data was last saved EtherCAT Master Function Module Minor fault Continues The Camera connection information in the scene data does not agree with the connection information for the Cam era connected to the Controller Error reset after in the slave Connect a Camera that agrees with the Camera connection information in the scene data or edit the scene data according to the connection informa tion for the Camera connected to the Controller Slave resetting the error After turning ON slave power System The Camera image can be input but an unintentional num ber of Camera pixels color or monochrome information may be measured Make sure that the Camera connection information in the scene data agrees with the connection information for the Camera connected to the Controller None This error will occur if you load system and scene group 0 data bkd file that was edited with simulation software to the Controller Save the data to the Controller and restart the Controller EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Camera Connection Error Eventeode 38590000 hex The Camera connection is wrong Error reset after resetting the error in the slave EtherCAT Master Function Module Always
8. Unit Default 60052920 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index42 42nd Input Object to be mapped Range Unit Default 60052A20 hex Size 4 bytes U32 Access RO Sub index43 43rd Input Object to be mapped PDO map Not possible Range Unit Default 60052B20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index44 44th Input Object to be mapped Range Unit Default 60052C20 hex Size 4 bytes U32 Access RO Sub index45 45th Input Object to be mapped PDO map Not possible Range Unit Default 60052D20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index46 46th Input Object to be mapped Range Unit Default 60052E20 hex Size 4 bytes U32 Access RO Sub index47 47th Input Object to be mapped PDO map Not possible Range Unit Default 60052F20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index48 48th Input Object to be mapped Range Unit Default 60053020 hex Size 4 bytes U32 Access RO Sub index49 49th Input Object to be mapped PDO map Not possible Range Unit Default 60053120 hex Size 4 bytes U32
9. EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command coce for Command name Function Reference Command Area hex 0030 7020 Set Communications Output Status Enables disables outputs to external devices a Sets the ON OFF status of the specified par Reference 0030 8010 Set Terminal Status allel 1 0 terminal gt p 362 Sets the ON OFF status for all terminals Reference 0030 8020 Set All Terminal Status except for DO terminals gt p 362 0030 8030 Set All DO Status Sets the ON OFF status for all DO terminals nga 0030 A000 Set Operation Log State Sets the state of the operation log Reference gt p 365 Commands to Read Data Command coce for Command name Function Reference Command Area hex 0040 1000 Get Unit Data Gets the unit data EEN i gt p 366 0040 4050 Get Data Logging Conditions ne the conditions that are set for data log gees 0040 4060 Get Terminal Offset Gets the DI terminal offset data that is set Perene gt p 374 Commands to Write Data Command code for Command Area Command name Function Reference hex 0050 1000 Set Unit Data Sets the unit data Referance p 375 E Reference gt 0050 4050 Set Data Logging Conditions Sets the data logging conditions p 380 Reference gt 0050 4060 Set Terminal Offset Sets the DI terminal offset data p 381 Vision System FH FZ5
10. 5 Click Apply The settings are confirmed and the Parallel View closes Output Data Settings Processing Item Registration Set the data to output with parallel communications The following three types of data can be output with parallel communications e OR signal e Parallel judgement output e Parallel data output Note The OR signal is output automatically even if no Output Units are set To perform Parallel Judgement Output or Parallel Data Output you must register an Output Unit in the measurement flow and set the required output details e If you control from three to eight lines in Multi line Random trigger Mode you cannot use Parallel Judgement Output or Parallel Data Output Data Output by Output Data Type OR Signal This signal outputs the overall judgement You can determine the overall judgement by monitoring the status of the OR signal After the measurement results are established the OR signal will be output automatically if the overall judgement is NG You can also set the signal to be output if the overall judgement is OK Reference Setting the Output Signal Specifications p 282 Note The overall judgement gives the results of more than one processing item As a result the overall judgement will be NG if even one of the individual judgement results is NG Individual judgement results Processing unit O gt OK Overall judgement result Processing uni
11. Communicating with a Mitsubishi Electric PLC When PLC Link MELSEC QnU Q QnAS is selected for the Communications Module Setting item Set value Factory default Description Command area Area e Data register e File register e Link register Set the Command Area Address 0 to 99999 0 Set the first word address in the Command Area Response area Area e Data register e File register e Link register Set the Response Area Address 0 to 99999 100 Set the first word address in the Response Area Data output area e Data register Output control e Handshaking Area e File register Set the Data Output Area e Link register Address a H Set the first word address in the Data Output Area Set whether to provide an interlock with the PLC when per forming data output e None None Data is output regardless of the status of signals from the PLC GATE is always OFF Handshaking Data is output after confirming DSA from the PLC Asynchro nous output Selected e Not selected Selected Measurement processing and data output process ing are performed in parallel The data output processing does not affect the processing time of the measurement flow Not selected Measurement processing and data output process ing are synchronized so that all data output processing is finished when measurements are finished This in
12. First word in Command Bit T Description Command Area code 12t0o15 8to11 4to7 Oto3 2 7010 0111 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 4 0000 0000 0000 0000 Copy source scene No 5 0000 0000 0000 0000 6 0000 0000 0000 0000 Copy destination scene No 7 0000 0000 0000 0000 Response Sensor Controller to PLC First word in Command Bit PEA Description Response Area code 12to15 8to11 4to7 0 to 3 2 7010 0111 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 339 Command Control Scene Data Deletion Deletes the data for the scene whose number is specified with command argument 1 Command PLC to Sensor Controller First word in Command Bit ee Description Command Area code 12to15 8to11 4to7 0to3 2 7020 0111 0000 0010 0000 Command code 3 0010 0000 0000 0001 0000 4 0000 0000 0000 0000 Number of the scene to delete 5 0000 0000 0000 0000 Response Sensor Controller to PLC First wordin Command Bit Oe Description Response Area code 12to15 8to11 4to7 0to3 2 7020 0111 0000 0010 0000 Command c d 3 0010 0000 0000 0001 0000 Response target command codes
13. J Command string max 1024 digits Latency max 5 digits Command string max 1024 digits Latency max 5 digits lt Response format gt When processing is performed normally O KISe When processing is not performed normally lt Parameters explanation gt Specifies the required delay to when the specified command is issued in milliseconds 100 to Latency 99999 Command string Specifies the command string Max 1024 characters Example Getting the current scene number scene 1 after 3 000 ms lt Command gt lt Response gt OJK er 468 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 UNITDATA or UD Acquiring processing unit parameters and measurement values The set parameters and measurement values for the processing units set in the scene currently being used are acquired lt Command format gt LUIN TIOLA TIA TTI TT T T fl Extemal reference table No Processing unit No max 4 digits lt Response format gt When processing is performed normally Measurement value O K cr When processing is not performed normally lt Parameters explanation gt Processing unit No Specifies the processing unit number 0 to the number of unit data items minus one External reference table Varies depending on the specified processing unit processing items For more details refer to No External Reference T
14. R HIE teens mode 1 digit Image display window number 2 digits max lt Response format gt When processing is performed normally O KIoa When processing is not performed normally EIR crl lt Parameters explanation gt Display image window number FH Image display window number 0 to 23 FZ5 Image display window number Displaying 1 image 1 Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails 0 to 4 0 Through Image mode 1 Freeze or Freeze and Last NG together 2 Last NG Example When setting Last NG for the image mode for the image display window 1 lt Command gt TIDIC 1 2S lt Response gt OlKFe 414 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 IMAGEFIT or EIF Returns the display position and display zoom ratio for the image display window to their default values Before fitting lt Command format gt or ELF R C lt Response format gt After fitting Image display window number 2 digits max Image display window number 2 digits max When processing is performed normally OIK eRl When processing is not performed normally EIR lt Parameters explanation gt Image display window number Number of the image display window to return the display position and display magnification to their default values FH Image d
15. Range Unit Default 60060540 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index6 6th Input Object to be mapped Range Unit Default 60060640 hex Size 4 bytes U32 Sub index7 7th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060740 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index8 8th Input Object to be mapped Range Unit Default 60060840 hex Size 4 bytes U32 Sub index9 9th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060940 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index10 10th Input Object to be mapped Range Unit Default 0060A40 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index11 11th Input Object to be mapped Range Unit Default 6 0060B40 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index12 12th Input Object to be mapped Range Unit Default 0060C40 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index13 13th Input Object to be mapped Range Unit Default 6 0060D40 hex Size 4 bytes U32 Access RO PDO map Not possible Vision Syste
16. Turn OFF the power supply replace the power supply with one with a suit Use a power supply with a suitable able voltage and turn the power sup _ voltage ply back ON A suitable power supply voltage is not being used resulting in an overvoltage or undervoltage None If the problem persists after performing the corrections a hardware failure may have occurred Consult your OMRON representative Camera Overcurrent Detected 08220000 hex An overcurrent flowed to the Camera EtherCAT Master Function Module Always at startup Slave Error reset after resetting the error in the slave Minor fault System The Camera image will not be input so measurements will be performed on invalid images This may result in the out put of unintentional measurement results Continues There is a short circuit inside the Cam era cable or in a circuit inside the Con Consult your OMRON representative Consult your OMRON representative troller None None 92 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Parallel I O Overcurrent Detected Event code 08230000 hex An overcurrent occurred in the parallel I O interface Error reset after resetting the error in the slave EtherCAT Master Function Module Always at startup Minor fault Conti
17. 0000 0000 0000 0000 Up to 256 characters Vision System FH FZ5 Series User s Manual for Communications Settings Z342 385 Command Control 386 Response Sensor Controller to PLC First word in Command Bit ee Description Response Area code 12to15 8to11 4to7 0 to 3 2 2000 0010 0000 0000 0000 Gommancieade 3 0070 0000 0000 0111 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Saving System Data Saves system data Command PLC to Sensor Controller First word in Command Bit Raye Description Command Area code 12to15 8to11 4to7 Oto3 2 3000 0011 0000 0000 0000 Command code 3 0070 0000 0000 0111 0000 ta 0009 0000 0090 0000 Absolute path of save destination and save file 5 0000 0000 0000 0000 name T 0000 0000 0000 0000 Up to 256 characters Response Sensor Controller to PLC First word in Command Bit ae Description Response Area code 12to15 8to11 4to7 0to3 2 3000 0011 0000 0000 0000 Caraniandande 3 0070 0000 0000 0111 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Command Control Vision System FH FZ5 Series User s Manual
18. Command Area You write the control commands to execute for the Sensor Controller to this area You read the results of executing the control commands that were written to the Command Area Response Area from this area PLC CPU Unit Sensor Controller I O memory communications areas Ee 2 Command gt 1 Command Area Switch Scene e Single Measurement etc 5 Response Area TLL 4 Response OK etc 3 Command is processed Flow of Communications between the PLC and the Sensor Controller 1 The PLC the user writes a control command to a specified PLC I O memory area the Command Area 2 The PLC the user then turns ON the EXE bit to send the control command to the Sensor Controller 3 The Sensor Controller executes the received control command 4 The Sensor Controller returns a response to the PLC after the control command is executed 5 The PLC the user stores the response in a specified PLC I O memory area the Response Area The available control commands depend on the communications protocol that is used Refer to the p Command List p 326 Note With EtherNet IP tag data link communications you cannot output character strings with commands If you want to output character strings send the commands through message communications 21 Vision System FH FZ5 Series User s Manual Control Methods Using
19. Range Unit Default 60060740 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index8 8th Input Object to be mapped Range Unit Default 60060840 hex Size 4 bytes U32 Sub index9 9th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060940 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index10 10th Input Object to be mapped Range Unit Default 0060A40 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index11 11th Input Object to be mapped Range Unit Default 6 0060B40 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index12 12th Input Object to be mapped Range Unit Default 0060C40 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index13 13th Input Object to be mapped Range Unit Default 6 0060D40 hex Size 4 bytes U32 Access RO PDO map Not possible Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s n d eu19 x3 UM Bugeorunwwop pue Huosuuog JO spoule Sub index14 14th Input Object to be mapped Range Unit Default 60060E40 hex Size 4 bytes U32 Access RO PDO map No
20. Range Unit Default 00 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index4 General information Range Unit Default 00 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index5 Module PDO Group of device Range Unit Default 00 hex Size 2 bytes U16 Access RO PDO map Not possible F010 hex Module Profile List Sub index0 Number of notice Range Unit Default 08 hex Size 1 byte U8 Access RO PDO map Not possible Sub index1 Profile information of the module on position 1 Range Unit Default 00 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 Profile information of the module on position 2 Range Unit Default 00 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index3 Profile information of the module on position 3 Range Unit Default 00 hex Size 4 bytes U32 Access RO Sub index4 Profile information of the module on position 4 PDO map Not possible Range Unit Default 00 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index5 Profile information of the module on position 5 Range Unit Default 00 hex Size 4 bytes U32 Access RO Sub index6 Profile information of the module on position 6 PDO map Not possible Range Unit Defa
21. Timing Chart for the Execution of Continuous Measurement Commands without Handshaking Continuous execution is used to repeatedly execute measurements by starting the next measurement operation image input and measurement processing as soon as one measurement operation image input and measurement processing is completed Continuous measurements are started when the Start Continuous Measurements command is executed and ended when the End Continuous Measurements command is executed The BUSY signal remains ON during continuous measurement but in this state the Sensor Controller can receive the End Continuous Measurements command ON Command code End Continuous OFE Start Continuous Measurements command Measurements command Command parameters Command Area Command Request EXE signal Command code BUSY signal Control command execution Measure ment OFF v Command ON Completion turns OFF FLG signal OFF i i i q poe The FLG signal turns ON when execution of the control Continuous measurements Continuous measurements command is completed are started are ended 1 The user PLC turns OFF the EXE signal when the FLG signal turns ON 2 The FLG signal and BUSY signal are forced OFF if the EXE signal is not turned OFF within the retry interval after the FLG signal turns ON s d eu19 x3 UM BuyeolunuiWwoD pue Buosuuog JO spoule 187 Vision System FH FZ5 Series User
22. a WR no Restart the FH Simulator to enable the settings PDO communications areas will also be assigned in the master according to the EtherCAT communications specifications settings Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 s d eu19 x3 UM Bujeolunuiwo9 pue Buosuuog JO spoule N If you change any parameter that requires that the Vision Sensor be restarted Fg will be displayed by the model in the Multiview Explorer If this icon is displayed restart the Vision Sensor IMPORTANT If you control from six to eight lines in the multi line random trigger mode you cannot use the 256 byte data output sizes 1 If you set a 256 bytes data output size a warning mark will be displayed on the Sysmac Studio 1 The 256 bytes data output sizes are Result Data Format 3 64 DINT Result Data Format 7 32 LREAL and Result Data Format 11 16 DINT 24 LREAL EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communications Test You can check whether the EtherCAT communications settings are correct If communications are performed normally the ECAT RUN indicator on the Vision Sensor will light green If communications are not performed normally check the communications specifications settings Also error events are registered in the troubleshooting function of the Sysmac Studio if normal comm
23. al I Comment view Comment Expression Result 0 0000 3 In the list select the output data number for the expression to set The selected output data number is displayed under the list 4 Click the button next to the expression box and set the expression Specify the processing items measurement results and measurement data in the expression You can also perform arithmetic or function calculations on the measurement data before it is output 5 Click the button for the Comment box and enter an explanation of the expression The comment you enter will be displayed in the detailed results on the Main Window For example if you enter Test as the comment for expression 0 Test will be displayed in place of Expression 0 in the detailed results area on the Main Window 6 To output more than 9 items click on the under Number of output data items and change the number of output items for the set Output Unit By default you can output only 8 items but you can change this to output a maximum of 256 output data items 1 024 bytes 7 Repeat steps 4 and 5 to set expressions for all of the required output data numbers 170 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Note If you delete one of the expressions that is set for output data 0 through 255 the output numbers for all expressions after
24. data to the PLC Output Area processing item 1 External outputs Data is written to the Communications J Module Data output after Communi 1 Execution of processing measurements l cations item to read character data l 1 Module l l l Execution of processing Lo oo _ O item for the Output Unit The Vision Sensor writes the values measured by processing item 1 1 You can use output controls handshaking to prevent output data from being externally output from the communications buffer until the Controller master turns ON the DSA signal to request the output data 2 The following processing items are used to read characters Character Inspection Barcode and 2DCode 3 Reference Settings Required for Data Output p 24 for information on the Output Units that output measurement data Note The PLC Link protocol communicates using three link areas Command Area Response Area and Data Output Area It is different from the serial PLC Link protocol used to inter connect OMRON PLCs serially IMPORTANT In the default settings for PLC Link communications the data output processing method is set to the same processing used for models prior to the FZ4 This setting synchronizes the measurement processing and data output processing so that all data output processing finishes when measurement finishes However this makes the over
25. lt Response format gt When processing is performed normally O KISe When processing is not performed normally lt Parameters explanation gt User ID Specifies the user ID of the user to be deleted with up to 32 characters User name UGO Specifies the user name for a user belonging to the UGO group 32 characters maximum Password UGO Specifies the password for the above UGO group user 32 characters maximum Example Using the UGO password efg for user o duser to add an account with user name newuser with password abc lt Command gt ujajo o nfelwiufsfelr Joji ja ujsjejr Jel tla lt Response gt OlKFe 474 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 VERGET Acquires the Sensor Controller version information lt Command format gt VIEIRIG E T s lt Response format gt When processing is performed normally Version information A Sa i i Date OJK erR Month Year When processing is not performed normally lt Parameters explanation gt Sensor Controller model name Version information Software version E ho es Controller model name is FZ5 XXX the software version is 5 00 and the date is June 1 2013 lt Command gt lt Response gt F zisl xixix Ivler 5 Jojo J2joj s jole fo si ojk e Vision System FH FZ5 Series User s Manual for Communications
26. s n d eu19 x3 UM Bugeorunwwop pue Huosuuog JO spoule 305 Parallel Communications Number Data name Set Get Data range 142 Upper limit 3 for judgement Set Get 999999999 9999 to 999999999 9999 143 Lower limit 3 for judgement Set Get 999999999 9999 to 999999999 9999 144 Upper limit 4 for judgement Set Get 999999999 9999 to 999999999 9999 145 Lower limit 4 for judgement Set Get 999999999 9999 to 999999999 9999 146 Upper limit 5 for judgement Set Get 999999999 9999 to 999999999 9999 147 Lower limit 5 for judgement Set Get 999999999 9999 to 999999999 9999 148 Upper limit 6 for judgement Set Get 999999999 9999 to 999999999 9999 149 Lower limit 6 for judgement Set Get 999999999 9999 to 999999999 9999 150 Upper limit 7 for judgement Set Get 999999999 9999 to 999999999 9999 151 Lower limit 7 for judgement Set Get 999999999 9999 to 999999999 9999 152 Upper limit 8 for judgement Set Get 999999999 9999 to 999999999 9999 153 Lower limit 8 for judgement Set Get 999999999 9999 to 999999999 9999 154 Upper limit 9 for judgement Set Get 999999999 9999 to 999999999 9999 155 Lower limit 9 for judgement Set Get 999999999 9999 to 999999999 9999 156 Upper limit 10 for judgement Set Get 999999999 9999 to 999999999 9999 157 Lower limit 10 for judgement Set Get 999999999 9999 to 999999999 9999 158 Upper limit 11 for judgement Set Get
27. 433 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 434 LAYOUTNO or DLN Gets or sets the current layout number IMPORTANT e For non remote operation only 0 Local can be specified For remote operation only 1 Remote can be specified If any combination other than the above combinations is used unexpected operation may occur when the command is executed Getting the layout number Gets the number of the currently displayed layout lt Command format gt LIATY OJUITINIO ck paa Acquisition target or IDILIN e ni Acquisition target lt Response format gt When processing is performed normally Layout number OLKIER When processing is not performed normally ER lt Parameters explanation gt 0 Local Acquisition target 1 Remote FH Current layout number 0 to 7 Layout nimeer FZ5 0 adjustment window 1 monitor window Example When the currently displayed window is the RUN window lt Command gt ID L N Ofk lt Response gt KPa Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Setting the layout number Sets the layout number and switches the window lt Command format gt LIATY OJUITINIO Fe de Layout number Setting target or DILIN Ie Layout number Setting target lt Response format gt When processing is
28. Command PLC to Sensor Controller First word in Command Bit ee Description Command Area code 12to15 8to11 4to7 0to3 2 1000 0001 0000 0000 0000 Command code 3 0020 0000 0000 0010 0000 Response Sensor Controller to PLC First word in Command Bit see Description Response Area code 12to15 8to11 4to7 0to3 2 1000 0001 0000 0000 0000 Command code 3 0020 0000 0000 0010 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 7 0000 0000 0000 0000 Acquired scene No Acquiring Scene Group Number Acquires the current scene group No Command PLC to Sensor Controller First wordin Command Bit N Description Command Area code 412t0o15 8to11 4to7 O0to3 2 2000 0010 0000 0000 0000 Command code 3 0020 0000 0000 0010 0000 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 s Ipu ddy o 345 Command Control 346 Response Sensor Controller to PLC First word in Command Bit ee Description Response Area code 12to15 8to11 4to7 0to3 2 2000 0010 0000 0000 0000 Command od 3 0020 0000 0000 0010 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execu
29. ISICINILJOJAID 2 USBDisk2 IMGO1 LABEL1 SCN lt Response gt OlK 458 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 SCNSAVE Saves scene data lt Command format gt S cinisfalvje TT fe Save destination Scene No 3 digits max lt Response format gt When processing is performed normally O K a When processing is not performed normally lt Parameters explanation gt Scene No Specifies the scene No to save 0 to 127 Specifies the save destination and file name during saving with a definite path e g USBDisk abc scn E abc scn Save destinations include directories under the following systems Be sure to attach an SCN extension to the file name Save destination Save destination FH FZ5 11 series FZ5 L35_1 6 series RAMDisk C Data RAMDisk RAMDISK USBDisk E FA G HA USBDisk to USBDisk3 IMPORTANT If the specified file name already exists this existing file will be overwritten Do not turn off power to the Sensor Controller until there is a response e For the FH FZ5 11 series do not save to a non volatile area on the C drive such as C ProgramFiles FZ This would reduce the storage area for scene data etc and make correct operation impossible Example When scene data of scene No 3 is saved with the
30. Output control Set value Factory default e None e Handshaking Description Set whether to provide an interlock with the PLC when per forming data output None Data is output regardless of the status of signals from the PLC GATE is always OFF Handshaking Data is output after confirming DSA from the PLC Asynchro nous output e Selected e Not selected Selected Measurement processing and data output process ing are performed in parallel The data output processing does not affect the processing time of the measurement flow Not selected Measurement processing and data output process ing are synchronized so that all data output processing is finished when measurements are finished This increases the overall processing time of the measurement flow Note This is the same as the PLC Link operation of the FZ4 Vision Sensor Reference Asynchronous Output p 167 After a timeout error occurs communications with the destina Retry interval ms O ta 2eenee tion device will be attempted at the interval time that is set as 10000 the retry interval 1 to 999999 Set the interval to perform polling from the FH FZ5 to the Polling cycle ms 0 external device e g PLC Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with PLC Link s d eu19 x3 UM BuyeolunuiwoD pue Buosuuog JO spoule 165
31. Signal Parallel PLC Link EtherNet IP EtherCAT STEP OK TRIG Measure Bit OK Trigger m OK Control ERCLR a ee OK OK i rror Clear Bit signals Error Clear OK DSA OK OK OK Data Output Result Request Bit Z OK Set Request BUSY are di i OK ok ok ok READY Camera Image OK z Input Enabled Trigger Ready Signal OK OR OK ae OK Overall Overall Judgement i _ _ OK judgment One shot Overall One shot OR 3 Judgement OK Result Signal Status signals RUN Measurement OK OK OK Run Mode Mode Signal _ _ OK GATE OK OK OK Data Output Result Completion Bit _ _ OK Notification ERR OK OK OK Error Bit Error Status _ sen OK XFLG OK OK Flow Flow Command Command Completion Bit mae a Ees OK Completion Differences in Specifications Based on the Communications Protocol Vision System FH FZ5 Series User s Manual for Communications Settings Z342 OK Signal can be used Signal cannot be used Communications protocol Signal Parallel PLC Link EtherNet IP EtherCAT XBUSY OK OK Eg Flow Flow Command Command Busy Bit OK Q Status Busy g signals XWaAIT ite OK OK g Flow Flow Command Command Wait Bit ES P OK Wait 4 The BUSY signal cannot be used to detect the execution of commands with any other protocol 2 The OR signal cannot be used with PLC Link
32. The file name depends on the argument No argument Time stamp Reference gt 00 0000000 0 0 in the Vision System FH FZ5 Series User s Manual Cat No Z340 e Argument Saves with the file name in the argument If the file name extension is other than bmp then bmp is added to the file name lt Command format gt No argument TIMIAIGIE C A P TIU RIEl or EL 1 Cls With argument bo File name lt Response format gt When processing is performed normally O KISe File name 256 characters max When processing is not performed normally EIR c lt Parameters explanation gt 256 characters max Specify the save destination and file name for saving with the absolute path e g C Data RAMDisk abc bmp RAMDISK abc bmp Be sure to attach the BMP extension to the file name File name Save destination FH FZ5 11 series FZ5 L35_1 6 series RAMDisk C Data RAMDisk RAMDISK Example When capturing an image to the file named abc omp lt Command gt EIIIC MRAMDisk abc bmp lt Response gt OlKFe Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 IMAGECAPTUREFOLDER or ICF Getting the screen capture folder name Gets the set screen capture folder name lt Command format gt HT IMIAIGIE C A P TIUJRIE FIO LIDIE RI or TIC F Is lt Response form
33. 1 2 amp vy oil Ss 4 si 242i a o 9 DATAO 10 Output Data 25 DATA7 26 2 Defining the Variables Define variables for the data links for the communications area data that is used in EtherNet IP communications These variables use the data types that were defined above in procedure 1 i Network Publish are Variable Variable type E Data type Application ElPOutput Global variable Output S_ElPOutput For data links to the Command Area For data links to the Response Area E IPInput Global variable Input S_EI PlInput and Output Area 3 Exporting the Variables That Were Defined on Sysmac Studio Export the variables that you defined so that you can use them on the Network Configurator An exported CSV file is created 4 Network Configurator Settings 1 Import to the Network Configurator the CSV file that you exported from the Sysmac Studio The variables that are imported will automatically be registered as tags 2 Set the connections as shown in the following table 224 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Originator device PLC settings Target device Sensor settings Input tag set EIPOutput Output tag set Input101 Output tag set EIPInput Input tag set Output100 5 Accessing the Communications Areas from the User Program The defined variables are used to access the communicat
34. 2 Data Output Module results output The results for measurements for 1 Search are output You can output character strings that were read by processing items that read characters such as Character Inspection or Barcode You must use PLC Link communications to do this Character strings are output simultaneously when the processing item is executed Sensor Controller Single Measurement Processing command order Measurement started Measurement flow Processing started BUSY 0 Camera Image Input Read charac ters are output Communications Module Measurement processed 1 Character Inspection Characters are output at the same time that the characters are read 23 Vision System FH FZ5 Series User s Manual Control Methods Using an External Device for Communications Settings Z342 24 Items that Can Be Output as Output Data Measurement Data You can output up to eight items 32 bytes with one Output Unit processing unit Note e If you need to output nine or more data items set more than one Output Unit processing unit in the measurement flow Refer to Outputting Multiple Measurement Data Items p 25 The number of data items that can be output by one Output Unit processing unit can be increased by changing a setting when using PLC Link or EtherCAT communications as described below e PLC Lin
35. 3 5 6 152 Select one of the following Communications Modules based on the communications method that is used to connect with the Sensor Controller and the Unit to connect to then click Apply Communications Module Description Serial Ethernet Performs PLC Link communications via an Ethernet connection Select this Communications Module to communicate with an PLC Link Sysmac CS CJ CP One eN Select this Communications Module to communicate with a Mit PLC Link MELSEC QnU Q QnAS subishi Electric PLC Select this Communications Module to communicate with a PEC Link JEPMG MP Yaskawa Electric PLC Performs PLC Link communications via an RS 232C 422 con Serial RS 232C 422 nection Select this Communications Module to communicate with an PLC Link SYSMAC CS CJ CP One OMRON PLC Select this Communications Module to communicate with a Mit PLC Link MELSEC QnU Q QnAS subishi Electric PLC Click the Data save button in the Toolbar Data save On the Main Window select Function System restart Click OK in the System restart dialog box to restart the Sensor Controller When the Sensor Controller has restart operation will be performed for the default settings of the specified Communications Module Set the IP address and other settings for the PLC or other external device IMPORTANT After you set the Communications Module always click Data save and then re
36. Access RW PDO map Not possible Sub index5 Module Ident of the module configured on position 5 Range Unit Default 00 hex Size 4 bytes U32 Sub index6 Module Ident of the Access RW module configured on position 6 PDO map Not possible Range Unit Default 00 hex Size 4 bytes U32 Access RW PDO map Not possible Sub index7 Module Ident of the module configured on position 7 Range Unit Default 00 hex Size 4 bytes U32 Sub index8 Module Ident of the Access RW module configured on position 8 PDO map Not possible Range Unit Default 00 hex Size 4 bytes U32 Access RW PDO map Not possible Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s n d eu19 x3 UM Buyeoiunuiwoy pue Huosuuog JO spoule 148 F050 hex Detected Module Ident List1 Sub index0 Number of notice Range Unit Default 08 hex Size 1 byte U8 Sub index1 Module Ident of the Access RO module configured on position 1 PDO map Not possible Range Unit Default 00 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 Module Ident of the module configured on position 2 Range U
37. Data Output area Area cloareacio O Address 20 Output control Handshaking r Asynchronous output Retry interval ms 10000 lt 2 Polling cycle olal lt gt 163 Vision System FH FZ5 Series User s Manual Communicating with PLC Link for Communications Settings Z342 164 e Communicating with an OMRON PLC When PLC Link Sysmac CS CJ CP One is selected for the Communications Module Setting item Set value Factory default Description Command area Area CIO Area CIO e Work Area WR e Holding Bit Area HR e Auxiliary Bit Area AR e DM Area DM e EM Area EMO to EMC Set the Command Area Address 0 to 99999 0 Set the first word address in the Command Area Response area Area e CIO Area CIO e Work Area WR e Holding Bit Area HR e Auxiliary Bit Area AR e DM Area DM e EM Area EMO to EMC Set the Response Area Address 0 to 99999 100 Set the first word address in the Response Area Data output area Area e CIO Area CIO e Work Area WR e Holding Bit Area HR e Auxiliary Bit Area AR e DM Area DM e EM Area EMO to EMC Set the Data Output Area Address Communicating with PLC Link 0 to 99999 200 Set the first word address in the Data Output Area Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Setting item
38. Error Code Error Code The event code for the Sysmac error status is stored here when an error occurs Refer to gt Reference Sysmac Error Status p 87 for the event codes O Ports in the Data Output Area Sensor Controller Slave to Controller Master I O port name DINT Result Data 0 to 63 Output data 1 to 64 Signal name Data output number 1 4 bytes to 64 256 bytes LREAL Result Data 0 to 31 Output data 1 to 32 1 8 bytes to 32 256 bytes O Ports in Sysmac Error Status Area Vision Sensor Slave to Controller Master The Sysmac Error Status is mapped only when connected to an NJ series Controller Sysmac Studio Standard Edition version 1 07 or higher is required Function The pattern that is set for the Data Output Number setting in the communications settings is output Example If the Data Output Number is set to 32 bytes DINT 2 LREAL 3 the I O ports would be assigned as follows DINT Result Data 0 DINT Result Data 1 LREAL Result Data 0 LREAL Result Data 1 LREAL Result Data 2 I O port name Signal name Function Sysmac Error Sysmac Error Status Gives the Sysmac error status Status bservati n Observation Error This signal turns ON when an observation error occurs in the Vision Sensor Minor Fault Minor Fault Level Error This signal turns ON when a minor fault level error occurs in the Vision Sensor Vision System
39. If you output data from more than one Data Output Unit or for repeatedly measured output data e g for continuous measurements the same Data Output Area will be overwritten To save all of the output data adjust the output period and output time that are set in the EtherCAT settings so that all of the output data is output and either receive all of the output data by using the Result Notification signal or use handshaking control Handshaking lets you control data output by using the Result Notification signal turning ON as a trigger for the data output timing and turning ON the Result Set Request to read the output data Each time that data is output from the second output on read the output data and move it to a different part of I O memory in the PLC Refer to Data Output Control with Handshaking p 27 for more information on handshaking You can compare the received number of output data and the number of measurements for continuous measurements to check if all of the measurement results have been received Use the following method to check the number of measurements that was actually executed Application Example Set a calculation to count the number of measurements that are executed in the measurement flow If you set something like DO 1 each time a measurement is executed each time the measurement flow is executed 1 will be added to DO so the present value of DO will give you the actual number of measurements Visi
40. PDO map Not possible Range Unit Default 60053920 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index58 58th Input Object to be mapped Range Unit Default 60053A20 hex Size 4 bytes U32 Sub index59 59th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60053B20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index60 60th Input Object to be mapped Range Unit Default 60053C20 hex Size 4 bytes U32 Sub index61 61st Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60053D20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index62 62nd Input Object to be mapped Range Unit Default 60053E20 hex Size 4 bytes U32 Sub index63 63rd Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60053F20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index64 64th Input Object to be mapped Range Unit Default 60054020 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions e 6005
41. RS 232C 422 Communications Before Performing a Communications Test This example assumes that Serial RS 232C 422 PLC Link SYSMAC CS CJ CP One is selected as the Communications Module Stop the program on the PLC when you check the communications settings Checking the Communications Settings Use the following procedure to check if the communications settings are correct System Settings f System Settings i Startup 1 On the Main Window select Tool io System Settings Select PARER Inari System data from the tree on the 2 cane g Baud rate bps left and then select a e Communication RS 232C 422 eq EPELE NESE on pagar PLC Link SYSMAC Date time setting Parity CS CJ CP One Fan control setting STEP setting Encoder trigger setting Network drive setting Screen capture setting Flow control Measurement setting Logging setting Oneratinn lng setting Stop bit bit 2 Set these settings based on the communications specifications User customization Timeout s System Settines n ame Seting 3 Click the PLC Link settings tab a crea a Camera connection Command area el z pomeo H i E Communication PoRS 4 Set the area settings Set these RS Z32CHZAPLC LRKSYSWAC CSICUCPIONS ae settings based on the connected Ethernet PLC Link MELSEC QNU Q ANAS P L C El Other Area oreco H Date time setting Fan control setting Ad
42. Sensor Controller External device Outputs z Oel Inputs Output Signals Measurement Trigger STEP Overall Judgement OR signal Communications Command DIO to DI7 Parallel Judgement Output DOO to DO15 Parallel Data Output DOO to DO15 Trigger sensor Inputs You can input the following signals to the Sensor while the Main Window is displayed e Measurement Trigger STEP signal Measurement is performed once when STEP signal turns ON Single Measurement e Command Input DIO to DI7 Signals You can send commands and control the Sensor by turning the DIO to DI7 signals ON and OFF Refer to the following section for details on Sensor control commands Reference gt Command Formats p 307 Outputs Each time measurement is performed the measurement results are output The following measurement results can be output s d eu19 x3 UM Buyeolunuiwoy pue Buosuuog 104 spoule e Overall Judgement OR signal The results of more than one processing item are judged The overall judgement will be NG if even one of the individual judgement results is NG 1 1 With the default settings output is performed even if the overall judgement result is NG but this can be changed so that output is performed only when the overall judgement result is OK Reference gt Setting the Output Signal Specifications p 282 e Parallel Data Output DOO to DO15 Signals The measured values of processing items or the calcu
43. Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Control ssolpueddy po 455 SCNGROUP or SG Acquires scene group number Acquires the current scene group No lt Command format gt S CINIGIRJOfUlPl S Glr lt Response format gt When processing is performed normally Is Scene group No max 2 digits OlK When processing is not performed normally EIRE lt Parameters explanation gt The acquired scene group No currently used scene group No is output as a response 0 to Scene group No 31 Example When scene group 0 is being used lt Command gt SICINIGIRIO U PI lt Response gt 456 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Switches the scene group number Switches the scene group number to be used lt Command format gt Scene group No max 2 digits lt Response format gt When processing is performed normally OlKfer When processing is not performed normally R cr lt Parameters explanation gt Scene group No Specifies the scene group No after switching 0 to 31 ssolpueddy po Example When switching to scene group 2 lt Command gt ISICINIGIRJOJUIP 2 x lt Response gt O f IMPORTANT e During parallel continuous measurement and when the STEP signal is input continuously do not perform switching of the scene group
44. e g PLC 160 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with PLC Link Communicating with a Yaskawa Electric PLC When PLC Link JEPMC MP is selected for the Communications Module Set value wae D Pee Setting item Factory default escription Command area Area Data register Data registers are always used for the Command Area Address i 39999 Set the first word address in the Command Area Response area Area Data register Data registers are always used for the Response Area Address v Set the first word address in the Response Area Data output area Output control e Handshaking Area Data register Data registers are always used for the Data Output Area Address e Set the first word address in the Data Output Area Sets whether to establish an interlock with the PLC when data is output e None None Data is output regardless of the status of signals from the PLC GATE is always OFF Handshaking Data is output after confirming DSA from the PLC Asyn chronous output e Selected e Not selected Selected Measurement processing and data output processing are per formed in parallel The data output processing does not affect the processing time of the measurement flow Measurement processing and data output processing are syn chronized so that all data output processing is finished when measurements are
45. for Communications Settings Z342 s d eUI9 Xy UM Bugeorunwwop pue Buosuuog JO spoule N Allowable Output Data Sizes The upper limit of the data output size depends on the number of controlled lines as shown in the following table Number of controlled lines Output data size 1to5 256 bytes max 6 to8 128 bytes max Minimum PDO Communications Cycle Time Do not set the PDO communications cycle time for EtherCAT communications to a value that is lower than the applicable minimum time given in the following table The minimum PDO communications cycle time depends on the number of controlled lines and the data output byte size EtherCAT communications will not be performed if you set the PDO communications cycle time for EtherCAT communications to a value that is lower than the applicable minimum time given in the following table Number of controlled Data output byte size lines 32 bytes 64 bytes 128 bytes 256 bytes 1 line 125 ms 250 ms 2 lines 250 ms 3 lines 250 ms 500 ms 4 lines 500 ms 5 lines 500 ms 1 000 ms 6 lines 500 ms 1 000 ms Not supported 7 lines 500 ms 1 000 ms Not supported 8 lines 1 000 ms Not supported Applicable Models OMRON Interface Series CPU CPU Unit built in port Master Unit NJ501 SYSMAC NJ NJ301 Supported Beckhoff TwinCAT PC Edition Industrial PCs and Embedded PCs 1 You must obtain an ESI file for the FH ser
46. lt Response format gt When processing is performed normally O KISe When processing is not performed normally EIR lt Parameters explanation gt Group Specifies a group ID to which a user account is to be added 0 to 7 User ID Specifies a user ID of the user to be added with up to 32 characters Password Specifies a password for the user to be added with up to 32 characters User name UGO Specifies the user name for a user belonging to the UGO group 32 characters maximum Password UGO Specifies the password for the above UGO group user 32 characters maximum Example Using the UGO password efg for user o duser to add an account with user name newuser with password abc in the UGO group lt Command gt ufajo fol nfejwlulsfelr fajoje Joli ajulstelr elf a lt Response gt OlKFe 473 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 Deletes user account Deletes the specified user account If the specified user account does not exist the command returns OK without doing any processing at all lt Command format gt WISJE RJAjcicfojuIni7 I tt IH Password UGO 32 characters max User name UGO 32 characters max User ID 32 characters max or ujaj Tt I IH L L Password UGO 32 characters max User name UGO 32 characters max User ID 32 characters max
47. will be displayed on the Sensor Controller Setting PLC Link Command area 5 Click the PLC Link settings tab 6 Set the area settings Match these settings with those on the destination PLC Area Data register Address Response area Area Data register Address Data Output area Area Data register Address Output control Handshaking E I Asynchronous output E 7 Set the output control Set whether to provide an interlock with the PLC when performing data output Retry interval ms Pollingieycle 8 This completes the Controller settings Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with PLC Link s d eu19 x3 UM Buyeolunuiwoy pue Buosuuog JO spoule N 173 Checking the Communications Status Use the ping command to check if the Sensor Controller exists on the Ethernet network Use this to determine if the Sensor Controller s IP address has been set correctly and that the Sensor Controller is correctly connected to the Ethernet network The ping command uses the ICMP protocol to send a response request to a device connected through an Ethernet network and determines the time required to respond to that request If you properly receive a response from the destination device the network connection and network settings are correctly set 1 Connect the Sensor Controller and comp
48. 0000 Terminal state FH Bit 1 ERRn Bit 3 ORn Bit 4 GATEn Bit 6 ACK n Number of line to receive the command FZ5 Bit 1 ERRn Bit 3 ORn Bit 4 GATEn Bit 6 ACK n Number of line to receive the command 0 OFF 1 ON Vision System FH FZ5 Series User s Manual for Communications Settings Z342 363 Command Control Response Sensor Controller to PLC First word in Command Bit ane Description Response Area code 12to15 8to11 4to7 0to3 2 8020 1000 0000 0010 0000 Command code 3 0030 0000 0000 0011 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 IMPORTANT The supported signals and signal assignments for an FH series Sensor Controller depend on the number of lines used in Multi line Random trigger Mode Reference gt Multi line Random Trigger Mode Signal Specifications p 300 If you set the status of unused terminals the response code will be OK and the set terminal status will be discarded Set All DO Terminal Status Sets all the DO terminal ON OFF states Command PLC to Sensor Controller First word in Command Bit ee Description Command Area code 12to0 15 8to11 4to7 0to3 2 8030 1000 0000 0011 0000 Command code 3 0030 0000 0000 0011 0000 4 0000 0000 000
49. 0000 0000 0000 0000 Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails 0 to 4 347 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 Response Sensor Controller to PLC First word in Command Bit tee Description Response Area code 12to15 8to11 4to7 0to3 2 5020 0101 0000 0010 0000 Command code 3 0020 0000 0000 0010 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 7 0000 0000 0000 0000 Sub image number Getting Image Display State Gets the image mode for the specified Image Display window Command PLC to Sensor Controller First word in Command Bit aS Description Command Area code 12to15 8to11 4to7 0to3 2 5030 0101 0000 0011 0000 Command code 3 0020 0000 0000 0010 0000 4 0000 0000 0000 0000 Display image window number FH Image display window number 0 to 23 FZ5 Displaying 1 image 1 5 p 0000 0000 0000 0000 Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails O to 4 Response Sensor Controller to PLC Firstwordin Command Bit ioe Description Response Area code 12to15 8to11 4to7 0to3 2 5030 0101 0000 0011 0000 Command code 3 0020 0000 0000 0010 0000 Response target command codes
50. 1 or False 0 Unit Size 1 bit BOOL Access RO Sub index6 Trigger Ack Bit Default Differ by the status when starting PDO map Possible Range True 1 or False 0 Unit Default Differ by the status when starting Size 1 bit BOOL Access RO PDO map Possible Sub index7 Command Ready Bit Range True 1 or False 0 Unit Size 1 bit BOOL Access RO Sub index8 Shutter Output Bit Default Differ by the status when starting PDO map Possible Range True 1 or False 0 Unit Default Differ by the status when starting Size 1 bit BOOL Access RO PDO map Possible 140 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Sub index9 Flow Command Completion Bit e This object gets the status of the Sensor Controller Command Completion bit ON during command execution BUSY bit ON during command or measurement execution e Trigger Ready bit ON when Trigger signal can be input e Overall Judgement bit ON when the overall judgement is NG e RUN Mode bit ON when the Sensor Controller is in Run Mode e Trigger Ack bit ON when the Vision Sensor acknowledges a Trigger signal Command Ready bit ON when a control command can be executed
51. 17th Input Object to be mapped Range Unit Default 60051120 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index18 18th Input Object to be mapped Range Unit Default 60051220 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index19 19th Input Object to be mapped Range Unit Default 60051320 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index20 20th Input Object to be mapped Range Unit Default 60051420 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index21 21st Input Object to be mapped Range Unit Default 60051520 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index22 22nd Input Object to be mapped Range Unit Default 60051620 hex Size 4 bytes U32 Sub index23 23rd Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60051720 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index24 24th Input Object to be mapped Range Unit Default 60051820 hex Size 4 bytes U32 Sub index25 25th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60051920 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index26 26th Input Object
52. 3 In the Output Setting Area select the communications method Qutput Setting Communication method RS 232CiRS 422 Ethernet Format setting Output form ASCII C Binary Set value Description Factory default i RS 232C RS 422 Communications are performed via a RS 232C RS 422 connection Communications are performed via the Ethernet Ethernet 4 Setthe output format for the output data PLC link setting Decimal output form Fixed point Floating point Offset 0 al Pa Description Factory default P PLC Link setting Specify the output format for the PLC Link Decimal output format When precision to 4 digits after the decimal point is required use Floating point Fixed point Data is output multiplied by 1 000 Example For 123 456 0x0001E240 Floating point Data is output in floating point format Example For 123 4567 Oxc2f6e979 Ofiset Set the number of offset words in the Data Output Area 0 to 99999 default 0 172 Vision System FH FZ5 Series User s Manual Communicating with PLC Link for Communications Settings Z342 Testing Communications Check to confirm that the PLC Link communications are set correctly If communications cannot be performed even after set up the communications use the following procedure to check the settings and the communications status Ethernet Communications Before Performing a Communications Test This examp
53. 4 RES CODE Response code 5 2 words 6 ____ RES DATA Response data two words e Data Output Area First word in Bit Response Name Area 15 14 13 12 11 10 9 8 7 6mMES TEATER 1 0 8 DATAO Output data 0 9 10 DATA1 Output data 1 11 12 DATA2 Output data 2 13 14 DATA3 Output data 3 15 16 DATA4 Output data 4 17 18 DATA5 Output data 5 19 20 DATA6 Output data 6 21 22 DATA7 Output data 7 23 Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 s d eu19 x3 UM Bugeortunwwop pue BuloeuUOD JO spoule 222 Signal Signal name Function FLG Command Completion Bit Turns ON when command execution is completed GATE Data Output Completion Bit Turns ON when data output is completed BUSY Command Busy Bit Turns ON when command execution is in progress Turns ON when the overall judgement result is NG OR Overall Judgement The OR signal is output when the checkbox for Output is selected in the ADJUST window Turns ON when execution of a command that was input during XFLG Flow Command Completion Bit the execution of fieldbus flow control has been completed i e when XBUSY turns OFF XBUSY Flow Command Busy Bit Turns ON when execution of a command that was input during execution of
54. Access RO PDO map Not possible Sub index50 50th Input Object to be mapped Range Unit Default 60053220 hex Size 4 bytes U32 Access RO Sub index51 51st Input Object to be mapped PDO map Not possible Range Unit Default 60053320 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index52 52nd Input Object to be mapped Range Unit Default 60053420 hex Size 4 bytes U32 Access RO Sub index53 53rd Input Object to be mapped PDO map Not possible Range Unit Default 60053520 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index54 54th Input Object to be mapped Range Unit Default 60053620 hex Size 4 bytes U32 Access RO Vision System FH FZ5 Series User s Manual for Communications Settings Z342 PDO map Not possible EtherCAT Connections FH Only s n d eUIE XW UM Bugeorunwwop pue Huosuuog JO SPON 120 Sub index55 55th Input Object to be mapped Range Unit Default 60053720 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index56 56th Input Object to be mapped Range Unit Default 60053820 hex Size 4 bytes U32 Sub index57 57th Input Object to be mapped Access RO
55. Command List p 231 Requests the next data output DSA Data Output Request Bit Reference Output Data Settings Processing Item Registra tion p 214 STEP Command code Executes a measurement XEXE Flow Command Request Bit Executes a command during execution of fieldbus flow control ERCLR Error Clear Bit Clears the ERR signal from the Sensor Controller CMD CODE Command code Stores the command code CMD PARAM Command parameters Stores command parameters Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Output Connection to PLC Sensor Controller Originator to PLC Target For output connections to the PLC execution results and output data from the Sensor Controller are set Execution results from the Sensor Controller control outputs command codes response codes response data are output to the Response Area while output data from the Sensor Controller are output to the Data Output Area Note The order in which data is stored depends on the manufacturer of the connected PLC For details refer to gt Parameter Notation Examples for Command Control p 322 e Response Area First word in Bit Response Maine Area 15 14 143 12 11 10 9 8 7 6 5 4 3 2 1 0 w fe mewe Ru oR Teus FLG Controlinput 1 GATE 2 words 2 CMD CODE Command code 3 2 words
56. Command ON parameters OFF i Command Request ON Measurement EXE signal command execution gnal OFF nl BUSY signal ON OFF i i 1 1 Command ON Completion FLG signal OFF l Result Completion GATE signal OFF First data output Second data output The data is overwritten by the second data output Execution of first Fieldbus Data Execution of second Fieldbus Output Unit Data Output Unit The measurement command code and command parameters are set from the PLC Next confirm that the BUSY signal and the Command Completion FLG signal have turned OFF and then turn ON the Command Request EXE signal again A request is sent to the Sensor Controller The Sensor Controller executes measurement processing and turns ON the BUSY signal when the request is received When the first Fieldbus Data Output Unit in the measurement flow is executed the Sensor Controller outputs the output data for the first Fieldbus Data Output Unit to the Data Output Area The Sensor Controller turns ON the Result Completion GATE signal when it has output the output data to the Data Output Area The Sensor Controller turns OFF the Result Completion GATE signal after the output time set in the EtherNet IP settings has elapsed The second Fieldbus Data Output Unit in the measurement flow is executed When the time that is set for the output period in the EtherNet IP settings has elapsed the Sensor C
57. Example When data stored in scene group 3 is saved with the file name LABEL SGP in the IMG01 folder in the USB memory to which the drive name USBDisk2 is assigned lt Command gt ISIGIRISJATVIE 3 USBDisk2 IMGO1 LABEL SGP lt Response gt O K cri Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 ssolpueddy po SYSDATA Acquires settings related to logging Acquires settings related to current logging lt Command format gt L ldentifier lt Response format gt When processing is performed normally OJK Sr When processing is not performed normally lt Parameters explanation gt Data Identifier Setting value 0 None Image Logging imageLogging 1 Only NG 2 All Folder name of image logging save Save destination folder name one byte imageLoggingDirectory destination alphanumeric character oe os Prefix for image logging file name one byte Prefix for image logging file name imageLoggingHeader alphanumeric characters 0 None Data Logging dataLogging 1 Only NG 2 All Name of destination folder for saving data logging Save destination folder name one byte a lena alphanumeric character IMPORTANT Specifying the name of a folder to save to The method for specifying the name of the folder to save to depends on the model e FH FZ5 11 RAM disk C Data RAMDisk USB memory E F e FZ5 L35
58. Example 1 Inputting a Measurement Trigger after Changing a Scene without Handshaking Command ON code OFF Select Scene command Measurement command Command Area parameters i i OFF ON Measurement Command Request EXE signal OFF Select Scene command execution command execution i 1 BUSY signal ON OFF Command ON Completion FLG signal OFF Response Area Result Completion ON GATE signal Data Output saf Output data on OFF o o f Data Output Unit execution 1 The command code and command parameters for the Select Scene command are set from the PLC N Next confirm that the BUSY signal and the Command Completion FLG signal have turned OFF and then turn ON the Command Request EXE signal again A request is sent to the Sensor Controller The Sensor Controller changes the scene and turns ON the BUSY signal when the request is received The Command Completion FLG signal is turned ON The PLC user turns OFF the Command Request EXE signal when the Command Completion FLG signal turns ON When the Sensor Controller detects that the Command Request EXE signal is OFF it automatically turns OFF the Command Completion FLG signal and the BUSY signal The measurement command code and command parameters are set from the PLC ON O AR OQ The Command Request EXE signal is turned ON to execute the measurement command 192 Communicating with PLC Link Vision Sy
59. Gets the output state to an external device Enabled or Disabled Command PLC to Sensor Controller First word in Command Bit rere Description Command Area code 12t0o15 8to11 4to7 0to3 2 7020 0111 0000 0010 0000 Command code 3 0020 0000 0000 0010 0000 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 349 Command Control 350 Response Sensor Controller to PLC First word in Command Bit ME Description Response Area code 12 to 15 8 to 11 4to7 0to3 2 7020 0111 0000 0010 0000 Gommand code 3 0020 0000 0000 0010 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 Response data Output state 7 0000 0000 0000 0000 0 Prohibited 1 Permitted Getting Terminal State Gets the state of the specified parallel I O terminal Active or Inactive Command PLC to Sensor Controller First word in Command Bit Phe Description Command Area code 12t015 8to11 4to7 0to3 2 8010 1000 0000 0001 0000 Command code 3 0020 0000 0000 0010 0000 4 0000 0000 0000 0000 Terminal types 0 STEP 5 0000 0000 0000 0000 1 DSA 2 DI 6 0000 0000 0000 0000 Terminal number When the Terminal Type Is STEP FH 0 to 7 STEPO to STEP7 FZ5 0 STEPO 1 STE
60. Processing order Measurement flow 0 Camera Image Input E 5 Data Output 3 Search executed 6 Search The next processing item is not executed until the data output processing is finished 2 Data output processing finished 1 Data output processing started Communi cations Module Vision System FH FZ5 Series User s Manual for Communications Settings Z342 e Asynchronous output Selected Sensor Controller Processing order 1 Data output processing started 5 Data Output 2 Search Measurement flow 0 Camera Image Input Data output 1 processing Li Communi cations Module Data output processing is executed in parallel with the measurement flow processing Communicating with PLC Link s d eu19 x3 UM Bugeovrtunwwop pue Buosuuog JO spoule 167 168 Output Data Settings Processing Item Registration Set the items to output through PLC Link communications and the output format Note When outputting characters read by a processing item such as Barcode these settings are set in the processing item used to read the characters Character Inspection Barcode or 2DCode Refer to the descriptions for each processing item for details on the character output settings and output format e Character Inspection Refer to gt Character Inspection in the Vision System FH FZ5 Series Processing Items Referenc
61. Receive data 5 bytes 0x30 0 0x00 0x4f O 0x4b K 0x00 EtherNet IP Troubleshooting Cannot Input to the Sensor Controller Problem Action The EDS file version does not match the Make sure that the EDS file version No input is received 3 firmware version matches the firmware version No Data Is Output from the Sensor Controller Problem Cause Action The RPI packet interval and the Sensor GATE signal is not output Controller s output period are not set cor rectly The RPI packet interval time must be set so that it is shorter than the output period There is absolutely no data out The EDS file version does not match the Make sure that the EDS file version put firmware version matches the firmware version Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 s d eUJ9 XW UM Bugeorunwwop pue Buosuuog JO spoule 247 248 A Timeout Error Occurred Problem A handshaking timeout error occurred Cause The timing of turning the DSA signal ON and OFF is too slow One of the following problems may exist e The DSA signal does not turn ON after a measurement is completed The DSA signal does not turn OFF after the GATE signal turns ON e The DSA signal does not turn ON after the GATE signal turns OFF Action After the measurement command is exe cuted turn the DSA signal ON and OFF wit
62. Reference gt p 453 TIMER TMR Executes the specified command string after a speci Reference p gt p 468 fied delay UPDATEMODEL UMD Re registers the model data with the current image Reference p gt p 471 USERACCOUNT UAD Adds a user account to a specified group ID Deletes a specified user account Reference p p 473 Commands to Get Status Command Abbreviation DIPORTCOND DPC Function Gets the ON OFF status for all DI terminals Reference Reference p gt p 407 IMAGEDISPCOND IDC Gets the image mode for the specified Image Display Pane Reference p p 413 270 Non procedure Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Abbreviation Function Reference IMAGESUBNO ISN Gets the image currently displayed on the specified Reference p p 423 Image Display Pane IMAGEUNITNO IUN Gets the unit number currently displayed on the speci Reference p p 425 fied Image Display Pane INPUTTRANS Gets the input status enabled disabled for the Com STATE i munications Modules a p pt1 LAYOUTNO DLN Gets the number of the layout that is currently dis Reference p p 434 played LOGINACCOUNT LAI Gets the user name for the currently logged in user Reference p gt p 436 2 account LOGINACCOUNT Gets the affiliation group ID for the curre
63. Set Fieldbus to EtherCAT according to the output data size that was set on the window for line 0 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communications Module Settings Startup Settings The method to use for communications with the Sensor Controller is selected from the Communications Modules 1 On the Main Window select Tool System Settings 2 Select System setting Startup Startup setting on the Multiview Explorer on the left and then click the Communication button System Settings System Settings E Startup Startup setting E Camera Camera connection Inter camera setting Output signal setting E Communication Parallel RS 232C 422 Normal Ethernet Normal UDP EtherCAT E Other Date time setting Fan control setting STEP settina Communication module select Serial Ethernet Normal UDP z Serial RS 232C 422 Nom Parallel Standard Parallel O a Fieldbus Remote Operation 3 In the Communications Module Selection Area select EtherCAT in the Fieldbus box and then click the Apply button 4 Click the Data save button in the Toolbar Apply 5 Onthe Main Window select Function System restart Click the Apply button in the System Restart dialog box to restart the Sensor Controller 6 When the Sensor Controller has been restarted operation will be
64. Target device Sensor Output tag set Input_101 48Byte Controller Input tag set Output_100 20Byte Packet interval RPI Any default 20 0 2 User specified default Packet interval RPI x 4 Timeout value Set the timeout interval so that it is longer than the Sensor s measure ment processing time 4 If multi cast connections are used however use an Ethernet switch that has multi cast filtering unless the tag set is received by all nodes in the network 2 Adjust this value based on the communications settings of the Sensor Controller i e the output period and the output time Reference EtherNet IP Communications Cycle RPI p 200 IMPORTANT If O memory addresses are specified for the communications areas the information in the communications areas will be cleared when the operating mode of the PLC changes unless addresses in the CIO Area which are maintained are specified The following assembly object is required to specify instances when the EDS file is not used Assembly Object Settings s d eu19 x3 UM Bugeorunwwop pue Bunosuuog JO SPON Parameter name Setting Remarks Output connection for normal control and for line O in Multi line Random 100 Trigger Mode Input connection for normal control and for line O in the Multi line Ran 101 dom Trigger Mode Instance ID 102 Output connection for line 1 in Multi line Random Trigger Mode 103 Input connection
65. U32 Sub index3 3rd Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050320 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index4 4th Input Object to be mapped Range Unit Default 60050420 hex Size 4 bytes U32 Sub index5 5th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050520 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index6 6th Input Object to be mapped Range Unit Default 60050620 hex Size 4 bytes U32 Sub index7 7th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050720 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index8 8th Input Object to be mapped Range Unit Default 60050820 hex Size 4 bytes U32 Sub index9 9th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050920 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index10 10th Input Object to be mapped Range Unit Default 6 0050A20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index11 11th Input Obj
66. Z342 s d eu19 x3 UM Bujeolunuiwoy pue Buosuuog JO spoule Controller master V O ports in the Command Area You write the following control commands for the Vision Sensor e Control signals Command codes Command parameters ee Command response TA aceite Ha DASA ean methed I O ports in the Response Area The Vision Sensor writes the execution results 1 0 ports in the Data Output Area Data The Vision Sensor writes the output output data after measurements 1 0 ports for Sysmac Error Status Area The Vision Sensor writes the Error status error status Commands Responses T External outputs n The Vision Sensor writes the values measured by rocessing t item A 41 Vision Sensor slave The Vision Sensor executes the control commands written to the I O ports in the Command Area s Execution The Vision Sensor writes the execution results to the I O ports in the Response Area in the Controller Status signals Command codes e Response codes Response data The Vision Sensor writes the error status to the I O ports in the Sysmac Error Status Area Sysmac error status 28 bytes 24 bytes DT Operation is performed by executing the measurement flow 32 to 256 bytes C 1 byte You can use output
67. Z342 Saving All Data The system scene group 0 data currently being used by the Sensor Controller is saved to a file Command PLC to Sensor Controller ssolpueddy po First word in Command Bit ee Description Command Area code 12t015 8to11 4to7 0to3 2 5000 0101 0000 0000 0000 Command code 3 0070 0000 0000 0111 0000 4 J 0000 0000 0000 0000 Absolute path of save destination and save file 5 0000 0000 0000 0000 name 0000 0000 0000 0000 Up to 256 characters Response Sensor Controller to PLC First wordin Command Bit COE Description Response Area code 12t0o15 8to11 4to7 0to3 2 5000 0101 0000 0000 0000 Command code 3 0070 0000 0000 0111 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Screen Capture Captures the screen The folder into which the captured image is saved depends on the system data setting Saves with the file name in the argument If the file name extension is other than bmp then bmp is added to the file name Command PLC to Sensor Controller First wordin Command Bit a Description Command Area code 412t0o15 8to11 4to7 Oto3 2 6010 0110 0000 0001 0000 Command code 3 0070 0000 0000 0111 0000 4 0000 0000 0000 0000 Absolute path of save destination and save
68. _ Transmission Confirmation m 5 Click the button to the right of TEST STRING String 6 Enter the character string 12 characters or less that you E want to send to test communications Select Local echo if e S you want to perform an echo check of the sent character a Transfer string 7 Click the Transfer button to send the input character string to the PLC or other external device 8 If Local echo was selected the character string that was sent will be displayed after Send 9 Confirm that the character string was received by the PLC or other external device If the character string was not sent or received check the following e Are the communications settings correct for the connected device e Is the cable connected e Are all cables wired correctly After you have confirmed the communications status as described above send an actual measurement command to the Controller and check to confirm that Vision Sensor communications are operating correctly Non procedure Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Output Items Measurement Results That You Can Output with the Data Output Processing Item You can use the processing items that are related to outputting results to output the following data You can also access measured values from the Calculation or other processing units Measured item Text string Description Judgement JG Judgeme
69. e Shutter Output bit ON when the sensing elements have completed exposure e Flow Command Completion bit ON when execution of a command that was executed during execution of PLC Link fieldbus normal flow control has been completed e Flow Command Busy bit ON during execution of a command that was executed during execution of PLC Link fieldbus normal flow control e Flow Command Wait bit ON while waiting for command input during execution of PLC Link fieldbus normal flow control e Error Status bit ON when the Vision Sensor has detected an error e Result Notification bit ON when the Vision Sensor completes data output e When you use the Sysmac Studio all of the subindices of 1 that include the above bits are mapped 6001 hex Command Code Echo Back Range Unit Default 00000000 hex Size 4 bytes U32 Access RO PDO map Possible Range True 1 or False 0 Unit Default Differ by the status when starting Size 1 bit BOOL Access RO PDO map Possible Sub index10 Flow Command Busy Bit Range True 1 or False 0 Unit Default Differ by the status when starting Size 1 bit BOOL Access RO PDO map Possible Sub index11 Flow Command Wait Bit Range True 1 or False 0 Unit Default Differ by the status when starting Size 1 bit BOOL Access RO PDO map Possible Ea Sub index12 15 Control Reserve Bit12 15 Range True 1 or False 0 Unit Default False 0 Q gt Size 1 bit
70. eu19 x3 UM Bugeoiunwwop pue Buosuuog JO spoule EtherNet IP Communications Cycle RPI Data is refreshed for EtherNet IP tag data link communications at a communications interval called the RPI requested packet interval All data transfer between the external device e g PLC and the Sensor Controller are performed at the set RPI transmission path RPI packet interval RPI Communications _ gt __ _ pata is updated at the set EtherNet IP I i 1 from the Sensor i i l l 1 l i Controller 1 ON 1 l I OFF Sensor Controller Signal changes from the Sensor Controller are affected by the RPI In some cases the target device may not detect a change in the ON OFF status of a signal depending on the RPI timing Therefore you must set up the RPI and output signals from the Sensor Controller so that they satisfy the following relationship Duration of change in Sensor Controller signal gt RPI IMPORTANT Set the RPI to 4 ms or higher If the RPI is longer than the duration of a Sensor Controller signal change the signal change may not be detected Example 1 Duration of Change in Sensor Controller Signal lt RPI RPI 30 ms Output period 50 ms Sensor Controller Output time 30 ms ON 30 ms OFF 20 ms Output control None Communications transmission path EtherNet IP The packet interval RPI is too long Output signal f from
71. gt p 332 0010 1030 Completes continuous measurement Reference p 333 0010 1040 Executes a test measurement for the specified Unit Reference p 333 0010 2010 Clears measurement values Reference p 334 0010 3010 Saves data in the Sensor Controller Reference p 335 0010 4010 Re registers the model data with the current image Reference gt p 336 0010 5010 Shifts the image display position by the specified amount Reference p 337 0010 5020 Zooms the image display in or out by the specified factor Reference p 338 0010 5030 Se position and display magnification to their Reference P gt p 338 0010 7010 Copies the scene data Reference p 339 0010 7020 Deletes the scene data Reference p 340 0010 7030 Stores the scene data Reference gt p 340 Registers the specified image data as a registered image Reference p 452 0010 8020 Loads the specified registered data as a measurement image Reference p 453 0010 9010 Returns the input character string as is to output echo Reference p 341 Adds a user account to a specified group ID Reference gt p 342 Deletes a specified user account Reference gt p 343 0010 B010 Branches to the start of the measurement flow processing unit 0 Reference p 344 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with EtherNet IP s d eu19 x3 UM Buyjeo
72. lt minute gt only Example When changing the date and time to 8 30 2007 12 30 00 lt Command gt DIAITIE 2 0 0 7 o 8 3 0 1 2 310 0 0 rl lt Response gt O KFFe Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 DELSCENE or DSD Deletes the data for the scene whose number is specified with command argument 1 lt Command format gt pejt sjejejnjej k Ld Scene No 3 digits max or ojs o ie Te lt Response format gt When processing is performed normally ONKISe Scene No 3 digits max When processing is not performed normally EIR cr lt Parameters explanation gt Scene No Specify the scene No to delete the scene data for 0 to the number of scenes in the scene group minus 1 Example Deleting the scene data for Scene 2 lt Command gt DIS D _ 2 a lt Response gt OlKFe Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Control ssolpueddy po 403 404 DIOFFSET or DIO Gets or sets the value of the DI terminal offset data The DI terminal offset is the value added to the command parameter for DIO DI4 when a parallel command is executed Using a DI terminal offset is useful in the cases like the following one Example Creating a Custom Communications Command for Parallel Communications That Sets a Numeric Value with DIO to DI6 e Wi
73. ma number max 2 digits Terminal types 1 digit or P Plc fkl E a TE E nae digits Terminal types 1 digit lt Response format gt When processing is performed normally Terminal state OlK eR When processing is not performed normally Rer lt Parameters explanation gt 0 STEP Terminal types 1 DSA 2 DI Specifies the terminal number 0 to 15 When the terminal type is STEP 0 STEPO 1 STEP1 When the terminal type is DSA 0 DSAO 1 DSA1 When the terminal type is DI 0 DIO to 7 DI7 Terminal number 0 OFF Terminal state 1 ON Example The following sample command gets the state of STEP1 lt Command gt P jeje fo 1 lt Response gt D OlKFe Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Control ssolpueddy po Sets the state of specified parallel I O terminal Sets the state of the specified parallel I O terminal Active or Inactive lt Command format gt J L Terminal state 1 digit Terminal number max 2 digits Terminal types 1 digit or PPI TTT Ts L Terminal state 1 digit Terminal number max 2 digits Terminal types 1 digit lt Response format gt When processing is performed normally ONKISe When processing is not performed normally lt Parameters explanation gt RUN ERR BUSY OR GATE READY DO Terminal types OMNOAR amp S
74. p 220 Example If the Expression for Output 1 Is Deleted Output Item Settings Data Output Destination Data Output Area siwo Tees Bit ene Expression First word 15 to 0 0 Reference 5X U1 8X 1 Reference SY U1 SY gt i DATE References 2 Reference an U1 ST 11 3 12 DATA2 Reference SY 13 14 DATAS Reference angle ST pi Output 1 is deleted 15 Output Item Settings Data Output Destination Data Output Area Bit No Comment Expression Firstword poi itanim aeea 0 Reference Sx U1 SX 15 to 0 E a N 10 DATA1 Reference SX Uae ta eee ere eee os I r o 2 Reference an U1 8T 11 j 12 DATA3 Reference angle ST 13 140 15 The output numbers assigned to the expressions remain the same but the data output location is shifted forward for data 3 216 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Output Format Fieldbus Data Output 1 Click the Fieldbus Data Output icon in the measurement unit list flow 2 in the Item Tab Area click Output format 3 Select the output format Output Setting Decimal output form Fixed point Floating point Set value Factory default Description Decimal output form Data is output multiplied by 1 000 Pied poini Example For 123 456 0x0001E240 Data is output in floating point format Fleeing peat Example For 123
75. sla g 100 DNS server 10 5 6 o Input Output setting Input mode Inputform Output IP address o o o o Input port No 9600 Output port No V 1 5ame number Input port No a 3 Click the Settings tab 4 Set the output control Set whether to provide an interlock with the PLC when Output period ms r performing data output Output Period Set the cycle by which measurement results are output ienee 10 0 Set the value so that the interval is longer than the output time and shorter than measurement interval Output time Set the interval during which the GATE signal the signal that tells the PLC when to read the measurement results is ON This interval must be longer than the cycle time of the PLC and the EtherNet IP packet interval RPI Set these values so that they satisfy the following relation ships RPI lt Output time GATE ON time Output time GATE OFF time Output period Output time The output period and output time are only valid when output control is set to None Output control Output time ms 5 This completes the Controller settings The PLC settings are set next 218 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Checking the Communications Status Use the ping command to check if the Sensor Controller exists on the Ether
76. spoule 2 You can use output controls handshaking to prevent output data from being externally output from the communications buffer until the Controller master turns ON the DSA signal to request the output data 3 Refer to gt Settings Required for Data Output p 24 for information on the Output Units that output measurement data 204 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communications Setup Procedures The following settings are required to use EtherNet IP communications 1 Communications Module settings startup settings L 2 Communications specifications set tings L 3 Tag data link settings L 4 Output data settings processing item registration L 5 Testing communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 The type of the Communications Module is selected to determine the com munications method to use between the Sensor Controller and the external device Reference Communications Module Settings Startup Settings p 206 The communications specifications are set for the communications method of the Communications Module that was selected in step 1 Reference gt Communications Specifications Settings p 207 The tag data link settings are set to exchange data with the external device This section describes an ex
77. ssolpueddy po 373 Command Control 374 Getting Terminal Offset Acquires the DI terminal offset data The DI terminal offset is the value added to the command parameter for DIO DI4 when a parallel command is executed Once the terminal offset setting command has been executed the acquisition command is enabled Command PLC to Sensor Controller First word in Command Bit a Description Command Area code 412to15 8to11 4to7 Oto3 2 4060 0100 0000 0110 0000 Command code 3 0040 0000 0000 0100 0000 Response Sensor Controller to PLC First wordin Command Bit on Description Response Area code 12t0o15 8to11 4to7 0to3 2 4060 0100 0000 0110 0000 Command code 3 0040 0000 0000 0100 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 Response data Terminal offset value 7 0000 0000 0000 0000 0 to 9999 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Setting Unit Data Sets the specified processing unit data IMPORTANT e In processing unit data setting acquisition you can get only numeric data You cannot get character strings e In unit data setting acquisition external reference table No 139 verification string of Character Inspection external reference
78. the command to e Two lines 0 or 1 Three or four lines 00 line 0 01 line 1 10 line 2 11 line 3 SYS re a e Five to eight lines 000 line 0 001 line 1 010 line 2 011 line 3 100 line 4 101 line 5 110 line 6 111 line 7 Input example DILINE2 to DILINEO DI7 to DI5 and DI4 to DIO Continuous mea surements on line 1 when 2 lines are used Input example 0 100 00000 Changing to scene 2 on line 2 when 4 lines are used Input example 10 101 00010 Changing to scene group 3 on line 6 when 8 lines are used Input example 110 111 00011 Clearing the mea surement results for line 1 when 2 lines are used Input example 1 110 00000 Clearing the error status for line 1 when 4 lines are used Input example 01 110 00001 Clearing the OR and DO signals for line 2 when 8 lines are used Input example 010 110 00010 for other lines If the command is sent to a line that cannot use the DO signals only the OR signal will be cleared Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Parallel Communications s d eu19 x3 UM Bugeorunwwop pue Huosuuog JO spoule 309 Time Charts Output Control Timing Charts This section provides timing charts for each output control type none handshaking and synchronization output IMPORTANT For the function and operation of each signal refer to gt I O Signals
79. when the BUSY signal turns ON DI7 signal l i Loo o Allowat ON least1ms BUSY signal oer UNONINT 4 Command Request d ON READY signal OFF Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 e Output Signals Signal Function Indicates that the Controller is currently switching the scene or scene group BUSY Do not input next command while the BUSY signal is ON Otherwise on going processing or com mands that are input will not be performed correctly Turns OFF while a scene or a scene group is being switched Turns OFF as long as the BUSY sig READY nal is ON ACK FH only Turn ON when execution of the DI command is completed Note When the input command is not received correctly the ERROR signal turns ON IMPORTANT Do not change the scene group during parallel continuous measurement or when the STEP signal is being input continuously If you must change the scene group at one of these times set Unchecked in Save scene group on scene switch in either of the settings items below Refer to gt Changing the Scene or Scene Group in the Vision System FH FZ5 Series User s Manual Cat No Z340 Refer to gt Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH FZ5 Series User s Manual Cat No Z340 s d eu19 x3 UM Bujeolunuiwoyg pue Huosuuog JO spoule 315
80. 0000 Scene Group Switching Switches the scene group to be used Command PLC to Sensor Controller First word in Command Bit Deenen Command Area code 12t0o15 8to11 4to7 0to3 2 2000 0010 0000 0000 0000 Command code 3 0030 0000 0000 0011 0000 4 0000 0000 0000 0000 Scene group No 5 0000 0000 0000 0000 Response Sensor Controller to PLC First word in Command Bit Daseri Response Area code 12to 15 8 to 11 4to7 0to3 2 2000 0010 0000 0000 0000 Comtnand code 3 0030 0000 0000 0011 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Layout Switching Sets the layout number and switches the window Command PLC to Sensor Controller First word in Command Bit Dave Description Command Area code 42to015 8to11 4to7 0to3 2 4000 0100 0000 0000 0000 Command code 3 0030 0000 0000 0011 0000 4 0000 0000 0000 0000 Settable Objects 0 Local 5 0000 0000 0000 0000 1 Remote 6 0000 0000 0000 0000 Layout number 7 0000 0000 0000 0000 0 ADJUST window 1 RUN window IMPORTANT e For non remote operation only 0 Local can be specified For remote operation only 1 Remote can be specified If any combination other than the above combin
81. 0000 0000 0000 322 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Specifying Character Strings Specify the ASCII character code for every two bytes In this example the inputs are given to save the image data for image data 1 to a destination specified by the absolute path USBDisk IMGO1 LABEL IFZ with the Save Image command First word in Command Area 2 and 3 words Description Command code 4000 0070 hex 4 and 5 words Image data number 1 0000 0001 hex 6 to 17 words Save destination USBDisk IMGO1 LABEL IFZ e OMRON or Yaskawa Electric PLCs Command PLC to Sensor Controller F 7 Hexadeci Bit First word in nE oani Aea mal Description notation 12t0 15 8to11 4to7 0to3 2 4000 0100 0000 0000 0000 Command code 3 0070 0000 0000 0111 0000 gt pel 4 0001 0000 0000 0000 0001 o Image data No a 5 0000 0000 0000 0000 0000 2 4 6 5553 0101 0101 0101 0011 o 7 4244 0100 0010 0100 0100 Desinta 8 6973 0110 1001 0111 0011 6 5553 US 9 6b32 0110 1011 0011 0010 7 4244 BD 8 6973 is 10 5049 0101 1100 0100 1001 9 6b32 k2 11 4d47 0100 1101 0100 0111 10 5c49 1 11 4d47 MG 12 3031 0011 0000 0011 0001 12 3031 01 13 5c4c 0101 1100 0100 1100 13 Sc4c L 14 4142 AB 14 4142 0100 0001 0100 0010 15 454c EL 15 454c 0100 0101 0100 1100 16 2e49
82. 0000 0000 0000 Response Sensor Controller to PLC First word in Command Bit Desing Response Area code 12to15 8to11 4to7 0to3 2 3000 0011 0000 0000 0000 Commandcgd 3 0060 0000 0000 0110 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 383 Command Control 384 Loading All Data Reads system scene group 0 data IMPORTANT With this command be sure to restart the Sensor Controller after reading the system scene group 0 data to enable the data that was read Command PLC to Sensor Controller First word in Command Bit Pare Description Command Area code 12to15 8to11 4to7 Oto3 2 5000 0101 0000 0000 0000 Command code 3 0060 0000 0000 0110 0000 4 0000 0000 0000 0000 45 i 0000 0000 0000 0000 Name of the file to be read with an absolute path Up to 256 characters 0000 0000 0000 0000 Response Sensor Controller to PLC First word in Command Bit eet Description Response Area code 12to15 8to11 4to7 0to3 3 0060 0000 0000 0110 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Command Contr
83. 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 Response data H i 0999 0990 0990 0090 Folder name absolute path 0000 0000 0000 0000 Getting Screen Capture Folder Name Gets the screen capture folder name Command PLC to Sensor Controller First wordin Command Bit Beccio Command Area code 12t0o15 8to11 4to7 Oto3 2 4030 0100 0000 0011 0000 Command code 3 0040 0000 0000 0100 0000 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 ssolpueddy po 371 Command Control 372 Response Sensor Controller to PLC First word in Command Bit ee Description Response Area code 12to15 8to11 4to7 0to3 2 4030 0100 0000 0011 0000 Command code 3 0040 0000 0000 0100 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 Response data ne 0090 ome om 9000 Folder name absolute path 0000 0000 0000 0000 Getting Image Logging Prefix Gets the prefix for the name of the file the image logging is saved to Command PLC to Sensor Controller First word in Command Bit Pate Description Command Area code 12to15 8to11 4to7 0to3 2 4040 0100 0000 0100 0000 Command code 3 0040 0000 0000 0100 0000 Response Sensor C
84. 1 16 2e49 0010 1110 0100 1001 17 465a FZ 17 465a 0100 0110 0101 1010 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 323 Command Control 324 e Mitsubishi Electric Corporation PLCs Command PLC to Sensor Controller A Ss Hexadeci Bit First word in Bit ConinandiAres mal Description notation 12t015 8to11 4to7 0to3 2 4000 0100 0000 0000 0000 Command code 3 0070 0000 0000 0111 0000 4 0100 0000 0001 0000 0000 Image data No 5 0000 0000 0000 0000 0000 6 5355 0101 0011 0101 0101 7 4442 0100 0100 0100 0010 Destination 8 7369 0111 0011 0110 1001 6 5355 SU 7 4442 DB 9 326b 0011 0011 011 1011 9 8 7369 si 10 495c 0100 1001 0101 1100 9 326b 2k 11 474d 0100 0111 0100 1101 10 495c I 11 474d GM 12 3130 0011 0001 0011 0000 12 3130 10 13 4c5c 0100 1100 0101 1100 13 4c5c L 14 4241 BA 14 4241 0100 0010 0100 0001 15 4045 LE 15 4c45 0100 1100 0100 0101 16 492e I 16 492e 0100 1001 0010 1110 17 5a46 ZF 17 5a46 0101 1010 0100 0110 Specifying Real Numbers Specify 1 000 times the actual value to specify a real number In this example the inputs are given to set the lower limit external reference number 137 of measurement coordinate X to 123 4 for the Search processing item that is registered to processing unit 1 for the Set Unit Data command Fir
85. 1 0 0 XWAIT XBUSY XFLG BUSY FLG Control input 1 GATE 2 words 2 2 Command z CMD CODE code 2 oy 3 words rot a 4 Response A RES CODE code 2 S 5 words Q 6 Q 7 3 a 8 _________ Response a 9 RES DATA data length Q 10 changeable 3 _ Cc 2 D a Signal Signal name Function FLG Command Completion Bit Turns ON when command execution is completed a GATE Data Output Completion Bit Turns ON when data output is complete D BUSY Command Busy Bit Turns ON when command execution is in progress J lt XFLG Flow Command Completion Bit Turns ON when flow command execution is complete 8 n XBUSY Flow Command Busy Bit Turns ON while a flow command is being executed XWAIT Flow Command Wait Bit Turns ON when a flow command can be executed CMD CODE Command code Returns the executed command code RES CODE _ Response code Stores the response from the executed command RES DATA _ Response data Stores the response data from the executed command 177 Vision System FH FZ5 Series User s Manual Communicating with PLC Link for Communications Settings Z342 178 Data Output Area Sensor Controller to PLC Data that is output to the Data Output Area is not automatically assigned Each data item for output is assigned in an Output Unit First word in the Bit Name Data OutputArea 45 144 13 12 11 10 9 8 7 6 5 4 0 i DATAO Output da
86. 2 3 4 5 Signal Signal name Function Signals for each communications protocol Parallel PLC Link EtherNet IP EtherCAT ERR Error Status Error Signal The FH FZ5 provides notification with this signal when it detects the following errors Refer to Error Messages and Troubleshooting in the Vision System FH FZ5 Series User s Manual Cat No Z340 e System error e Communica tions timeout STEP input during measureme nt Camera connection error e Battery error Fan error The ERR signal does not turn OFF even after the error is eliminated The signal turns OFF only when the error status is cleared by a control command OK OK OK RUN Run Mode Measurement Mode Signal The FH FZ5 turns ON this signal when measurements can be performed and it is in Run Mode OK OK ACK Command Completion Flag This signal tells when execution of the DI command has been completed OK SHTOUT Exposure Completion Signal This signal tells when Camera exposure has been completed OK OK STGOUT Strobe Trigger Output This is the trigger signal for the strobe OK The execution of commands or other processing received through any other protocol cannot be detected The parallel BUSY signal can be used in all protocols If you use more than one protocol and need to detect command execution use the
87. 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Scene Data Move Copies the data for the scene with the number specified with command argument 1 to the scene with the number specified with command argument 2 Deletes scene data with a number specified by command argument 1 after completing copying If there is already data at the copy destination the copied data is written over that data Command PLC to Sensor Controller First word in Command Bit AR Description Command Area code 412to15 8to11 4to7 Oto3 2 7030 0111 0000 0011 0000 Command code 3 0010 0000 0000 0001 0000 4 0000 0000 0000 0000 Source scene number 5 0000 0000 0000 0000 6 0000 0000 0000 0000 Target scene number 7 0000 0000 0000 0000 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Response Sensor Controller to PLC ssolpueddy po First word in Command Bit ee Description Response Area code 12to15 8to11 4to7 0 to 3 2 7030 0111 0000 0011 0000 Commandicode 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 3 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Response Sensor Controller to PLC First wo
88. 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 Response data Image mode 0 Through 7 F 0000 0000 0000 0000 1 Freeze or Freeze and Last NG together 2 Last NG Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Getting Communication Input State Gets the input state permitted prohibited for communication modules Command PLC to Sensor Controller First word in Command Bit ee Description Command Area code 142t015 8to11 4to7 Oto3 2 7010 0111 0000 0001 0000 Command code 3 0020 0000 0000 0010 0000 4 0000 0000 0000 0000 Communication module types 0 Serial Ethernet 1 Serial RS 232C 422 5 0000 0000 0000 0000 2 Parallel I O 3 Fieldbus 4 Remote operation ER Response Sensor Controller to PLC a 8 First word in Command Bit ee 2 Description g Response Area code 12t0o15 8to11 4to7 0to3 o 2 7010 0111 0000 0001 0000 Garainanascade 3 0020 0000 0000 0010 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 Response data Input state 7 0000 0000 0000 0000 0 Prohibited 1 Permitted Getting Communication Output State
89. 4 bytes U32 Sub index7 7th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050720 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index8 8th Input Object to be mapped Range Unit Default 60050820 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions e 6005 hex Image Processing Results Integer Data EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 1A05 hex 6th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 16 hex Size 1 byte U8 Sub index1 1st Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050120 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 2nd Input Object to be mapped Range Unit Default 60050220 hex Size 4 bytes U32 Sub index3 3rd Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050320 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index4 4th Input Object to be mapped Range Unit Default 60050420 hex Size 4 bytes U
90. 5010 0101 0000 0001 0000 Command code 3 0030 0000 0000 0011 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Display Image Sub numbers Setting Sets the number of the sub image displayed in the specified image display window Command PLC to Sensor Controller First word in Command Bit Tie Description Command Area code 12to15 8to11 4to7 0to3 2 5020 0101 0000 0010 0000 Command code 3 0030 0000 0000 0011 0000 4 0000 0000 0000 0000 Display image window number FH Image display window number 0 to 23 FZ5 Displaying 1 image 1 5 0000 0000 0000 0000 Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails O to 4 6 0000 0000 0000 0000 Sub image number z 7 0000 0000 0000 0000 g 2 2 D n Response Sensor Controller to PLC First word in Command Bit ee Description Response Area code 12to15 8to11 4to7 0to3 2 5020 0101 0000 0010 0000 Command code 3 0030 0000 0000 0011 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 359 Vision System FH FZ5 Se
91. Bit parallel communications STEP EtherNet IP 4 TRIG EtherCAT Trigger in the control signals 2 You cannot execute tag data link commands Execute the command with message communications 3 You can execute the same operation with the Error Clear Bit PLC Link or EtherNet IP ERCLR EtherCAT Error Clear in the control signals ssolpueddy po 327 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 Commands to Get Status OK Applicable command RST Command with restricted execution NA Non applicable command Function Parallel puctink FherNet Ethercar Non IP procedure Acquires scene number NA OK OK OK OK Acquires scene group number NA OK OK OK OK Gets the currently displayed layout number NA OK OK OK OK Gets the number of the unit currently displayed in the NA OK OK OK OK specified display image window Gets the number of the sub image in the specified NA OK OK OK OK image display window Gets the image mode for the specified image display NA OK OK OK OK window Gets the input state of an individual communications module Enabled or Disabled NA Of ok Of OK Gets the output state to an external device Enabled NA OK OK OK OK or Disabled Gets the state of the specified parallel I O terminal NA OK OK OK OK Active or Inactive Gets all the ON OFF states for terminals other than DI NA OK OK OK OK at once Retrieves the states of
92. D TJO FIFIS E T e Terminal offset data max 4 digits or ID To tT ee r Terminal offset data max 4 digits lt Response format gt When processing is performed normally OJK crl When processing is not performed normally IRIS lt Parameters explanation gt DI terminal offset data Specify the DI terminal offset data 0 9999 Example When setting the DI terminal offset data to 10 lt Command gt DL TO 1 Ol s R lt Response gt OlKFe 406 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 DIPORTCOND or DPC Gets all the DI terminal ON OFF states lt Command format gt D 1 PIO RIT CIO N DI or Ol lt Response format gt When processing is performed normally OKE When processing is not performed normally EIRE lt Parameters explanation gt ssolpueddy po Responds with the DIO DI7 states 0 255 e 1st bit DIO Terminal state e 2nd bit DI1 e 8th bit DI7 Example When DIO and DI4 are ON lt Command gt DIP CIs lt Response gt 117 Fe OlKF amp 407 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 DOPORTCOND or DPC Sets all the DO terminal ON OFF states lt Command format gt erminal state max 5 digits or IDIPic f Terminal state max 5 digits lt Response format gt When proc
93. DI terminals in batches Active NA OK OK OK OK or Inactive Gets the user name for the currently logged in user NA OK Rsq t NA OK account Gets the affiliation group ID for the currently logged in NA OK Rsq t NA OK user account Gets the operation log state NA OK OK OK OK 4 You cannot execute tag data link commands Execute the command with message communications Commands to Set Status OK Applicable command RST Command with restricted execution NA Non applicable command Function Parallel puctink EtherNet Ethercar Nom IP procedure Switching Scenes OK OK OK OK OK Switches the scene group number OK OK OK OK OK Sets a layout number to switch between screens NA OK OK OK OK Sets the number of the unit displayed in the specified NA OK OK OK OK image display window Sets the number of the Sub image displayed in the NA OK OK OK OK specified image display window Sets the image mode for the specified image display NA OK OK OK OK window Enables Disables inputs into an individual NA OK OK OK OK communications module Enables Disables outputs to external devices NA OK OK OK OK Sets specified parallel I O terminals ON OFF NA OK OK OK OK 328 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 OK Applicable command RST Command with restricted execution NA Non applicable command Function Paralle
94. Default 64 hex Size 1 byte U8 Sub index1 1st Input Object to be mapped Access RO Range Unit Default 60050120 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 2nd Input Object to be mapped Range Unit Default 60050220 hex Size 4 bytes U32 Sub index3 3rd Input Object to be mapped Access RO Range Unit Default 60050320 hex Size 4 bytes U32 Access RO Sub index4 4th Input Object to be mapped Range Unit Default 60050420 hex Size 4 bytes U32 Sub index5 5th Input Object to be mapped Access RO Range Unit Default 60050520 hex Size 4 bytes U32 Access RO Sub index6 6th Input Object to be mapped Range Unit Default 60050620 hex Size 4 bytes U32 Sub index7 7th Input Object to be mapped Access RO Range Unit Default 60050720 hex Size 4 bytes U32 Access RO Sub index8 8th Input Object to be mapped Range Unit Default 60050820 hex Size 4 bytes U32 Sub index9 9th Input Object to be mapped Access RO Range Unit Default 60050920 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index10 10th Input Object to be mapped Range Un
95. EtherNet IP settings 3 A timeout error will occur if the DSA signal is not turned ON after the Trigger STEP signal or Command Request EXE signal turns ON and measurement processing is started within the timeout time that is set in the EtherNet IP settings Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with EtherNet IP s d eu19 x3 UM BuyeolunuiwoD pue Buosuuog JO SPON 227 Output Signals Signal BUSY Signal name Busy Signal Function This signal tells when commands and other external inputs cannot be acknowledged Make sure this signal is OFF before you request a command 1 During continuous measurements the BUSY signal remains ON However the Vision Sensor will acknowledge the Command Request EXE signal during execution of continuous measurements 2 The execution of commands or other processing received through any other protocol cannot be detected Example This signal remains OFF during measurements for a parallel communications STEP signal If you use more than one protocol and need to detect command execution use the parallel communications BUSY signal Just because this signal is ON does not necessarily mean that a command is being executed To check whether a command is being executed access the Command Completion FLG signal 3 ON OFF timing OFF to ON The signal turns
96. Format In this manual objects are described in the following format Object description format lt Index gt lt Object name gt Range lt Setting range gt Unit lt Unit gt Default lt Default setting gt Attribute lt Data attribute gt Size lt Size gt Access lt Access gt PDO map lt Possible Not possible gt Object description format with sub indexes lt Index gt lt Object name gt Sub index 0 Range lt Setting range gt Unit lt Unit gt Default lt Default setting gt Attribute lt Data attribute gt Size lt Size gt Access lt Access gt PDO map lt Possible Not possible gt 2 2 2 Sub index N Range lt Setting range gt Unit lt Unit gt Default lt Default setting gt Attribute lt Data attribute gt Size lt Size gt Access lt Access gt PDO map lt Possible Not possible gt The following values are indicated within the pointed brackets lt gt e Indexes An object index given by a four digit hexadecimal number e Object name The object name e Range The possible range of settings e Unit Physical unit e Default Default value set before product shipment Attribute The timing when a change is updated in a writable object A Always enabled B Timing of count stop gt operation Encoder Input Slave Unit only C Timing of pre operational state safe operational state D Timing of pre operational
97. No exl OIK eRi When processing is not performed normally EIREs lt Parameters explanation gt ssolpueddy po Number of the image display window for which to get the unit number FH Image display window number 0 to 23 FZ5 Image display window number Displaying 1 image 1 Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails 0 to 4 Unit No Responds with the number of the unit displayed in the current image display window Example When getting the number 0 of the unit being displayed in image display window 1 lt Command gt FTJUIN 1 fek lt Response gt Cr OlKFe 425 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 426 Setting the number of the displayed unit Sets the number of the unit displayed in the specified image display window lt Command format gt U imjalejejujnji jrin N or uN jI TN L Unit No Image display window number 2 digits max lt Response format gt Unit No Image display window number 2 digits max When processing is performed normally ONKISe When processing is not performed normally EIREs lt Parameters explanation gt Image display window number Number of the image display window for which to set the unit number FH Image display window number 0 to 23 FZ5 Displaying 1 image 1 Displaying 2 imag
98. Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible Sub index28 28th Input Object to be mapped Range Unit Default 60051C20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index29 29th Input Object to be mapped Range Unit Default 60051D20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index30 30th Input Object to be mapped Range Unit Default 60051E20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index31 31st Input Object to be mapped Range Unit Default 60051F20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index32 32nd Input Object to be mapped Range Unit Default 60052020 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions e 6005 hex Image Processing Results Integer Data s d eu19 x3 UM Bugeotunwwop pue Hunosuuog JO spoule Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 1A07 hex 8th transmit PDO Mapping Sub index0 Number of objects Range Unit
99. ON or not by an external device control the timing so that the DI7 signal is turned ON for approximately 5 ms Vision System FH FZ5 Series User s Manual Parallel Communications for Communications Settings Z342 s d eu19 x3 UM Bueolunuiwoy pue Huosuuog JO spoule N 317 318 Clear Parallel OR DO e Time Chart 7 The signal is turned OFF when the BUSY ON signal turns ON STEP signal i OFF STEP input y on y BUSY signal Measurement OFF a ON OR signal OFF DOO to DO15 signals GATE signal DIO to DI6 signals DI7 signal ON or OFF a Gate ON delay ms Output time lt CThoojoi0 gt lt 1000010 gt lt 0 Allow atleast1mgi ON and then turn ON NA gt lt OF F when the DO signal is OFF ee DI7 Then DIO to DI6 are turned OFF e Output Signals Signal Function This does not change when the OR and DO signal is being cleared READY Do not however clear the OR and DO signal when the READY signal is turned OFF The com mand will not be executed correctly This does not change when the OR and DO signal is being cleared BUSY Do not however clear the OR and DO signal when the BUSY signal is turned ON The command will not be executed correctly OR It will turn OFF if it was turned ON DOO to DO15 It will turn OFF if it was turned ON This does not change when the OR and DO signal is being cleared GATE Do not however clear the OR and DO signal when the GATE signal
100. ON when the Sensor Controller receives a command from the user PLC The signal turns ON after the EXE sig nal turns ON ON to OFF The signal turns OFF when the user PLC turns OFF the Command Request EXE signal FLG Command Completion Sig nal The Sensor Controller uses this signal to tell the user PLC that command execution has been com pleted The signal turns ON when the Sensor Controller com pletes execution of a com mand that it received The signal turns OFF after the output time that is set in the EtherNet IP settings has elapsed 228 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 ON OFF timing Signal Signal name Function OFF to ON ON to OFF e No Handshaking The signal turns ON after the Sensor Controller executes the Output Unit Profibus Data Output Unit in the measurement flow and preparations for data tput h b ae oe e No Handshaking This signal tells the user 7 pin The signal turns OFF after PLC when to read the 9 the output time that is set The signal turns ON when measurement results in the EtherNet IP settings Data Output the Sensor Controller _ Data output is enabled has elapsed GATE Completion Sig ae executes the Output Unit i nal when this signal is ON Profibus Data Output e Handshaking Read the data from the ee p The signal turns OFF ee
101. Output Format Measured valve X1000 of Data 0 Measured value X1000 of Data 1 Measured value X1000 of Data 7 4 bytes 4 bytes 4 bytes The measurement data is multiplied by 1000 and output is continuous with 4 bytes per data item Negative numbers are output in 2 s complement format 2 s Complement Refer to gt Definitions of Basic Terms in the FH FZ5 Series Image Processing System User s Manual Cat No Z340 Example When Data 0 is 256 324 and data 1 is 1 000 goo 03 E9 44 FF FF FC 18 ee ee Data 0 256324 Data 1 1000 256 324 x 1000 1 000 x 1000 Note Unlike ASCII output binary output has no separators between data such as field separators or record separators Refer to p gt Output Format Data Output p 261 The range of values that can be output is as follows 2147483 648 lt Measurement value lt 2147483 647 When measurement value lt 2147483 648 2147483 648 is output When measurement value gt 2147483 647 2147483 647 is output When JG Judgement is set the next values are output OK 1000 1 x 1000 NG 1000 1 x 1000 s d eUJ9 XW UM BuyeolunuiwoD pue Buosuuog JO spoule N Note After the measurement is completed data output will not stop until all of the data is output Data output will not be interrupted 275 Vision System FH FZ5 Series User s Manual Non procedure Communications for Communications Settings Z342 Non p
102. RUN ERR The output status of each signal is displayed BUSY When a signal is output the background color changes to red The output status from each signal of the Controller to external devices can be specified Output state OR GATE Changes between ON and OFF and between 0 and 1 can be simulated READY without performing measurement DOO to DO15 Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 4 Change the contents to be sent Output state RUN ERR OFF BUSY PON GATE OFF READY OFF 2 3 4 5 6 7 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF a g 40 T 15 11 14 When switching between ON and OFF is performed the changed contents are displayed on the monitors of external devices Make sure there are no problems 5 click Close s d eu19 x3 UM Bugeorunwwop pue Buosuuog JO spoule N 295 Vision System FH FZ5 Series User s Manual Parallel Communications for Communications Settings Z342 296 I O Signals The following tables list the signals that are used to control I O for parallel communications Input Signals ON OFF timing Signal Signal name Function OFF to ON ON to OFF Input measurement triggers from external devices such as optic switches Mea surement is performed after Turn OFF the signal from STEP Measurement synchronizing with the Turn ON
103. Reference p 385 0070 3000 Saves system data Reference p 386 0070 4000 Saves the image data Reference p 387 0070 4010 le rg data in the image buffer specified with main unit Reference p 387 0070 4020 Saves the last logging image Reference p 388 0070 5000 Saves System Scene Group 0 data in a file Reference p 389 0070 6000 Captures the screen Reference p 389 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with PLC Link s d eu19 x3 UM Bugeorunwwop pue Buosuuog JO spoule 185 Command Response Processing Timing Chart for Command Execution The commands for measurement execution or other processing that are stored in advance in the memory of the PLC are input and executed when you turn ON the Command Request EXE signal The Command Completion FLG signal turns ON when execution of the control command is completed Use this as the trigger to turn OFF the Command Request EXE signal Command ON when the FLG signal turns ON The FLG signal and BUSY signal are forced OFF if the EXE signal is not turned OFF within the retry interval after the FLG signal turns ON Command ON Command Area parameters OFF Command Request EXE signal OFF code ofr i ON BUSY signal Control command D OFF execution The BUSY signal automatically turns OFF when the EXE signal turns OFF ON i Response Area Response code 7 e OFF Comma
104. Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only SOdIA9q eu19 x3 UM Buyeolunuiwo9 pue Buosuuog JO spoule N Measurement Trigger Input Measurement Trigger Input Timing Chart The Trigger signal is used to input a measurement trigger One measurement is executed each time the Trigger signal turns ON Command Area Trigger signal Trigger ACK signal BUSY signal Response Area Command Ready signal Total Judgement ANANI 1 1 If the BUSY signal is OFF the Vision Sensor starts a measurement when the Trigger signal turns ON 2 When the Vision Sensor receives a measurement request the status of the following output signals change The BUSY signal turns ON when the measurement starts The Trigger ACK signal turns ON to acknowledge reception of the Trigger signal The Command Ready signal turns OFF when processing to input the Camera image starts The PLC user turns OFF the Trigger signal when the Trigger ACK signal turns ON The Trigger ACK signal turns OFF when the Vision Sensor detects that the Trigger signal is OFF The Command Ready signal turns ON when Camera image input processing is completed The Vision Sensor outputs a Total Judgement of the measurement results when the measurement is completed 7 The Vision Sensor turns OFF the BUSY signal when the measurement is completed 3 4 5 6 we ma was wa EtherCAT Connections FH Only Vision System FH FZ
105. Settings Z342 I O Signals The following tables list the signals that are used to control I O for EtherNet IP Input Signals ON OFF timing Signal Signal name Function OFF to ON ON to OFF Peer TE OSE ies Slane me nine Turn OFF the signal from Turn ON this signal from PLC to send a command to the PLC when the Sensor Command the PLC to send a com the Sensor Controller and EXE Controller turns ON the Request Signal mand to the Sensor Con request execution based on i Command Completion troller the command code and F 4 FLG signal command parameters e Turn ON the signal from the PLC to externally output the Use this signal from the data that results from PLC during handshaking measurement to request from the Sensor Turn ON the DSA signal at Controller the external out the same time as the put of the data output l Trigger STEP and Turn OFF the signal from DSA Used results from the execution Command Request EXE the PLC when the Sensor only for hand Data Output of the measurement flow signals ae Controller turns ON the shaking output Request Signal If this signal is ON when If multiple Output Units are se ae Result Completion GATE control an Output Unit Fieldbus used to output more than 8 anal Data Output Unit in the items of output data turn gna measurement flow is exe ON the Result Set Request cuted the Sensor Control DSA signal again after the ler wi
106. System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s d eu19 x3 UM Buyjeolunuiwoy pue Buosuuog 104 spoule Measurement Results That You Can Output with Fieldbus Data Output You can use the processing items that are related to outputting results to output the following data You can also access measured values from the Calculation or other processing units Measured items Text string Description Judgement JG Judgement result DINT data 0 to 63 D100 to DI63 Results of expressions that are set for output data 0 to 63 in DINT 4 byte format LREAL data 0 to 31 DLOO to DL31 Results of expressions that are set for output data 0 to 31 in LREAL 8 byte format External Reference Table for Fieldbus Data Output Number Data name Set Get Data range 0 No judgement unmeasured 0 Judgement Get only 1 Judgement result OK 1 Judgement result NG 1000 10 N N 0 63 DINT data 0 to data 63 Get only 99999999 9999 to 999999999 9999 2000 10 N N 0 31 LREAL data 0 to data 31 Get only 99999999 9999 to 999999999 9999 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command List This section describes the commands that you can use with EtherCAT Execution Commands Command poder Command name Function Reference Command Area
107. Unit in the measurement PLC when this signal flow t aredaralionetor when the user PLC turns turns ON PaE OFF the Result Set data output have been R t DSA signal completed and the DSA equest signal signal is turned ON 4 This occurs when the Output Unit is executed as the measurement flow is executed in order from the top It does not occur when execution of a measurement is completed The Sensor Controller pro vides notification with this ae Hoo The signal turns OFF when following errors D Befer to the followina rer the error is eliminated and Srences fordetails i The signal turns ON then the the user PLC performs ERR Error Signal enora Sensor Controller detects an another measurement or i error clears the error i e turns REGN iO e Aror Mas ON the Error Clear ERCLR sages and Troubleshoot signal ing in the Vision System gna FH FZ5 Series User s Manual Cat No Z340 This signal tells when the The signal turns ON when The signal turns OFF when RUN Run Mode Sensor Controller is in the Sensor Controller isin the Sensor Controller is in Run Mode RUN Mode Adjustment Mode This signal gives the 5 Overall Judge The signal turns ON when _ The signal turns OFF when OR results of the overall i ment the overall judgement is NG the overall judgement is OK judgement The signal turns ON when This signal tells when exe execution of a command that Flow Com cution of a command that was execut
108. V1 0 1 The ESI Specification is a set of specifications that define the entries required in an EtherCAT Slave Information ESI file SII Data Check The Slave Information Interface SII is an interface area in the nonvolatile memory of an EtherCAT slave that stores the configuration information specific to that EtherCAT slave Sysmac Device EtherCAT slaves check the SII information from the slave side If one of these slaves finds that SII information with which it cannot operate was written it generates an SII Check Error Error No 88 3 If this error persists even after turning OFF and then ON the power again contact your OMRON sales representative IMPORTANT Do not use third party or any other configuration tools to edit the SII information Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 s n d eUI9 XW UM Bugeorunwwop pue Buosuuog JO spoule Object Dictionary Object Dictionary Area The CAN application protocol over EtherCAT CoE protocol uses the object dictionary of CAN application protocol as its base Each object is assigned with an index of four digit hexadecimal value The indexes are configured in the areas below Indexes Area 0000 hex to OFFF hex Data Type area Contents Definitions of data types 1000 hex to 1FFF hex CoE Communications area Definitions of variables that can be used by all servers for desig nated commu
109. When this is performed set Unchecked in Save scene group on switch scene in either of the settings items below e Switch Scene Group window Reference gt TO OOOOOUO000000 e Measure setting in the Measure menu Reference 7 HO OOOOU0000000000 0 Din the Vision System FH FZ5 Series User s Manual Cat No Z340 457 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 SCNLOAD Reads scene data lt Command format gt File name of scene data Scene No 3 digits max lt Response format gt When processing is performed normally O KI e When processing is not performed normally lt Parameters explanation gt Scene No Specifies the scene No to be read 0 to 127 Specifies the name of the file to be read with a definite path e g USBDisk abc scn E abc scn Only files that are under the following systems and have an SCN extension can be read File name of scene Load to FH FZ5 11 series FZ5 L35_ 6 series gala RAMDisk C Data RAMDisk RAMDISK USBDisk EA FA GA HA USBDisk to USBDisk3 IMPORTANT Do not turn off power to the Sensor Controller until there is a response Example When LABEL1 SCN in the IMG01 folder of the USB memory to which the drive name USBDisk2 is assigned is loaded to the Sensor Controller as scene 2 lt Command gt
110. a PDO because 1BFF hex 512th transmit PDO Mapping is assigned 2200 hex Communication Error Setting Range 00 hex to OF hex Unit number of sequences Default 01 hex Attribute C Size 1 byte U8 Access RW e Object mounted only on Slave Units operating in the DC mode The number of sequences for detecting communications errors is set with this object e The setting range is from 00 to OF hex and the number of detections is the set number of times 1 e Rewriting value is possible at operation in the DC mode but the operation is performed with the value set when shifting from the pre operational state to safe operational state Note that at this point the rewritten value is read Note PDO map Not possible With the default setting of 01 hex an error is detected if communications errors occur twice in a row Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s d eu19 x3 UM Buyeolunuiwoy pue Buosuuog JO spoule 2201 hex Sync Not Received Timeout Setting Range 0000 hex to 0258 hex Unit s Default 0000 hex Attribute C Size 2 bytes U16 Access RW PDO map Not possible e Object mounted only on Slave Units operating in the DC mode e This object is used to set the standby time until the first synchronization interrupt signal SYNCO is input after shifting to the safe o
111. an External Device for Communications Settings Z342 Non procedure Communications Communications commands are sent to the Sensor Controller through sequence control in the PLC An external device and the Sensor Controller communicate through non procedure normal communications Data Output after Measurements After a Single Measurement or Start Continuous Measurements command is executed the Sensor Controller automatically outputs the data that corresponds to the measurements that have been specified as output items to the PLC This allows you to easily pass measurement results data from the processing items to the PLC You can also choose to output only when the PLC meets the conditions that are required to receive the data i e when handshaking is turned ON The output destination for data depends on the protocol that is used to communicate between the external device and the Sensor Controller as described below PLC Link EtherNet IP or EtherCAT The output data is automatically output to the following area that is specified PLC I O memory Area of Memory Used for Data Output after Measurement The output data for the measurement is written to this area by the Sensor Controller after execution PLE UT aN of the measurement PLC CPU Unit 1 easurement Sensor Controller I O memory execution SS communications areas i Data et SU ee 2 Data Output Area Specified
112. an IP address automatically Use the following IP address IP address a b c d a 1 to 223 b 0 to 255 c 0 to 255 d 2 to 255 10 5 6 100 Subnet mask 0 0 0 0 to 255 255 255 255 255 255 255 0 Default gateway a b c d a 1 to 223 b 0 to 255 c 0 to 255 d 0 to 255 10 5 6 100 DNS server a b c d a 1 to 223 b 0 to 255 c 0 to 255 d 2 to 255 10 5 6 100 4 Click Apply to apply the settings Click Close to close the System Settings Dialog Box Set the EtherNet IP Output Specifications Same as Address setting 1 On the Main Window select Tool System Settings 2 Select System Settings and then select Communication EtherNet IP The Ethernet View is displayed 3 Set the following items Output control Output period ms Output time ms Timeout s o Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with EtherNet IP s d eu19 x3 UM Buyjeolunuiwo9 pue Buosuuog 104 spoule N 209 Set value Setting item Factory default Description Set whether to synchronize with the external device when data is output None The Sensor Controller outputs measurement results e None without synchronizing with external devices Output control Handshaking Reference No Handshaking p 238 Handshaking The Sensor Controller outputs measurement results while synchronized
113. are started i a The FLG signal turns ON when execution of the control Continuous measure Continuous measure command is completed ments are started ments are ended 1 The user PLC turns OFF the EXE signal when the FLG signal turns ON The FLG signal and BUSY signal are forced OFF if the EXE signal is not turned OFF within the retry interval after the FLG signal turns ON Operation to Start Continuous Measurements The Start Continuous Measurements command code is set from the PLC user The Command Request EXE signal is then turned ON A request is sent to the Vision Sensor The Sensor Controller begins preparing for continuous measurement and turns ON the BUSY signal when the request is received The Sensor Controller sets the command code and response code when preparations for continuous measurement have been completed The Command Completion FLG signal is then turned ON The PLC user turns OFF the Command Request EXE signal when the Command Completion FLG signal turns ON When the Sensor Controller detects that the Command Request EXE signal has turned OFF it starts continuous measurements OO N OG A Na The Command Completion FLG signal is then turned OFF automatically 1 A timeout error occurs and the Command Completion FLG signal and BUSY signal are forced OFF if the Command Request EXE signal is not turned OFF from the PLC user within the timeout time that is set in the EtherNet IP s
114. at startup Minor fault System The Camera image will not be input so measurements will be performed on invalid images This may result in the out put of unintentional measurement results Continues Turn OFF the power supply correctly connect a Camera to the Controller and turn the power supply back ON A Camera is not connected to the Con troller Correctly connect a Camera to the Controller and tighten the screws Turn OFF the power supply replace Use a flexible cable or take other mea The Camera cable is broken the Camera cable with a new one and sures to prevent the Camera cable turn the power supply back ON from becoming broken The Camera Selection settings are not correct in the Camera Image Input and Camera Switching processing items Make suitable settings according to Make suitable settings according to the connected Cameras the connected Cameras A Camera is not connected to the Camera port on the Controller accord Turn OFF the power supply connect a ing to the Camera Selection settings in Camera to the suitable Camera port the Camera Image Input and Camera and turn the power supply back ON Switching processing items Connect a Camera to the suitable Camera port None None System Error 48020000 hex An error occurred in the system EtherCAT Master Function Module Always at startup Error reset after res
115. be mapped Range Unit Default 70020320 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index5 5th Output Object to be mapped Range Unit Default 70020420 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions e 7001 hex Vision Command e 7002 hex Vision Command Parameter1 3 Objects are provided for each line as shown below when more than one line is used Line 1 1620 hex 1st receive PDO mapping and 1621 hex 2nd receive PDO mapping Line 2 1640 hex 1st receive PDO mapping and 1641 hex 2nd receive PDO mapping Line 3 1660 hex 1st receive PDO mapping and 1661 hex 2nd receive PDO mapping Line 4 1680 hex 1st receive PDO mapping and 1681 hex 2nd receive PDO mapping Line 5 16A0 hex 1st receive PDO mapping and 16A1 hex 2nd receive PDO mapping Line 6 16C0 hex 1st receive PDO mapping and 16C1 hex 2nd receive PDO mapping Line 7 16E0 hex 1st receive PDO mapping and 16E1 hex 2nd receive PDO mapping YS He wm we wa a DY x Ia wm EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 1A00 hex 1st transmit PDO Mapping Sub index0 Number of objects Range Unit Default 32 hex Size 1 byte U8 Access RO PDO map Not possible Sub index1 32 1st 32nd Input Object to be mapped Default 60000101 60000201 6000
116. by Slave Unit types Attribute Size 20 bytes VS Access RO PDO map Not possible e Indicates the version of the Slave Unit hardware 100A hex Manufacturer Software Version Range Unit Default Differ by Slave Unit types Attribute Size 20 bytes VS Access RO PDO map Not possible e Indicates the version of the Slave Unit software The default settings of device type device name hardware version and software version vary by the Slave Unit Types Manufacture hardware Manufacture software Model Manufacture device name f version version FH 1050 FH 1050 FH 1050 10 FH 1050 10 EH p02 FHI 9S0730 ie 20 hex of 20 charac ae 20 hex F H3050 Erode ai a 5 characters FH 3050 10 FH 3050 10 FH 3050 20 FH 3050 30 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 1011 hex Restore Default Parameters Sub index 0 Number of entries Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Restore Default Parameters Range Unit Default 00000001 hex Attribute A Size 4 bytes U32 Access RW PDO map Not possible e Resets the parameters to their default values e The parameter is reset only when a specific value is written to sub index 1 This p
117. communications 3 The One shot OR signal can be used only with parallel communications Restrictions on Using Different Communications Modules Simultaneously e The Parallel Communications Module can be used with any other Communications Modules For all Communication Modules other than the Parallel Communications Module the following restrictions on combinations apply Ethernet and RS 232C 422 cannot be used at the same time as PLC Link for Vision Systems EtherNet IP or EtherCAT cannot be used at the same time as PLC Link for Vision Systems All combinations of Communications Modules other than those listed above are compatible Vision System FH FZ5 Series User s Manual for Communications Settings Z342 33 Differences in Specifications Based on the Communications Protocol Models That Are Compatible with the Communications Protocols This section lists the external devices that can communicate with the FH FZ5 for each communications protocol PLC Link and Non procedure Communications Ethernet OMRON Interface Series CPU Unit CPU Unit built in port Ethernet Unit SYSMAC_CJ2 CJ2H OK CJ1W EIP21 PLC Link only or CJ1W ETN21 CJ1H or CJ1G CJ1W EIP21 PLC Link only or CJ1W ETN21 SYSMAC_CJ1 CJ1M OK Built in port only CJ1W EIP21 PLC Link only or CJ1W ETN21 SYSMAC_CS1 oe Calero te CS1W EIP21 PLC Link only or CS1W ETN21 CPiL
118. controls handshaking to prevent output data from being externally output from the communications buffer until the Controller master turns ON the Result Set Request signal to request the output data 2 EtherCAT Connections FH Only Refer to gt Settings Required for Data Output p 24 for information on the Output Units that output measurement data Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communications in Multi line Random trigger Mode With an FH series Vision Sensor you can control up to eight lines If you control more than one line the I O ports areas for communications between the Vision Sensor and master are assigned as shown below Command response I O ports in the Command Area method I O ports in the Response Area igned for each line Data output after I O ports in the Data Output Area measurements Error status I O ports for Sysmac Error Status Area The same for all lines A Module line is assigned to each EtherCAT communications slot with the Sysmac Studio Standard Edition to allocate independent PDO communications areas for each line Line 0 Line 0 PDO communications Line 1 PDO NJ series Controller communications Line 6 PDO You can specify communications the output data Line 7 size for each line PDO communications Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only
119. data is automatically output e Output characters Flow of Communications between the PLC and the Sensor Controller The data to output after measurement and the PLC I O memory area Data Output Area to store that data are specified in advance Reference Settings Required for Data Output p 24 1 Measurement is executed 2 After a measurement is executed the specified measurement data is stored in the Data Output Area in the PLC Parallel The output data is output to the PLC signal wires via the DO signals DOO to DO15 Non procedure Communications The output data is output to the PLC reception buffer through non procedure normal communications Control Methods Using an External Device Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Outputting the Output Data The measurement data is output to the external device via the Communications Module by the Data Output processing unit located in the measurement flow Therefore to output measurement data you must place an Output Unit processing unit in the measurement flow The measurement data is output when the Output Unit is executed not when the measurement is actually on O finished S lt Sensor Controller g Processing Single Measurement order command Measurement flow Processing started Measurement started 0 Camera Image Input BUSY Measurement executed 1 Search Communications Search measurement
120. described in this section For details refer to the Vision System FH FZ5 Series User s Manual Cat No Z340 Connecting the FH FZ5 as an External Drive The FH FZ5 can directly save setting data logged data scene groups and other data to the following external media in addition to its own built in RAM disk e External Memory Refer to B Using External Memory Devices in the Vision System FH FZ5 Series User s Manual Cat No Z340 Data can be saved directly to a USB memory stick or SD Memory Card inserted into the slot on the FH FZ5 e Network Drive Refer to Shared folder on a computer connected to the network in the Vision System FH FZ5 Series User s Manual Cat No Z340 You can save data directly to a shared folder on a computer connected via Ethernet Computer Sensor Controller Ethernet Saved directly Shared computer folder the The Sensor Controller is set shared folder settings must up to save to the shared be set on the computer Logged images folder on the computer e Logged data e Data Transfer FTP Server Refer to Saving Data to an External Device in the Vision System FH FZ5 Series User s Manual Cat No Z340 You can move data such as logged image data that was saved to USB memory or the RAM disk in the Sensor Controller to a computer via Ethernet The computer must provide FTP client to access the FH FZ5 The FH FZ5 cannot access the computer itself Sensor Controller FTP server B
121. ee T Result ON Paa ia Notification signal OFF Data Output ON i l Area Output data The data is overwritten by the second data output 1 1 2 Data is output at the set output period and for the set output time After data is output the Result Notification signal is turned ON and the data is held for the data output time 1 The Vision Sensor outputs data when execution of the Fieldbus Data Output Unit is started 2 Data is output every time the Fieldbus Data Output Unit or another Fieldbus Data Output Unit is executed The previously output data is overwritten IMPORTANT Set the output period in the communications settings to a time that is longer than the output time Using Handshaking When the PLC user turns ON the Result Set Request signal the Result Notification signal turns ON At that point the output data that can be output is output The PLC user turns OFF the Result Set Request signal when it has received the output data and when the Result Notification signal is ON If data is output from more than one Fieldbus Data Output Unit turn ON the Result Set Request signal again after the Vision Sensor turns OFF the Result Notification signal to output the next output data 41 This is the data that is prepared for output when the Output Unit is executed in the measurement flow EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Fieldbu
122. fieldbus flow control is in progress XWAIT Flow Command Wait Bit Turns ON when a command can be input during the execution of fieldbus flow control RUN Run Mode Turns ON when the Sensor Controller is set to the Run Mode ERROR Error Signal Turns ON when the Sensor Controller detects an error signal CMD CODE Command code Returns the executed command code RES CODE Response code Stores the response from the executed command RES DATA Response data Stores the response data from the executed command Outputs the data set in the output processing items DATAO 7 Output data 0 to 7 When there are multiple processing items data is overwritten to this area while handshaking is performed Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Accessing Communications Areas Using Variables with NJ series Controllers With an NJ series Controller only variables can be used to access from the user program the I O memory addresses that are assigned to the communications areas Use the following settings Using Network Variables for Access Create user defined variables that match the structures of the communications areas of the Sensor Use the Sysmac Studio to define the variables Refer to the p Sysmac Studio Version 1 Operation Manual Cat No W504 for Sysmac Studio operating procedures 1 Defining the Data Types of the Variables Define data types for variables that match
123. file 5 z 0000 0000 0000 0000 name Ea When 00 00 00 00 is set in 4 or higher the 0000 0000 0000 0000 command operates without an argument Vision System FH FZ5 Series User s Manual for Communications Settings Z342 389 Command Control Response Sensor Controller to PLC 2 6010 0110 0000 0001 0000 Command code 3 0070 0000 0000 0111 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 390 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Non procedure Command Details ALLIMAGESAVE or AIS Writes all the image data in the image buffer specified with main unit logging image to external memory in ifz format lt Command format gt p estination folder name 256 characters max or aldist L J Destination folder name 256 characters max lt Response format gt When processing is performed normally O KISe When processing is not performed normally ERIS lt Parameters explanation gt Specify the name of the folder to save to with the absolute path e g USBDisk E Save destinations include directories under the following systems Destination folder Save destination FH FZ5 11 series FZ5 L350 600 series tee R
124. following data You can also access measured values from the Calculation or other processing units Measured item Text string Description Judgement JG Judgement result Data 0 to 7 DOO to D07 Results of expressions set for output data 0 to 7 External Reference Tables Fieldbus Data Output Number Data name Set Get Data range 0 No judgement unmeasured 0 Judgement Get only 1 Judgement result OK 1 Judgement result NG e ASCII 99999999 9999 to 999999999 9999 ae ERORA Getonly Binary 2147483 648 to 2147483 647 0 Fixed point 150 Output type Set Get 1 Floating point Communicating with EtherNet IP Vision System F H FZ5 Series User s Manual for Communications Settings Z342 Command List This section explains each command used in EtherNet IP A command with a description of command area head word can be executed with both tag data link communication and message communication A command without a description in the First word in Command Area column can be executed only with message communications For details on tag data link communications commands refer to gt Command Details for PLC Link EtherNet IP and EtherCAT p 322 Execution Commands First word in Command Area Function Reference 3 2 0010 1010 Performs one measurement Reference p 332 0010 1020 Starts continuous measurement Reference
125. for Communications Settings Z342 Communications Specifications Settings You must set the output handshaking and output controls for EtherNet IP communications IMPORTANT Set the Communications Module to EtherNet IP in the startup settings before setting the communications specifications Reference Reference Communications Module Settings Startup Settings p 55 After you select the Communications Module save the settings to the Sensor Controller and restart the Sensor Controller If you do not restart the Sensor Controller the selected Communications Module will not be enabled Furthermore if the operation mode is set to the Multi line Random Trigger Mode the Communications Modules for lines 1 and higher must also be set to Ethernet IP e When using Multi line Random trigger Mode specify different addresses for the sending and receiving areas for each line After the tag data link is set the Sensor Controller automatically restarts to reflect the setting Setting IP Addresses Use the following procedure to set the IP address of the Sensor Controller 1 On the Main Window select Tool System Settings 2 in the tree view on the left select System Settings Communication Ethernet Normal xyz xyz depends on the Communications Module The Ethernet View is displayed 3 Set up the following items UDP Address setting Obtain an IP address automatically Use the followin
126. for data input with the Sensor Control TCP No 9876 ler i Set the same number as on the host side a b c d a 0 to 255 TEP D 0 14 259 Input the connection destination IP address Tcp Server c 0 to 255 Client d 0 to 255 10 5 5 101 Port No 0 to 65535 Set the port No to use for data I O with the Sensor Controller 9876 Set the same number as on the host side IMPORTANT If the operation mode is set to Multi line Random trigger Mode set a different I O port number for each line 1 Click Apply to apply the settings Click Close to close the System Settings Dialog Box Non procedure Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Connecting via RS 232C Note Input signals cannot be handled during setting of communications specifications However the input status can be checked with Confirmation Reference Testing Communications p 264 e Data output via serial communications is suspended while communications specifications are being set Mode Interface Baud rate bps Data length bit Set the following items On the Main Window select Tool System Settings From the tree view on the left select System Settings and then select Communication RS 232C 422 Normal or RS 232C 422 Normal Fxxx series method The RS 232C window is displayed s d eUI9 Xy UM Bueolunuiwo9 pue
127. for line 1 in the Multi line Random Trigger Mode 114 Output connection for line 7 in the Multi line Random Trigger Mode 115 Input connection for line 7 in the Multi line Random Trigger Mode 213 Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 Output Data Settings Processing Item Registration Use the following procedures to set the items to output to EtherNet IP and the output format Registering Processing Items Register the processing items for data output in the measurement flow 1 Click Edit flow in Toolbar 2 Select the Fieldbus Data Output processing item from the processing item tree El Dj Output resutt Data Output Parallel Data Output Parallel Judgement Output Bee E Fieldbus Data Output 3 Click Append The Fieldbus Data Output processing item is appended at the bottom of the unit list flow igi 0 Camera Image Input FH 1 Search g 2 Fieldbus Data Output 4 Click the Fieldbus Data Output icon and set the data output items and data format Refer to the following references for details on the settings Reference Registering the Items To Output p 170 214 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Note The number of items that can be output in a single data output processing item is 8 If you need to output more data item
128. hex Image Processing Results Integer Data EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 1A08 hex 9th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 4 hex Size 1 byte U8 Sub index1 1st Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060140 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 2nd Input Object to be mapped Range Unit Default 60060240 hex Size 4 bytes U32 Sub index3 3rd Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060340 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index4 4th Input Object to be mapped Range Unit Default 60060440 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions e 6006 hex Image Processing Results Real Data Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s d eUJ9 XW YM Buneolunuiwo9 pue Huosuuog JO spoule N 122 1A09 hex 10th transmit PDO Mapping Sub index0 Number of objects Range Unit Defaul
129. inputs related to hardware parallel STEP signals DSA signals and ECAT STEP etc are not included in the prohibition Command PLC to Sensor Controller First word in Command Bit ae Description Command Area code 12to15 8to11 4to7 0to3 2 7010 0111 0000 0001 0000 Command code 3 0030 0000 0000 0011 0000 4 0000 0000 0000 0000 Communication module types 0 Serial Ethernet 1 Serial RS 232C 422 5 g 0000 0000 0000 0000 2 Parallel IO 3 Fieldbus 4 Remote operation gt 6 0000 0000 0000 0000 Input state 3 0 Prohibited 2 7 0000 0000 0000 0000 1 Permitted S P Response Sensor Controller to PLC First wordin Command Bit ae Description Response Area code 12to15 8to11 4to7 0to3 2 7010 0111 0000 0001 0000 Command code 3 0030 0000 0000 0011 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Communication Output State Setting Permits prohibits output to external devices When the input state is disabled i e set to 0 all the communications modules are unable to transmit data Command PLC to Sensor Controller First word in Command Bit oe Description Command Area code 412t0o15 8to11 4to7 Oto3 2 7020 0111 0000 0010 0000 Command code 3 0030 0000 0000 0011 0000 4 0000 0000 000
130. is set for each connection The communications refresh cycle will not increase even if the number of nodes is increased i e the concurrency of the connection s data is maintained Because the refresh cycle can be set for each connection each application can communicate at its ideal refresh cycle For example interprocess interlocks can be transferred at high speed while the production commands and the status monitor information are transferred at low speed IMPORTANT e On a network to which many devices are connected performance may drop e g responses may be delayed or packets lost or communications errors may occur when there is temporarily high traffic on the network Test the operation under actual conditions before you start actual operation of the system e Since a reasonable amount of measurement takt time is required to have stable communications in an operation under high load verify the operation under the conditions that are to be actually applied e Use Ethernet connector 2 the bottom connector to perform EtherNet IP communications with the FH OOO0 10 or FH OOOD 20 You cannot use EtherNet IP communications with Ethernet connector 1 the top connector Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Data Exchange with EtherNet IP Communications with Tag Data Links Data is exchanged cyclically between Ethernet devices on the EtherNet IP network usin
131. is turned ON The command e Input Signals will not be executed correctly Or the DO and GATE will not be output correctly Signal Function DIO Turn OFF DI1 Turn ON DI2 to DI5 Turn OFF DI6 Turn ON This is the trigger signal to clear the OR and DO signal DI7 After DIO to DI6 are set turn ON DI7 after an interval over 1 ms After checking that the OR DO sig nal has turned OFF turn DI7 OFF and then turn DIO to DI6 OFF Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Clear Error e Time Chart y The signal is turned OFF ON 7 when the BUSY signal turns ON STEP signal p OFF ar STEP ON input wy BUSY signal Measurement OFF i i ON eo OR signal i OFF DOO to DO15 signals ON GATE signal OFF E Gate ON Output time ON delay ms ERROR signal OFF DIO to DI6 signals gt lt 100000 1000001 0 v v Allow at least 1 ms and then turn ON DIZ N Y 4 XxX Data ON n OFF when the ERROR signal is OFF DI7 signal Then DIO to DI6 are turned OFF OFF e Output Signals Signal Function This does not change when an error is being cleared READY Do not however clear the error signal when the READY signal is turned OFF The command will not be executed correctly This does not change when an error is being cleared BUSY Do not however clear an error when the BUSY signal is turned O
132. item Factory default Description Flow control is not performed with software If the time in which there is no response from external devices reaches the timeout None setting time a timeout error occurs and an error message is Flow control displayed in the window The parallel interface ERROR signal also turns ON Xon Xoff Flow control is performed with software Data is sent according to the Xon Xoff codes from external devices Set the time in which a timeout error will occur 4 4 When handshaking is disabled this setting designates the time elapsed before determining that the destination device cannot be reached via communications If handshaking is enabled a timeout error will occur if any of the following 1 to 120 operations are not performed Timeout s 5 If the DSA signal is not turned ON after a certain time elapses from when measurements are finished If the DSA signal is not turned OFF after a certain time elapses from when the GATE signal turns ON If the DSA signal is not turned ON after a certain time elapses from when the GATE signal turns OFF 3 gt Click PLC link The PLC Link Setting View is displayed 4 Set the following items Some setting items will change depending on the selected Communications Module PLC Link Command area Area CIO Area Clo Address 0 cal Response area s d eUI9 XW UM Buyjeolunuiwoy pue Buosuuog JO spoule Area CIO Area Clo bsi Address 10
133. lt Command format gt U Imjatefefstuleinjo 4 e Sub image number 3 digits max Image display window number 2 digits max or sinj TTT TT I o Sub image number 3 digits max Image display window number 2 digits max lt Response format gt When processing is performed normally OJK cRl When processing is not performed normally ERE lt Parameters explanation gt Number of the image display window for which to set the image mode FH Image display window number 0 to 23 FZ5 Image display window number Displaying 1 image 1 Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails 0 to 4 Sub image number Sets the number 0 to 31 of the sub image displayed in the image display window Example When setting 2 as the number of the sub image displayed in image display window 1 lt Command gt IISIN 4 2S lt Response gt OlKFe 424 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 IMAGEUNITNO or IUN Getting the number of the currently displayed unit Gets the number of the unit currently displayed in the specified image display window lt Command format gt Hi IMjalcfefulnti t Nfol ee eer Image display window number 2 digits max or YIN R Lo Image display window number 2 digits max lt Response format gt When processing is performed normally Unit
134. lt Response gt OIK For the USB memory drive see FH F 7 00 00 00 00 UO in the Vision System FH FZ5 Series User s Manual Cat No Z340 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 SGRSAVE Saves scene group data lt Command format gt Save destination Scene group No max 2 digits lt Response format gt When processing is performed normally O K cri When processing is not performed normally lt Parameters explanation gt Scene group No Specifies the scene group No to save 0 to 31 Specifies the save destination and file name during saving with a definite path e g USBDisk abc sgp E abc sgp Save destinations include directories under the following systems Be sure to attach an SGP extension to the file name Save destination Save destination FH FZ5 11 series FZ5 L351 6 series RAMDisk C Data RAMDisk RAMDISK USBDisk E FA G HA USBDisk to USBDisk3 IMPORTANT e If the specified file name already exists this existing file will be overwritten e Do not turn off power to the Sensor Controller until there is a response e For the FH FZ5 11 series do not save to a non volatile area on the C drive such as C ProgramFiles FZ This would reduce the storage area for scene data etc and make correct operation impossible
135. map Not possible e This object gives the mapping for an application that uses vision sensor functions e 6004 hex Error Code Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 s n d eu19 x3 UM Bugeorunwwop pue Huosuuog JO spoule N 110 1A04 hex 5th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 08 hex Size 1 byte U8 Sub index1 1st Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050120 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 2nd Input Object to be mapped Range Unit Default 60050220 hex Size 4 bytes U32 Sub index3 3rd Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050320 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index4 4th Input Object to be mapped Range Unit Default 60050420 hex Size 4 bytes U32 Sub index5 5th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050520 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index6 6th Input Object to be mapped Range Unit Default 60050620 hex Size
136. measurement value Data 7 measurement value Er Note The output format number of digits data separator etc can be changed if necessary Refer to Output Data Settings Processing Item Registration p 259 Example Integer digits 5 digits decimal places 3 digits negative numbers field separator comma record separator delimiter Mekas sii F BRL pR LebberMeH L J L J L j L J Data 0 measurement value Data 1 measurement value Data 2 measurement value Data 7 measurement value Field separator Record separator Note e Field separators are not output if there is no following data e Lower decimal digits are rounded up before the data is output The range of values that can be output is as follows 999999999 9999 lt Measurement value lt 999999999 9999 When measurement value lt 999999999 9999 999999999 9999 is output When measurement value gt 999999999 9999 999999999 9999 is output When JG Judgement is set the next values are output OK 1 NG 1 Note After the measurement is completed data output will not stop until all of the data is output Data output will not be interrupted 274 Non procedure Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Outputting Binary Data Set the output format as Binary in Output form of the Data Output processing item
137. model and detection point 111 To reregister update everything Response Sensor Controller to PLC First word in Command Bit heccetion Response Area code 12to15 8to11 4to7 0 to 3 2 4010 0100 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Scroll The image display window whose number is specified is moved the specified distance in parallel The setting range for the movement distance is not restricted Also because the scale for movement is independent of the display zoom ratio the movement is not affected by change in the zoom ratio Command PLC to Sensor Controller ssolpueddy po First word in Command Bit ae Description Command Area code 12to15 8to11 4to7 Oto3 2 5010 0101 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 4 0000 0000 0000 0000 Display image window number 5 0000 0000 0000 0000 6 z 0000 0000 0000 0000 X movement distance camera coordinate 7 0000 0000 0000 0000 system 8 7 0000 0000 0000 0000 Y movement distance camera coordinate 9 0000 0000 0000 0000 system Response Sensor Controller to PLC First wordin Command Bit meee
138. operation state When processing is not performed normally Rer ssolpueddy po lt Parameters explanation gt 0 OFF Logging operation state 1 ON Example The following sample command returns an enabled logging operation state Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 444 Sets logged operation state Sets the logged operation state This command allows configuring the logging operation state in the same manner as for the Start End Logging Operation buttons on the Main screen lt Command format gt O PIE LJOJGICIO NID ekl Logging operation state 1 digit or ol 7 fs LIC Logging operation state 1 digit lt Response format gt When processing is performed normally O KISe When processing is not performed normally EIR cr Example The following sample command enables the logging operation state lt Command gt O L IC 1er lt Response gt O KFFe Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 OUTPUTTRANSSTATE or OTS Gets output state to external device Gets the output state to an external device Enabled or Disabled lt Command format gt Oju TI PIU TITIRIAIN S S T A TIE lt Response format gt When processing is performed normally Output state r When processing is not performed normally Ra ssolpueddy po lt Parameters explan
139. order from the top It does not occur when execution of a measurement is completed e If handshaking is disabled the signal will always be OFF The signal turns OFF when the user PLC turns OFF the Result Set Request DSA signal Flow Command This signal tells when exe cution of a command that was executed during exe The signal turns ON when execution of a com mand that was executed during execution of PLC The signal turns OFF when the Flow Com AFLG Completion Bit cution of PLC Link flow Link flow control has mand Busy XEXE signal control has been com been completed i e turns OFF pleted when Flow Command Busy turns OFF This signal tells when a The signal is ON when a The signal turns OFF command that was input command that was input Flow Command i when the Flow Com XBUSY during execution of PLC during execution of PLC Busy Bit mand Busy Bit XEXE Link flow control is being Link flow control is being _ signal turns OFF executed executed This signal tells Wwh ninput The signal is ON when a The signal is OFF when a Flow Command of a colnimana canpa command can be input command cannot be input XWAIT acknowledged during exe P P Output Item Wait Bit S cution of PLC Link flow control during execution of PLC Link flow control during execution of PLC Link flow control Measurement Results That You Can Output with the Data Output Processin
140. p 172 This function is enabled when you are performing data output from more than one Data Output Unit Controlling Data Out put with Handshaking Handshaking lets you control data output by using the GATE signal turning ON as a trigger for the data output timing and by turning ON the DSA signal to read the output data Each time that data is output from the second output on read the output data and move it to a different part of I O mem ory in the PLC Reference Data Output Control with Handshaking p 27 You can compare the received number of output data and the number of measurements for continuous measurements to check if all of the measurement results have been received Use the following method to check the number of measurements that was actually executed Application Example Set a calculation to count the number of measurements that are executed in the measurement flow If you set something like DO 1 each time a measurement is executed each time the measurement flow is executed 1 will be added to DO so the present value of DO will give you the actual number of measurements PLC Link Troubleshooting Cannot Input to the Sensor Controller RS 232C 422 Only Problem No response is received _ There is a problem with the wiring after sending communica tions commands Cause Action Check the wiring Check the cable connec tions Pereis Aproblem WIIN ME RS7232C Set Make sure that the
141. p 97 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Level Event code Event name Meaning Assumed cause Reference Maj Prt Min Obs Infor 781A0000 hex Scene data was edited when there was little available space on the RAM disk and the operation mode was Anarroroccuired whigs oO ne High speed Setting Data transferring the scene Mode N Reference Transfer Error The data transfer button gt p 98 data was clicked when there was little available space on the RAM disk and the operation mode was Non stop Adjustment Mode Data measurements are being performed on a The data output buffer period that is shorter than 781B0000 hex Apuk Paner for measurement data the time that is required y Perteno Error EtherCAT p 98 is full for data output handshake controls in the program e There is a mistake in the 88080000 hex PLC Link Com A PLC Link cannot be A BE need 2 N Reference munications Error established 9s gt p 99 e The Ethernet or RS 232C cable is damaged 1 Major Fault Level These errors prevent control operations for the entire Controller If a major fault level error is detected user program execution is stopped immediately and the loads for all slaves including remote I O are turned OFF You cannot reset major fault level errors from the user program the Sysma
142. p gt p 469 specified processing units VERGET None Gets system version information Reference p p 475 Commands to Write Data Command Abbreviation Function Reference DATALOGCOND DLC Sets the data logging conditions Reference p gt p 396 DATALOG FOLDER DLF Sets the data logging folder name Reference p gt p 398 DATE None Sets the date time Reference p p 401 DIOFFSET DIO Sets the DI terminal offset data Reference p gt p 404 IMAGECAPTURE FOLDER ICF Sets the screen capture folder name Reference p gt p 411 IMAGELOG FOLDER ILF Sets the image logging folder name Reference p p 417 IMAGELOG HEADER ILH Sets the image logging prefix Reference p p 419 SYSDATA None Changes settings related to image logging Reference p p 462 UNITDATA UD Sets the parameters of specified processing units Reference p gt p 469 File Load Commands Command Abbreviation Function Reference BKDLOAD None Loads System Scene group 0 data Reference p gt p 392 SCNLOAD None Loads the scene data Reference p gt p 458 SGRLOAD None Loads the scene group data Reference p gt p 460 SYSLOAD None Loads system data Reference p gt p 466 272 Non procedure Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 File Save Commands Command Abbreviation F
143. parallel communications BUSY signal This signal is linked to the Output Unit processing items in the measurement flow It is not associated with the BUSY signal It is not related to the parallel interface OR signal Data is not output when there is no handshaking for the PLC Link protocol This signal is always OFF during display of a through image The OR signal is output only when the Output option is selected in the Adjustment Window Control Methods Using an External Device Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Response Method Parallel Commands are input to the Sensor Controller by turning the DI signals DIO through DI7 ON and OFF There is no direct response to these commands Confirm whether a command was received by checking the BUSY signal The command code is input with signals DIO through DI6 and the command is executed by turning ON DI7 DI7 DI6 DI5 D4 DIS DI2 Dit DIO M IAJBAQ Execution Command Command information PLC Link EtherNet IP or EtherCAT Command response control signals can be exchanged by storing control commands from the PLC to the Sensor Controller and responses from the Sensor Controller to the PLC in the I O memory of the PLC This enables you to send single measurement and scene switch requests to the Sensor Controller without any sequence control with communications commands from the PLC Memory Areas Used by the Command Response Control Method
144. performed for the default settings of the specified Communications Module Set the communications settings according to the PLC or other external device IMPORTANT If you will use the multi line random trigger mode for EtherCAT communications for multiple lines use the following procedure to set the Communications Module 1 In the Communications Module settings for line 0 set the Fieldbus Box to EtherCAT save the setting to the Vision Sensor and then restart the system 2 After the system has been restarted set the Fieldbus Box to EtherCAT in the Communications Module settings for line 1 save the setting to the Vision Sensor and then restart the system Repeat this step for the rest of the lines Note You can save the Communications Module settings to a file Use the System data or System Scene group 0 data option for saving settings to a file Refere to gt Saving Settings Data to the Controller RAM Disk or an External Memory Device in the Vision System FH FZ5 SeriesUser s Manual Cat No Z340 Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 s d eu19 x3 UM Bujeolunuiwo9 pue Buosuuog JO spoule N Communications Specifications Settings You must set the data output size output handshaking and output controls for EtherCAT communications IMPORTANT e Use the same communications specifications settings for the Sensor C
145. ping command uses the ICMP protocol to send a response request to a device connected through an Ethernet network and determines the time required to respond to that request If you properly receive a response from the destination device the network connection and network settings are correctly set 264 Non procedure Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Connect the Sensor Controller and computer with an Ethernet cable Set the left segments of IP address of the computer to the same values as the Controller and set only the right segment to a different value IP Address Setting Example Device Setting example Sensor Controller 10 5 5 100 default Computer 10 5 5 101 2 Open the Windows command prompt on the computer and execute the ping command At the gt prompt type ping followed by a space and the IP address of the Controller and then press Enter Example C gt ping 10 5 5 100 3 After a few seconds if you see Reply from followed by the IP address of the Controller e g 10 5 5 100 you will know that the Controller is connected to the Ethernet network Example Reply from 10 5 5 100 byte 32 time lt ims TTL 128 If Anything Other than AgReply fromAh Is Displayed This means that the Controller is not connected to the network for some reason Check the following e Are the left three segments of the IP addresses of
146. protocol to use to communicate between the Sensor Controller and external device and the connected communications interface as shown in the following table Communications Communications 3 Communications Module protocol interface Parallel Parallel Standard Parallel I O Serial Ethernet Ethernet PLC Link SYSMAC CS CJ CP One PLC Link MELSEC QnU Q QnAS PLC Link PLC Link JEPMC MP Serial RS 232C 422 RS 232C 422 PLC Link SYSMAC CS CJ CP One PLC Link MELSEC QnU Q QnAS Fieldbus EtherNet IP EtherCAT EtherCAT EtherCAT Serial Ethernet Normal UDP Ethernet Normal TCP Normal TCP Client Normal UDP Fxxx series method Serial RS 232C 422 RS 232C 422 Normal Normal Fxxx series method EtherNet IP EtherNet IP Non procedure 31 Vision System FH FZ5 Series User s Manual Setting Procedures for Communications for Communications Settings Z342 32 Differences in Specifications Based on the Communications Protocol List of Supported Signals by Communications Protocol Some of the control signals and output signals that can be used depend on the communications protocol as shown below The control signals and status signals cannot be used for control in non procedure communications OK Signal can be used Signal cannot be used Communications protocol
147. s n d eu19 x3 UM BuyeolunuiWwoD pue Buosuuog JO spoule 211 Settings in the Sensor Controller Device Parameter Settings 1 Right click the Sensor Controller in the network on the Network Configurator and select Parameter Edit 2 The Edit Device Parameters Dialog Box will be displayed Make the required settings 212 Edit Device Parameters Parameters Parameter Name 0001 Input Size 0002 Output Size 0003 RPI rer ee npr Expand All Collapse All OK Feb Parameter name 001 Input Size Value The total size of Response Area and Output Area Setting range 48 002 Output Size 2 The data size of Command Area 20 003 RPI The requested packet interval 10000 1 Althrough the data size can be set as high as 502 bytes with the current version use the default setting of 48 bytes 2 Although the data size can be set as high as 502 bytes with the current version use the default setting of 20 bytes 3 The packet interval RPI is set in the connection settings between the PLC and the Sensor No setting is required here Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 Connection Settings Parameter Setting Input tag set PLC_tag_set_name 48Byte Originator device PLC Connection type Any default multi cast connection Output tag set PLC_tag_set_name 20Byte
148. s Manual Communicating with PLC Link for Communications Settings Z342 Operation to Start Continuous Measurements eo N OG A QO Na The Start Continuous Measurements command code is set from the PLC user The Command Request EXE signal is then turned ON A request is sent to the Vision Sensor The Sensor Controller begins preparing for continuous measurement and turns ON the BUSY signal when the request is received The Sensor Controller sets the command code and response code when preparations for continuous measurement have been completed The Command Completion FLG signal is then turned ON The PLC user turns OFF the Command Request EXE signal when the Command Completion FLG signal turns ON When the Sensor Controller detects that the Command Request EXE signal has turned OFF it starts continuous measurements The Command Completion FLG signal is then turned OFF automatically 1 A timeout error occurs and the Command Completion FLG signal and BUSY signal are forced OFF if the Command Request EXE signal is not turned OFF from the PLC user within the time set in the PLC Link settings Retry interval 0 to 999999 ms for Ethernet PLC Link or Timeout 1 to 120 s for RS 232C 422 PLC Link Operation to End Continuous Measurements 9 10 The Stop Continuous Measurements command code is set from the PLC user The Command Request EXE signal is then turned ON A request is sent to the Sensor Co
149. setting 2 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Non procedure Communications s n d eUI9 Xy UM Bugeorunwwop pue Buosuuog JO spoule N 253 254 Setting item Set value Factory default Description Address setting Set the IP address of the top Ethernet port on the Sensor Con troller e Obtain an IP address automatically Use the following IP address Set the IP address of the Sensor Controller When Obtain an IP address automatically is selected the IP address of the Sensor Controller will be automatically obtained When Use the following IP address is selected set the IP address subnet mask and the default gateway address IP address a b c d a 1 to 223 b 0 to 255 c 0 to 255 d 2 to 254 10 5 5 100 Input the IP address of the Sensor Controller Subnet mask 0 0 0 0 to 255 255 255 255 255 255 255 0 Input the subnet mask address Default gateway a b c d a 1 to 223 b 0 to 255 c 0 to 255 d 0 to 255 10 5 5 110 Input the default gateway address DNS server a b c d a 1 to 223 b 0 to 255 c 0 to 255 d 0 to 255 10 5 5 1 Input the DNS server address Non procedure Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Set value Seting item Factory default Description Address setting 2 for an FH series Sensor Cont
150. settings are correct communications com mands but communica tions were working tings Responses are no longer You are attempting to send commands while Send commands only when the BUSY signal received after sending the BUSY signal is still ON is OFF A cable has been disconnected Check the cable connections A connecter has been disconnected Check the connector connections previously No Data Is Output from the Sensor Controller Problem Cause Action pend shabigi lesb ied ThE GAIE ional S Enable handshaking for the output control in not output when there is no handshaking for NE The GATE signal does not ine PLC Link protocol the communications settings turn ON f The Des signals not ON NENANA u GN the DAs PLO ing is enabled Vision System FH FZ5 Series User s Manual Communicating with PLC Link for Communications Settings Z342 s d eu19 x3 UM Bugeorunwwop pue Buosuuog 104 spoule 195 Problem Cause Action Ethernet The output IP address is incorrect Set the output IP address correctly There is a problem with the wiring or a cable Check the wiring has been disconnected Check the cable connections There is absolutely A connecter has been disconnected Check the connector connections no data out RS 232C A 422 You have not added any Data Output pro You have not added any Data Output pro pui cessing items in the measurement flow
151. state init state R Updated after the power supply is reset Read only e Size The object size is given in bytes e Access Indicates whether the object is read only or read and write RO Read only RW Read and write PDO map Indicates the PDO mapping possibility Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 s d eu19 x3 UM Bugeorunwwop pue Huosuuog JO spoule N 104 Communication Objects 1000 hex Device Type Unit Default 00000000 hex Attribute Range Size 4 bytes U32 Access RO PDO map Not possible e The FH series Vision Sensors do not have a device profile 1001 hex Error Register Range Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible e Indicates the error type that occurs in a Slave Unit Bits Name Bits Name 0 Generic error 4 Communications error 1 Current error 5 Device profile specific error 2 Voltage error 6 Reserved 3 Temperature error 7 Manufacturer specific error 1008 hex Manufacturer Device Name Range Unit Default Differ by Slave Unit types Attribute Size 20 bytes VS Access RO e Indicates the Slave Unit model number 1009 hex Manufacturer Hardware Version PDO map Not possible Range Unit Default Differ
152. table No 164 judgement comparison character string of barcodes and external reference table No 172 judgement comparison character string of 2D Code cannot be used Command PLC to Sensor Controller First word in Command Bit ee Description Command Area code 142t015 8to11 4to7 0to3 2 1000 0001 0000 0000 0000 Command code 3 0050 0000 0000 0101 0000 4 0000 0000 0000 0000 0000 Unit No gt 5 0000 0000 0000 0000 0000 5 ge 6 0000 0000 0000 0000 0000 g Data number in the External Reference Tables 2 7 0000 0000 0000 0000 0000 8 on 8 0000 0000 0000 0000 0000 Data to be set 9 0000 0000 0000 0000 0000 Value multiplied by 1000 Response Sensor Controller to PLC First word in Command Bit oar Description Response Area code 12to15 8to11 4to7 0 to 3 3 0050 0000 0000 0101 0000 Response target command codes 4 0000 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 375 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 376 Setting Date and Time Sets the date and time of the internal calendar timer in the Sensor Controller Command PLC to Sensor Controller First word in Command Bit ee Description Command Area code 42t0 15 8to11
153. the Adjustment Window Select the Output option in the Adjust ment Window The target output device for the Data Output Unit is an Ethernet device Set the output settings for the Data Output Unit to RS 232C 422 Data is sometimes output but some times not RS 232C 422 Output is unstable A cable has been disconnected or there is a connection problem Check the cable connections The measurement commands are not being received Check to confirm that an OK response is being returned after sending a mea surement command There is no terminating resistance Output stability may be improved by adding terminating resistance when using RS 422 communications Slow Operation Problem Cause Action Response and data output is slow The baud rate is too low for the amount of data being transferred Increase the baud rate for communica tions or use a different communications method Non procedure Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Parallel Communications Communications Processing Flow This section describes how to set communications specifications and the I O format required when communicating with external devices through a parallel interface I O Signals and Data for Communicating with External Devices This section describes the basic connections and signal flow with external devices
154. the computer and the Controller the same e Is the Ethernet cable connected 4 Use the ping command to also check the communications status of the PLC After you have confirmed the communications status as described above send an actual measurement command to the Controller and check to confirm that Vision Sensor communications are operating correctly s d eu19 x3 UM Buneoiunuiwo9 pue Huosuuog JO spoule 265 Vision System FH FZ5 Series User s Manual Non procedure Communications for Communications Settings Z342 266 RS 232C 422 Communications Before Performing a Communications Test This example assumes that Serial RS 232C 422 Normal or Normal Fxxx series method is selected as the Communications Module Stop the program on the PLC when you check the communications settings Checking the Communications Settings Use the following procedure to check if the communications settings are correct 1 On the Main Window select Tool System Settings From the tree view on the left select System Settings and then select Communication RS 232C 422 Normal or RS 232C 422 Normal Fxxx series method Setting Confirmation 2 Click the Confirmation tab Reception Confirmation 3 Send an ASCII character string to the Sensor Controller from the PLC or other external device 4 The command received from the PLC or other external device will be displayed here following Receive __
155. the recov Error attributes Level influence on con Recovery 2 Log category error is saved 4 ery method 3 trol in Tells what will Effects User program happen to execu Operation Provides special information on the operation that results tion of the user from the error program 4 indicators This is the status of the indicators for the EtherCAT port that is built into the NJ series Controller Indicator status is given only for errors in the EtherCAT Master Function Module and the EtherNet IP Function Module Variable Data type Name System defined variables Lists the variable names data types and meanings for system defined variables that provide direct error notifica tion that are directly affected by the error or that contain settings that cause the error Cause and Assumed cause Correction Prevention correction Lists the possible causes corrections and preventive measures for the error Attached Fae sait a 3 This is the attached information that is displayed by the Sysmac Studio or an NS series PT information asa Provides precautions restrictions and supplemental information Remarks 4 One of the following Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Major fault Major fault level Partial fault Partial fault level Minor fault Minor fault level Observation Information 2 One of the following Automatic recovery Normal status is restored automatically when th
156. the signal to the PLC when the FH Trigger Input STEP signal turning ON OFF to ON A STEP sig nal filter filter initial set value 100 us is set in STEP input make a measurement FZ5 turns ON the BUSY signal DSA Used only for handshaking output control Data Output Request signal Use this signal from the PLC during handshaking to request from the FH FZ5 the external output of the data output results from the execution of the measure ment flow If this signal is ON when an Output Unit Parallel Data Output Unit in the mea surement flow is executed the Vision Sensor will out put the data from the pro cessing item Turn ON the signal from the PLC to externally output the data that results from measure ment Turn the DSA signal ON when the STEP signal is turned ON If more than one output item is set in a single Out put Unit or if more than one Output Unit has been set in the measurement flow turn the DSA signal ON again when the GATE signal turns OFF for the first data output Reference gt Time Charts p 310 Turn OFF the signal from the PLC when the FH FZ5 turns ON the Result Completion GATE sig nal DIO to DI7 Command Input signals Inputs commands from the external device ENC Phase A Phase B or Phase Z Encoder Input Phase A Phase B or Phase Z This is the encoder input signal This signal is used only when Use Encoder tr
157. the structures of the communications areas 1 Defining a Data Type for Signal Access First define a BOOL array data type to access the control signals and status signals Here a data type called U_EIPFlag is defined Name of data type U_EIPFlag Type of derivative data type Union Name of data type Data type U_EIPFlag UNION F ARRAY 0 31JOF BOOL es Specifies an array of BOOL data from 0 to 31 W DWORD gt 32 bit bit string data 2 Defining Data Types for Communications Area Access Data types are defined to access the communications areas with one data type for the Command Area and another data type for the Response Area and Output Area Here data types called S_ElPOutput and S_EI PInput are defined e Data Type to Access the Command Area Name of data type S_ElPOutput Type of derivative data type Structure Name of data type Data type S_ElPOutput STRUCT ControlFlag U_EIPFlag 42 ttt The data type that was defined above 1 CommandCode DWORD si 32 bit bit string data CommandParam1 UDINT tts 32 bit integer data CommandParam2 UDINT ttt 32 bit integer data CommandParam3 DINT tts 32 bit integer data e Assignment Example for Variable Data Type That Matches the Command Area Bit WI Iti i d e slr ela 4a a 2 Control 0 ERR TRIG E
158. through images are displayed however synchronization output cannot be used Reference gt Output Control Synchronization Control p 312 Output period ms 2 0 to 5000 0 ms 10 0 ms Valid only when Output control is set to None Set the cycle by which measurement results are output Set the cycle so that the interval is equal to or longer than Gate ON delay Output time and shorter than measurement interval If the cycle is longer than the measurement interval output timing will be delayed while mea surement is being repeated Gate ON delay ms 1 0 to 1000 0 ms 1 0 ms Set the time from when results are output to the parallel interface to when the GATE signal turns ON Waiting time until data output is sta ble Set this so that it is longer than the external device delay time Output time ms 1 0 to 1000 0 ms 5 0 ms This setting is enabled only when the Output control parameter is set to None or Synchronized output Set the GATE signal ON time Set the time required for external devices to acquire measurement results Timeout s 0 5 to 120 0 s 10 0 s e If handshaking is used for output control a timeout error will occur if there is no response from the external device within the set timeout interval e When the DSA signal turns ON after measurements are completed e When the DSA signal turns OFF after the GATE signal turns ON e When the DSA signal turns ON after the G
159. when a command that was input during execution of the fieldbus flow control is being executed This signal turns OFF when the Flow Command Busy signal turns OFF Flow Command Wait Flow Command Wait This signal is ON when a command can be input during execution of the fieldbus flow control This signal is OFF when a command cannot be input during execution of the fieldbus flow control Error Status Error Signal EtherCAT Connections FH Only This signal turns ON then the Sensor Controller detects an error This signal is OFF while the Sensor Controller is normal Vision System FH FZ5 Series User s Manual for Communications Settings Z342 I O port name 8ignal name Function Status Flag Status Signal This signal turns ON when the Sensor Controller has com pleted data output No Handshaking Result l Data Output Completion This signal turns OFF after the output time that is set in the Notification EtherCAT settings has elapsed e Using Handshaking This signal automatically turns OFF when the user Control ler turns OFF the Result Set Request signal Command Code Echo Back Command echo code This I O port returns the command code that was executed Response Code Response code This I O port contains the response code of the executed command Response Data Response data This I O port contains the response data of the executed command
160. 0 0000 0000 0000 Up to 256 characters Vision System FH FZ5 Series User s Manual for Communications Settings Z342 387 Command Control 388 Response Sensor Controller to PLC First word in Command Bit E Response Area code 12to15 8to11 4to7 0 to 3 2 4010 0100 0000 0001 0000 Gommancieade 3 0070 0000 0000 0111 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Saving Last Logging Image Saves the last logging image Command PLC to Sensor Controller First word in Command Bit Bescipaon Command Area code 12to15 8to11 4to7 Oto3 2 4020 0100 0000 0010 0000 Command code 3 0070 0000 0000 0111 0000 ta 0090 0000 0090 0000 Absolute path of save destination and save file 5 0000 0000 0000 0000 name T 0000 0000 0000 0000 Up to 256 characters Response Sensor Controller to PLC First word in Command Bit Desing Response Area code 12to15 8to11 4to7 0to3 2 4020 0100 0000 0010 0000 Caraniandande 3 0070 0000 0000 0111 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings
161. 0 0000 Output state 0 Prohibited 5 0000 0000 0000 0000 1 Permitted Vision System FH FZ5 Series User s Manual for Communications Settings Z342 361 Command Control Response Sensor Controller to PLC First word in Command Bit ee Description Response Area code 12to15 8to11 4to7 0to3 2 7020 0111 0000 0010 0000 Gommand code 3 0030 0000 0000 0011 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 g 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Terminal State Setting Sets the state of the specified parallel I O terminal Active or Inactive Command PLC to Sensor Controller First word in Command Bit Command Area code 12to15 8to11 4to7 0to3 Description 2 8010 1000 0000 0001 0000 3 0030 0000 0000 0011 0000 Command code 4 0000 0000 0000 0000 0000 0000 0000 0000 Terminal types 4 ERR 6 OR 7 GATE 9 DO 10 ACK 6 0000 0000 0000 0000 0000 0000 0000 0000 Terminal number When the Terminal Type Is ERR FH 0 to 7 ERRO to ERR7 FZ5 0 When the Terminal Type Is OR FH 0 to 7 ORO to OR7 FZ5 0 ORO 1 OR1 When the Terminal Type Is GATE 0 GATEO 1 GATE1 When the Terminal Type Is READY FZ5 Only 0 READYO 1 READY1 When the Terminal Type Is DO 0 to 15 DOO to DO15 When th
162. 0 0000 Terminal state 1st bit DOO 5 0000 0000 0000 0000 16th bit DO15 Response Sensor Controller to PLC First wordin Command Bit Ate Description Response Area code 12t0o15 8to11 4to7 0to3 2 8030 1000 0000 0011 0000 Command code 3 0030 0000 0000 0011 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 364 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Login Account Setting Switches the currently logged in account Command PLC to Sensor Controller First word in Command Bit te Description Command Area code 12to15 8to11 4to7 0to3 2 9000 1001 0000 0000 0000 Command code 3 0030 0000 0000 0011 0000 4 0000 0000 0000 0000 Settable Objects 0 Local 5 0000 foooo oooo 0000 aan 6 0000 0000 0000 0000 User name of user account 13 0000 0000 0000 0000 14 0000 0000 0000 0000 gt To Password g 21 0000 0000 0000 0000 2 p Response Sensor Controller to PLC Firstwordin Command Bit NE Description Response Area code 12 to 15 8 to 11 4to7 0to3 2 9000 1001 0000 0000 0000 Commandic de 3 0030 0000 0000 0011 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 3 0000 0000 0000 0000 OK 0 00
163. 0 0100 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 7 0000 0000 0000 0000 9 i 0000 0000 0000 0000 Version information character string 0000 0000 0000 0000 0000 0000 0000 0000 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Acquiring Settings Related to Image Logging Acquires settings related to image logging Command PLC to Sensor Controller First word in Command Bit Tie Description Command Area code 12t0o15 8to11 4to7 0to3 2 4000 0100 0000 0000 0000 Command code 3 0040 0000 0000 0100 0000 4 0000 0000 0000 0000 0000 Identifier 0 Identifier 1 45 0000 0000 0000 0000 0000 _ identifier 0 Logging Identifier 1 Identifier of settings data to set and 6 0000 0000 0000 0000 0000 set value 7 0000 0000 0000 0000 0000 Separate the setting name and set value with 00 NULL 0000 0000 0000 0000 0000 e ImageLogging 0 do not save 1 save only NG 2 save all e imageLoggingDirectory image logging folder z name folder_name single byte g alphanumeric characters 2 e imageLoggingHeader 8 0000 0000 0000 0000 0000 Prefix_for_image_logging_file_name single byte alphanumeric characters e DataLogging 0 do not save 1 save only NG 2 save all e da
164. 00 0000 NG Not 0 0000 0000 Operation Log State Setting Sets the logged operation state This command allows configuring the logging operation state in the same manner as for the Start End Logging Operation buttons on the Main screen Command PLC to Sensor Controller First wordin Command Bit ae Description Command Area code 412t0o15 8to11 4to7 Oto3 2 A000 1010 0000 0000 0000 Command code 3 0030 0000 0000 0011 0000 4 0000 0000 0000 0000 Logging operation state 0 OFF 5 0000 0000 0000 0000 1 ON Vision System FH FZ5 Series User s Manual for Communications Settings Z342 365 Command Control Response Sensor Controller to PLC First word in Command Bit ane Description Response Area code 12to15 8to11 4to7 0to3 2 A000 1010 0000 0000 0000 Command code 3 0030 0000 0000 0011 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Acquiring Unit Data Acquires the specified processing unit data IMPORTANT e In processing unit data setting acquisition you can get only numeric data You cannot get character strings In unit data setting acquisition external reference table No 139 verification string of Character Inspection external reference table No 164 judgement comparison character strin
165. 000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 User Account Deletion Deletes the specified user account If the group ID the account of the user currently logging in belongs to is not zero 0 a command error occurs If the specified user account does not exist a command acknowledge returns Command PLC to Sensor Controller soolpueddy poo First wordin Command Bit oe Description Command Area code 412to15 8to11 4to7 Oto3 2 A020 1010 0000 0010 0000 Command code 3 0010 0000 0000 0001 0000 4 0000 0000 0000 0000 0000 0000 0000 0000 User name of user account to delete 19 0000 0000 0000 0000 20 0000 0000 0000 0000 0000 0000 0000 0000 User name of user account UGO that has the right to delete user accounts 35 0000 0000 0000 0000 36 0000 0000 0000 0000 0000 0000 0000 0000 Password UGO 52 0000 0000 0000 0000 Response Sensor Controller to PLC First word in Command Bit ae Description Response Area code 12to15 8to11 4to7 0to3 2 A020 1010 0000 0010 0000 Command code 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 343 Command Control 344 Return to a F
166. 0000 0000 0001 0000 Response Sensor Controller to PLC First word in Command Bit ate Description Response Area code 12t0o15 8to11 4to7 0to3 2 3010 0011 0000 0001 0000 Command cede 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 2 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 335 Command Control Model Re registration Reregisters a model using the current model Command PLC to Sensor Controller First word in Command Bit Denon Command Area code 12to15 8to11 4to7 O0to3 2 4010 0100 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 4 0000 0000 0000 0000 Unit No 5 0000 0000 0000 0000 6 0000 0000 0000 0000 Model No 7 0000 0000 0000 0000 8 0000 0000 0000 0000 Specifies the target data When the set value is expressed in binary if bit 1 of the first word in the Command Area 8is 1 the model is reregistered When the setting value is expressed in binary if the 2nd bit is 1 the reference position is updated When the setting value is expressed in binary if 9 7 0000 0000 0000 0000 the 3rd bit is 1 the detection position is updated Example 011 To reregister update the model and reference position 101 To reregister update the
167. 0301 60000401 60000501 60000601 60000701 Range Hnit 60000801 60000901 60000A01 60000B01 60001001 60001101 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions e 6000h Vision status Flag is mapped in 1 bytes 1A01 hex 2nd transmit PDO Mapping Sub index0 Number of objects Range Unit Default 03 hex Size 1 byte U8 Access RO PDO map Not possible Sub index1 1st Input Object to be mapped Range Unit Default 60010020 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 2nd Input Object to be mapped Range Unit Default 60020120 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index3 3rd Input Object to be mapped Range Unit Default 60030120 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions e 6001 hex Echoback Command e 6002 hex Response Code e 6003 hex Response Data 1A02 hex 3nd transmit PDO Mapping Sub index0 Number of objects Range Unit Default 01 hex Size 1 byte U8 Access RO PDO map Not possible Sub index1 1st Input Object to be mapped Range Unit Default 60040020 hex Size 4 bytes U32 Access RO PDO
168. 1 and DILINEO DI7 DILINE1 DILINEO Execution Command Command information Specifies the target line number for the command Five to Eight Lines Input format DI7 to DIO and DILINE2 to DILINEO DI7 DILINE2 DILINE1 DILINEO Execution Command Command information Specifies the target line number for the command FZ5 DI7 DI4 to T Execution Command Line number Command information for Communications Settings Z342 s d eu19 x3 UM BuneoiunuiwoyD pue Huosuuog JO spoule 307 Vision System FH FZ5 Series User s Manual Parallel Communications Command Input Formats 308 One Line Input format DI7 to DIO Data Description Command Input example Execute DI7 gommand information D14 to DI6 DI5 DIO Performs measurement The Controller does not Continuous a Input example continuously while com 1 00 see this signal so a set Measurement Maer f 10000000 mand is being input ting of either O or 1 makes no difference Switching to Salack Scene Changes the measure 1 01 Input Scene No in Scene 2 ment scene binary format 0 to 31 Input example 10100010 Changing to Set Scene Changes the measure Input ieee ereuP Scene Group 2 1 11 No in binary format 0 Group ment scene groups to 31 Input example 11100010 Clears measurement val Clear Measure ues l 4 40 00000 Input example ment Values The OR signal and DO sig 11000000 nal are not cleared Clears the
169. 1 0000 0000 coordinate X Vision System FH FZ5 Series User s Manual for Communications Settings Z342 325 Command Control Command List This section lists the commands that you can use with the FH or FZ5 and the communications protocols for which each command is supported Note In addition to the standard communications commands that are given here you can also create custom commands and define the processing for them Creating custom commands is useful to expand the function of a standard command to create more advanced commands and to otherwise combine multiple commands into one command to simplify controlling operation from a PLC or other external device Refer to gt Custom Communications Commands in the FH FZ5 Series Image Processing System User s Manual Cat No Z340 Execution Commands OK Applicable command RST Command with restricted execution NA Non applicable command Function Parallel PLC tink FtherNet Ethercar Non IP procedure Measurement is performed one time NAC OK NAC NAC OK Starts continuous measurement OK OK OK OK OK Stops continuous measurement NA OK OK OK OK Executes measurement tests on specified units NA OK OK OK OK Clears measurement values OK OK OK OK OK Clears the data output buffer NA NA NA OK NA Saves in the Sensor Controller NA OK OK OK OK Re registers the mode
170. 19 x3 UM Bugeoriunwwop pue Buosuuog JO spoule 283 Vision System FH FZ5 Series User s Manual Parallel Communications for Communications Settings Z342 SHTOUT Signal Settings Output Signal Setting These functions are supported by the FH series Sensor Controllers only This setting sets the SHTOUT signal that is output when the Camera exposure is completed By detecting when the exposure is completed using the SHTOUT signal you can minimize the amount of time that the workpiece must be kept still for imaging and you can move the Camera or workpiece immediately after the exposure is completed 1 On the Main Window select System Settings Camera Output Signal Setting from the Tool menu The output signal settings dialog box is displayed Common setting Output signal STGOUT x Line setting SHTOUT delay us o M SHTOUT width us 5000 i e a d gt SHTOUT polarity Positive C Negative 2 Set the SHTOUT signal for each line in the Line settings area er Setting value Factory Pare Setting item default Description Set the delay time until the SHTOUT signal turns SHTOUT delay us 0 to 1000 0 ON after exposure is completed in 10 us incre ments SHTOUT width us 40 to 10000 5000 Set the SHTOUT signal output time in 10 us incre ments Set the pulse polarity of the SHTOUT signal ia Positive The SHTOUT signal turns ON when expo e Positive SHTOUT po
171. 1W CIF01 S SYSMAC_One NSJ OK a 2 Mitsubishi Electric Interface Series Model name CPU name CPU Unit CPU Unit built in Ethernet Unit port QO3UDECPU QO04UDECPU QO6UDECPU Q10UDECPU SEEGER Q13UDECPU Q20UDECPU or T Q26UDECPU Universal QO3UDCPU Q04UDCPU aaae a e i vor QJ71C24N or Q26UDCPU QJ71C24N R2 QOOUJCPU QO0UCPU Q01UCPU QnyCRUY or QO2UCPU Of Basic models QnCPU QOOJCPU QO0CPU or Q01CPU OK High MELSEC Q erformance QCPU Q02CPU Q02HCPU Q06HCPU E Series P Q12HCPU or Q25HCPU models A1SJ71QC24N MELSEC QnAS ie Ls Q2ASCPU Q2ASCPU S1 a 1 or Series Q2ASHCPU or Q2ASHCPU S1 A1SJ71QC24N 1 R2 EtherNet IP Interface Series CPU Unit CPU Unit built in port Ethernet Unit SYSMAC NJ NJ501 or NJ301 OK CJ1W EIP21 SYSMAC_CJ2 CJ2M or CJ2H OK Built in port only CJ1W EIP21 CJ1H or CJ1G CJ1W EIP21 SYSMAC_CJ1 CJ1M OK Built in port only CJ1W EIP21 CS1H CS1D or SYSMAC_CS1 CS1G CS1W EIP21 EtherCAT Interface Series CPU Unit CPU Unit built in port Ethernet Unit NJ501 SYSMAC NJ NJ301 OK Vision System FH FZ5 Series User s Manual for Communications Settings Z342 35 Differences in Specifications Based on the Communications Protocol 38 Differences in Specifications Based on the Communications Protocol Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Methods for Connecting and Communicating with External Devices This section describes the communications specif
172. 32 Sub index5 5th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050520 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index6 6th Input Object to be mapped Range Unit Default 60050620 hex Size 4 bytes U32 Sub index7 7th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050720 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index8 8th Input Object to be mapped Range Unit Default 60050820 hex Size 4 bytes U32 Sub index9 9th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050920 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index10 10th Input Object to be mapped Range Unit Default 6 0050A20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index11 11th Input Object to be mapped Range Unit Default 60050B20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index12 12th Input Object to be mapped Range Unit Default 60050C20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index13 13th Input Object to be mapped Range Unit Default 60050D20 hex
173. 32C 422 eT Parallel RS 232C422 Normal Paralel Standard Parallel VO x Ethernet Normal UDP Fieldbus EtherNetiP E EtherNetaP E Other Remote Operation ON Date time setting Fan control setting 3 In the Communication module select Area select EtherNet IP in the Fieldbus box and then click Apply 4 Click the Data save button in the Toolbar Data save 5 Onthe Main Window select Function System restart Click OK in the System restart dialog box to restart the Sensor Controller 6 When the Sensor Controller has been restarted operation will be performed for the default settings of the specified Communications Module Set the IP address and other settings for the PLC or other external device IMPORTANT After you set the Communications Module always click Data save and then restart the Sensor Controller If the settings are not saved and the Sensor Controller is not restarted the new Communications Module settings will not be enabled Note You can save the Communications Module settings to a file Select Save to file from the Function menu and then select System data or System Scene group 0 data to save the settings data to a file Refer to Saving Settings Data to the Controller RAM Disk or an External Memory Device in the Vision System FH FZ5 Series User s Manual Cat No Z340 206 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual
174. 40 hex Control Signals to 7042 hex Command Parameter 8040 hex Image Processing Results Output Settings 6050 hex Status Signals to 6056 hex Image Processing Results Real Number Data 7050 hex Control Signals to 7052 hex Command Parameter 8050 hex Image Processing Results Output Settings 6060 hex Status Signals to 6066 hex Image Processing Results Real Number Data 7060 hex Control Signals to 7062 hex Command Parameter 8060 hex Image Processing Results Output Settings 6070 hex Status Signals to 6076 hex Image Processing Results Real Number Data 7070 hex Control Signals to 7072 hex Command Parameter 8070 hex Image Processing Results Output Settings for Communications Settings Z342 EtherCAT Connections FH Only s d eu19 x3 UM Bugeorunwwop pue Huosuuog JO spoule 146 FOOO hex Modular Device Profile Sub index0 Number of notice Range Unit Default 05 hex Size 1 byte U8 Access RO PDO map Not possible Sub index1 Index distance Range Unit Default 10 hex Size 2 bytes U16 Access RO PDO map Not possible Sub index2 Maximum number of modules Range Unit Default 08 hex Size 2 bytes U16 Sub index3 General configuration Access RO PDO map Not possible
175. 4567 O0xc2f6e979 s d eu19 x3 UM BuyeolunuiwoD pue Buosuuog JO spoule 217 Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 Testing Communications You can check whether the EtherNet IP communications settings are correct If communications cannot be performed even after set up the communications use the following procedure to check the settings and the communications status Before Performing a Communications Test This example assumes that Serial Ethernet Normal UDP is selected as the Communications Module Stop the program on the PLC when you check the communications settings Checking the Communications Settings Use the following procedure to check if the communications settings are correct Ta 1 On the Main Window select Tool System Settings In the tree view on the left select System Settings Communication Ethernet Normal xyz xyz depends on the Communications Module C Obtain an IP address automatically Use the following IP address IP address 10 5 Subnetmask 255 255 Default gateway 10 Address settine 2 2 Set the IP address of the Sensor Controller C Obtain an IP address automatically ea The aera Senos e nE i Address setting 10 5 5 100 Py Sheme Address setting 2 10 5 5 101 Default gateway 10 5 6 110 Use the following IP address IP address 10
176. 4to7 0to3 2 2000 0010 0000 0000 0000 Command code 3 0050 0000 0000 0101 0000 4 0000 0000 0000 0000 0000 Year data 1900 to 2100 5 0000 0000 0000 0000 0000 6 0000 0000 0000 0000 0000 Month data 1 to 12 7 0000 0000 0000 0000 0000 8 0000 0000 0000 0000 0000 Date data 1 to 31 9 0000 0000 0000 0000 0000 10 0000 0000 0000 0000 0000 Hour data 0 to 23 11 0000 0000 0000 0000 0000 12 0000 0000 0000 0000 0000 Minute data 0 to 59 13 0000 0000 0000 0000 0000 14 0000 0000 0000 0000 0000 Second data 0 to 59 15 0000 0000 0000 0000 0000 Response Sensor Controller to PLC First word in Command Bit eee Description Response Area code 12to15 8to11 4to7 0 to 3 2 2000 0010 0000 0000 0000 Command code 3 0050 0000 0000 0101 0000 Response target command codes 4 0000 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Changes Settings Related to Image Logging Changes settings related to image logging Command PLC to Sensor Controller First word in Command Bit oe Description Command Area code 12to15 8to11 4to7 0to3 2 4000 0100 0000 0000 0000 Command code 3 0050 0000 0000 0101 0000 4 0000 0000 0000 0000 0000 Identifier 0 Identifier 1 Set va
177. 5 Sub index of the mapped object Bits 16 to 31 Index of the mapped object 1600 hex 1st receive PDO Mapping Sub index0 Number of objects Range Unit Default 32 hex Size 1 byte U8 Access RO PDO map Not possible Sub index1 32 1st 32nd Output Object to be mapped R Unit Default 70000101 70000201 70000901 eer ae 70001001 70001101 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions e 7000 hex Vision Control Flag is mapped in 1 bytes Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 s d eu19 x3 UM Bugeorunwwop pue Huosuuog JO spoule 1601 hex 2nd receive PDO Mapping Sub index0 Number of objects Range Unit Default 05 hex Size 1 byte U8 Access RO PDO map Not possible Sub index1 1st Output Object to be mapped Range Unit Default 70010020 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 2nd Output Object to be mapped Range Unit Default 70020120 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index3 3rd Output Object to be mapped Range Unit Default 70020220 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index4 4th Output Object to
178. 5 Series User s Manual for Communications Settings Z342 Command Response Processing Timing Chart for Command Execution The commands for measurement execution or other processing that are stored in advance in the memory of the PLC are input and executed when you turn ON the Command Request signal The Command Completion signal turns ON when execution of the control command is completed Use this as the trigger to turn OFF the Command Request signal Sota ON T OO The user PLC tums OFF the OFF Command Request signal when the Command Completion signal turns ON 6 The Command Completion signal is forced OFF if the Command Request signal is not turned OFF within the set timeout time after the Command Completion signal turns ON ON Command lt ne oer Request signal OFF nnn Set timeout time Command Command ON Area parameters OFF ON 7s Sa h DE Command echo i OFF i 7 i The BUSY signal automatically turns OFF ON BUSY signal Control J ro when measurement processing is finished OFF command execution i wo a e R ON i oe Response code gt X lt OFF T ON Response data x lt i OFF i Command ON Completion signal OFF i The Command Completion signal automati cally turns OFF when the Command Request signal is turned OFF The Command Completion signal turns ON after the command echo response code and response data are set N ooo cede ncn cnn penn b
179. 504 for the registration procedure IMPORTANT For EtherCAT communications connect the FH series Vision Sensors to an NJ series CPU Unit with unit version 1 06 or later Note If you use EtherCAT only one FH series Vision System can be connected to an NJ series Controller For EtherCAT communications the I O ports in the following four areas in the Controller are used for communications The I O ports in the Sysmac Error Status Area are used only when an Nu series CPU Unit is connected as the master 1 I O ports in the You write the control commands to execute for the Vision Sensor to these I O Command Command Area ports response method 2 I O ports in the The Vision Sensor writes the results of executing the control commands that Response Area were written to the Command Area to these I O ports Data output after 3 I O ports in the The Vision Sensor writes the measurement parameters judgement results and measurements Data Output Area other measurement results to these I O ports after measurements are executed I O ports for Sysmac The Vision Sensor writes the error status to these I O ports Error status These I O ports function only if the Sysmac Studio and Vision Tool are used Error Status Area together 4 Sysmac Studio Standard Edition version 1 07 or higher is required Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings
180. 640 hex Size 4 bytes U32 Access RO Sub index23 23rd Input Object to be mapped Range Unit Default 60061740 hex Size 4 bytes U32 Sub index24 24th Input Object to be mapped Access RO Range Unit Default 60061840 hex Size 4 bytes U32 Access RO Sub index25 25th Input Object to be mapped Range Unit Default 60061940 hex Size 4 bytes U32 Sub index26 26th Input Object to be mapped Access RO Range Unit Default 60061A40 hex Size 4 bytes U32 Access RO Sub index27 27th Input Object to be mapped Range Unit Default 60061B40 hex Size 4 bytes U32 EtherCAT Connections FH Only Access RO Vision System FH FZ5 Series User s Manual for Communications Settings Z342 PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible Sub index28 28th Input Object to be mapped Range Unit Default 60061C40 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index29 29
181. 7 Gets system version information Reference p 367 Gets settings related to image logging Reference p 369 Gets the defined image logging folder name Reference p 370 Gets the defined data logging folder name Reference p 371 Gets the defined screen capture folder name Reference p 371 Gets the set image logging prefix Reference p 372 0040 4050 Gets the conditions that are set for data logging Reference p 373 0040 4060 Gets the DI terminal offset data that is set Reference p 374 Commands to Write Data First word in Command Area Function Reference 3 2 Sets the unit data Reference gt p 375 Sets the date time Reference p 376 Changes settings related to image logging Reference gt p 377 Sets the screen capture folder name Reference p 378 Sets the data logging folder name Reference p 378 Sets the screen capture folder name Reference p 379 Gets the image logging prefix Reference p 380 0050 4050 Sets the data logging conditions Reference p 380 0050 4060 Sets the DI terminal offset data Reference p 381 File Load Commands First word in Command Area 3 2 Function Loads the scene data Reference Reference gt p 382 Loads the scene group data Ref
182. 999999999 9999 to 999999999 9999 159 Lower limit 11 for judgement Set Get 999999999 9999 to 999999999 9999 160 Upper limit 12 for judgement Set Get 999999999 9999 to 999999999 9999 161 Lower limit 12 for judgement Set Get 999999999 9999 to 999999999 9999 162 Upper limit 13 for judgement Set Get 999999999 9999 to 999999999 9999 163 Lower limit 13 for judgement Set Get 999999999 9999 to 999999999 9999 164 Upper limit 14 for judgement Set Get 999999999 9999 to 999999999 9999 165 Lower limit 14 for judgement Set Get 999999999 9999 to 999999999 9999 166 Upper limit 15 for judgement Set Get 999999999 9999 to 999999999 9999 167 Lower limit 15 for judgement Set Get 999999999 9999 to 999999999 9999 Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Formats You can input commands to control the Sensor from an external device using the DIO to DI7 signals Input Format Commands are input in the following formats FH One Line Input format ae to ein DI7 Execution Command Command information Set 0 OFF or 1 ON for each DI signal Confirm commands and information and turn DI7 execute ON with an interval of at least 1 ms Multi line Random trigger Mode 2 lines Input format DI7 to DIO and DILINEO DI7 DILINEO Execution Command Command information Specifies the target line number for the command Three or Four Lines Input format DI7 to DIO DILINE
183. AMDisk C Data RAMDisk RAMDISK USBDisk E FA G HA USBDisk to USBDisk3 Example When saving to the IMG01 folder of the USB memory lt Command gt al s USBDisk IMGO1 k lt Response gt OlKFe Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 ssolpueddy po 392 BKDLOAD Reads system scene group 0 data lt Command format gt IBIKIDILJOJAID crl File name of system scene group data lt Response format gt When processing is performed normally ONKISe When processing is not performed normally IRIS lt Parameters explanation gt Specifies the name of the file to be read with a definite path e g USBDisk abc bkd E abc bkd Only files that are under the following systems and have a BKD extension can be read System scene group Save destination FH FZ5 11 series FZ5 L35_1 6_I_ series daa mename RAMDisk C Data RAMDisk RAMDISK USBDisk EA FA GA HA USBDisk to USBDisk3 IMPORTANT Do not turn off power to the Sensor Controller until there is a response Example When LABEL1 BKD in the IMG01 folder of the USB memory to which the drive name USBDisk2 is assigned is loaded to the Sensor Controller lt Command gt BIKIDIL JOJAID USBDisk2 IMGO1 LABEL1 BKD lt Response gt OlKFe Command Control Vision System FH FZ5 Series User s Manual for Co
184. ATE signal turns OFF e When using signals DIO to DI6 and DI7 to execute a command a timeout error will occur if the time from when the ACK signal turns ON until the DI7 signal turns ON exceeds the set timeout interval FH only Number of delay 1 to 15 1 This setting is enabled only when the Output control parameter is set to Synchronized output Set the number of times that the STEP signal turning ON will be ignored before measurement results of the STEP signal are output Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Setting value Setting item Factory default Operation After the measurement results are finalized if the judgement output ON condition is met the ON OR signal is turned ON for the one shot output time It is then turned OFF after the specified time has elapsed One shot OR signal OFF The judgement is output after measurement results are finalized and the ON OFF status of the OR signal is held until it is changed for the next measurement result Output When One shot Output Mode is selected this parameter sets the time that the OR signal is time ON Setting range 0 1 to 1000 0 ms IMPORTANT Set the OR one shot output time in the following range External device OR signal read period cycle time 1 0 ms lt OR one shot output time lt Measurement trigger interval measurement takt time 0 5 ms
185. BOOL Access RO PDO map Possible 2 E n Sub index16 Error Status Bit o Range True 1 or False 0 Unit Default Differ by the status when starting Size 1 bit BOOL Access RO PDO map Possible a O Sub index17 Result Notification Bit Co Range True 1 or False 0 Unit Default False 0 2 a Size 1 bit BOOL Access RO PDO map Possible O Sub index18 32 Control Reserve Bit18 32 3 Range True 1 or False 0 Unit Default False 0 5 O Size 1 bit BOOL Access RO PDO map Possible D amp gt m xX D 5 o O lt O D n The executed command code is stored Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 6002 hex Response Data Range Unit Default 00000000 hex Size 4 bytes U32 Access RO PDO map Possible e The response code is stored when the command is completed OK 00000000 hex NG FFFFFFFF hex 6003 hex Response Data Sub index0 Number of entries Range Unit Default 01 hex Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Response DataO Range Unit Default 00000000 hex Size 4 bytes INT32 Access RO PDO map Possible e The response data is stored the command is completed e g the scene number is stored when the command Get scene number 6004 hex Error Cod
186. Bit as Description Response Area code 12to15 8to11 4to7 O0to3 2 4000 0100 0000 0000 0000 Command code 3 0050 0000 0000 0101 0000 Response target command codes 4 0000 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 377 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 Image Logging Folder Name Setting Sets the image logging folder name Command PLC to Sensor Controller First word in Command Bit Denon Command Area code 12to15 8to11 4to7 0to3 2 4010 0100 0000 0001 0000 Command code 3 0050 0000 0000 0101 0000 4 i 0000 0000 0000 0000 Name of the image capture folder with the 5 0000 0000 0000 0000 absolute path 0000 0000 0000 0000 Up to 230 characters Response Sensor Controller to PLC First wordin Command Bit O Description Response Area code 12t0o15 8to11 4to7 0to3 2 4010 0100 0000 0001 0000 Command code 3 0050 0000 0000 0101 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Data Logging Folder Name Setting Sets the data logging folder name Command PLC to Sensor Controller First word in Command Bit Beccio Command Area code 12to15 8to11 4to7 0
187. Buosuuog JO spoule N Parity None Stop bit bit fi Flow control None Delimiter CR X Timeout s 5 al eae Set value Bed Setting item Factory default Description e RS 232C Use the same communications specifications as the external RS 422 device 2400 4800 eeu Use the same communications specifications as the external Baud rate bps 19200 pie p 38400 i 57600 115200 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 257 Non procedure Communications 258 Set value Setting item Factory default Description Data length bit om 8 e None ee Use the same communications specifications as the external Parity Odd device e Even Stop bit bits f X Flow control is not performed with software If the time in which there is no response from external devices reaches the timeout None setting time a timeout error occurs and an error message is Flow control displayed in the window The parallel interface ERROR signal also turns ON Xon Xoff Flow control is performed with software Data is sent according to the Xon Xoff codes from external devices Timeout s A 129 Set the time in which a timeout error will occur CR DES nae lai ae Use the same communications specifications as the external Delimiter e LF device e CR LF i 1 Ifa baud rate of 38400 bps or higher is selected effective communications m
188. C turns OFF the Command Request signal s d JeUI9 Xy UM Buyeolunuiwoy pue Huosuuog JO spoule 70 ON OFF timing Signal Function name OFF to ON ON to OFF e No Handshaking The signal turns ON after the Vision Sensor executes the Output Unit Fieldbus Data Output Unit in the measurement flow and preparations for data output have been completed e Handshaking No Handshaking This signal tells the user PLC The signal turns ON after the The signal turns OFF after when to read the measurement Vision Sensor executes the the output time that is set in Data Out results Output Unit Fieldbus Data the EtherCAT settings has Result e Notification put Comple Data output is enabled when Output Unit in the elapsed tion Signal this signal is ON measurement flow e Handshaking Read the data from the PLC preparations for data output The signal turns OFF when when this signal turns ON have been completed and the Result Set Request the Result Set Request signal is turned OFF signal is turned ON 1 This occurs when the Output Unit is executed as the measurement flow is executed in order from the top It does not occur when execution of a measurement is completed The Vision Sensor provides ee nape sted This signal turns OFF when a g the error is eliminated and the Error Error Signal Refere to p gt Error Messages This signal turns ON when the user PLC performs another Status ae Visi
189. CP1W CIF41 SYSMAC_CP1 CP1H CP1W CIF41 SYSMAC_One NSJ OK Built in port only NSJW ETN21 Mitsubishi Electric Interface Series Model name CPU Unit CPU name CPU Unit built in Ethernet Unit port QO3UDECPU Q04UDECPU QO6UDECPU Q10UDECPU ONUDECERU Q13UDECPU Q20UDECPU or Ok Q26UDECPU Universal QO3UDCPU Q04UDCPU MELSEC QnU models QO6UDCPU Q10UDCPU pa Speer Q13UDCPU Q20UDCPU or Q26UDCPU QJ71E71 100 Sapi QOOUJCPU Q0O0UCPU Q01UCPU a SAET BAOn or Q02UCPU QJAEGHBS Basic models QnCPU QOOJCPU QO0CPU or Q01CPU High MELSEC Q erformance QCPU Q02CPU Q02HCPU Q06HCPU 2 Series P Q12HCPU or Q25HCPU models MELSEC QnAS Pe Q2ASCPU Q2ASCPU S1 _ Series Q2ASHCPU or Q2ASHCPU S1 e RS 232C 422 OMRON Interface Series CPU Unit CPU Unit built in port Ethernet Unit CJ2H OK SYSMAC_CJ2 OK CJ1W SCU21 V1 CJ1W SCU31 V1 or CJ1W CJ2M SCU41 V1 34 Differences in Specifications Based on the Communications Protocol Built in port only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Interface Series CPU Unit CPU Unit built in port Ethernet Unit SYSMAC_CJ1 CJ1H CJ1G or CJ1M OK CJ1W SCU21 V1 CJ1W SCU31 V1 or CU1W SCU41 V1 Eg CS1H CS1D or CS1W SCBLILI V1 CS1W SCU21 V1 or CS1W SYSMAC_CS1 CSIG OK SCU31 V1 P lt SYSMAC_CP1 CP1E CP1L or CP1H CP
190. CPU Unit Cat No W495 IMPORTANT e When connecting to an NJ series or CJ series CPU Unit install the EDS file that defines the connection information for the Sensor Controller to the Support Software e g Network Configurator Download the EDS file from OMRON s website e After the tag data links are set the Vision Sensor is automatically restarted to apply the settings Tags Tag Sets and Connection Settings The communications areas in the PLC are set as tag data link connections as shown in the following table e Tag and Tag Set Settings in the PLC Settings Parameter Command Area Response Area and Output Area Type of tags and tag set Output tag set Input tag set Tag and tag setnames__ I O memory addresses or variable names I O memory addresses or variable names aa eiee 20 bytes 48 bytes total size of Response Area and Out put Area 4 Specify the I O memory address of the first word in the Response Area The Output Area is assigned immediately after the Response Area If you specify a variable name the variable is assigned for both the Response Area and Output Area Refer to gt Accessing Communications Areas Using Variables with NJ series Controllers p 223 for information on how to access the signals in the communications areas from the user program when variables are assigned Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342
191. Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Using Handshaking When the PLC user turns ON the Result Set Request DSA signal the Result Completion GATE signal turns ON At that point the output data that can be output is output The PLC user turns OFF the DSA signal when it has received the output data and when the Result Completion GATE signal is ON If data is output from more than one Fieldbus Data Output Unit turn ON the DSA signal again after the Sensor Controller turns OFF the Result Completion GATE signal to output the next output data 4 This is the data that is prepared for output when the Output Unit is executed in the measurement flow Fieldbus Data Output Fieldbus Data Output The PLC turns ON the Result Set Request DSA Unit execution Unit execution signal at the same time as the STEP or s M Command Request EXE signal and waits for 1 1 the first output data The EXE signal is turned Wait for the first Wait for the second The PLC reads the data when the Result ON at the same time Completion GATE signal turns ON and it turns OFF the Result Set Request DSA signal The PLC turns ON the Result Set Request again when the Result Completion GATE signal turns OFF and waits for the second data output output data _ output data I I I I I I Data Output ON Request DSA signal OFF The Sensor Controller automatically turns OF
192. D Trigger sensor External device Input signals q Output signals Sensor Controller Command Response Method Refer to gt Command Response Method p 21 Control is performed by storing the control command and the response to that command in the I O memory of a PLC This method is best suited to send multiple commands to the Sensor Controller without using PLC communications instructions Vision System FH FZ5 Series User s Manual for Communications Settings Z342 13 Communicating with an External Device Sensor Controller External device I O memory 1 Command Command Area 2 Command Response Area execution 3 Response Output Area 3 Data Output after Measurements Refer to Data Output after Measurements p 22 After a measurement is executed the measurement data specified for output is automatically output to the specified words in the I O memory of the PLC This allows you to output measurement results from the Sensor Controller to the PLC automatically without having to send data requests from the PLC Sensor Controller External device I O memory Command Area Response Area 2 Measurement data Output Area 1 Measurement processing 14 Communicating with an External Device Vision System FH FZ5 Series User s Manu
193. DO map Possible Range True 1 or False 0 Unit Default False 0 Size 1 bit BOOL Access RW PDO map Possible Sub index 9 Flow Command Request Range True 1 or False 0 Unit Default False 0 Size 1 bit BOOL Sub index 10 15 Control Reserve Bit10 15 Access RW PDO map Possible Range True 1 or False 0 Unit Default False 0 Size 1 bit BOOL Access RW PDO map Possible Sub index 16 Error Clear Range True 1 or False 0 Unit Default False 0 Size 1 bit BOOL Sub index 17 Result Set Request Access RW PDO map Possible Range True 1 or False 0 Unit Default False 0 Size 1 bit BOOL Access RW PDO map Possible Sub index 18 32 Control Reserve Bit18 32 Range True 1 or False 0 Unit Default False 0 Size 1 bit BOOL Access RW e This object controls the Sensor Controller Command Request bit Turned ON to execute a command e Trigger bit Turned ON to execute a measurement e Flow Command Request bit Turned ON to execute a command during execution of PLC Link fieldbus normal flow control PDO map Possible e Error Clear bit Turned ON to clear the Error Status bit 3001 hex subindex 17 e Result Set Request bit Turned ON to request data output e When you use the Sysmac Stud
194. Default 60060A40 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index27 27th Input Object to be mapped Range Unit Default 60060B40 hex Size 4 bytes U32 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Access RO PDO map Not possible EtherCAT Connections FH Only s n d eUIE XW UM Bugeorunwwop pue Huosuuog JO SPON Sub index28 28th Input Object to be mapped Range Unit Default 60060C40 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index29 29th Input Object to be mapped Range Unit Default 6 0060D40 hex Size 4 bytes U32 Sub index30 30th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060E40 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index31 31st Input Object to be mapped Range Unit Default 60060F40 hex Size 4 bytes U32 Sub index32 32nd Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60061040 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index33 33rd Input Object to be mapped Range Unit Default 60061140 hex Size 4 bytes U32 Sub index34 34th
195. Description Response Area code 12to15 8to11 4to7 O0to3 2 5010 0101 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 337 Command Control Zoom Zooms the image display window whose number is specified in or out to the specified zoom ratio The zoom ratio here is the ratio compared to the original image 100 Command PLC to Sensor Controller First word in Command Bit Er Description Command Area code 12t0o15 8to11 4to7 Oto3 2 5020 0101 0000 0010 0000 Command code 3 0010 0000 0000 0001 0000 4 0000 0000 0000 0000 Display image window number 5 0000 0000 0000 0000 6 0000 0000 0000 0000 Sets magnification Value multiplied by 1000 Example 7 0000 0000 0000 0000 25 Enter 250 0 25 X 1 000 1 600 Enter 16000 16 x 1 000 Response Sensor Controller to PLC First word in Command Bit ten Description Response Area code 12t0o15 8to11 4to7 0to3 2 5020 0101 0000 0010 0000 Command code 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG No
196. Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails 0 to 4 Image display window number Maanification Sets the zoom ratio 250 16000 Agnia 250 means 25 16000 means 1600 Example When zooming in image display window 1 to 200 lt Command gt Ej 1 z 1 2lojojo ek lt Response gt OlKFe 428 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 IMGSAVE Saves image data lt Command format gt LIIMIGISIAIVIEL 11 L Save destination Image data No max 3 digits lt Response format gt When processing is performed normally O K lt a When processing is not performed normally EIR lt Parameters explanation gt Specifies the No of the image data to be saved 0 to max number of logging images I_MAX 7 The maximum number of logging images can be a number with a maximum of 3 digits The number of images will vary depending on the Sensor Controller used and the camera connected The image data number of the latest image is 0 Refer to gt About Number of Logged Images in the Vision System FH FZ5 Series User s Manual Cat No Z340 ssolpueddy po Image data No Specifies the save destination and file name during saving with a definite path e g USBDisk abc IFZ E abc FZ Save destinations include directories under the following systems Be sure to attach an IFZ extension to the fil
197. Ethernet Format setting Output form ASCII C Binary Digits of integer 10 Digits Digits of decimal 4 Digits Set value Factory default Description Aac cessing System User s Manual Cat No Z340 Outputs ASCII text Refer to Character Code Table in the FH FZ5 Series Image Pro emar uous with 4 bytes per data item Vision System FH FZ5 Series User s Manual Non procedure Communications for Communications Settings Z342 Outputs binary data Measurement values are multiplied by 1 000 and output is contin s d eUI9 XW UM Bugeoriunwwop pue Buosuuog JO spoule N 261 e When the ASCII Output Format Is Selected When ASCII is set as the output format set the following format settings When Binary is set as the output format no settings are needed Output Setting Communication method RS 232C RS 422 Ethernet Format setting Output form ASCII C Binary Digits of integer Digits of decimal Minus 0 suppress C Available None Field separator Comma Record separator Delimiter Setting item Set value Factory default Description Specify the digits of the integer part including the sign For positive numbers the plus sign is not output Digits of integer O to 10 Example Setting 4 digits Data 5619 999 would be output Specify the number of output digits in the decimal part Lower Digits of deci
198. F the Result Completion GATE signal when it detects that the Result Set Request DSA rot i signal has turned OFF Result ON Completion GATE signal OFF Output data 0 to 7 ON DATAO to DATA7 OFF 000 1 A timeout error will occur if any of the following states continues for longer than the timeout time that is set in the EtherNet IP settings If the DSA signal is not turned ON after a certain time elapses from when the Output Unit was executed Turn ON the DSA signal at the same time as the measurement trigger command If the DSA signal is not turned OFF after a certain time elapses from when the GATE signal turns ON If the DSA signal is not turned ON after a certain time elapses from when the GATE signal turns OFF 1 The PLC user turns ON the Command Request EXE signal and the Result Set Request DSA signal at the same time The output data for the first Fieldbus Data Output Unit can be dependably received SOdIAQq eu19 x3 UM Buyjeolunuiwog pue Buosuuog JO spoule N 2 The Sensor Controller executes the Fieldbus Data Output Unit in the measurement flow Because the Result Set Request DSA signal is ON the Result Completion GATE signal turns ON and the output data from the Fieldbus Data Output Unit is output to the external device 3 The PLC user reads the data when the Result Completion GATE signal turns ON and it turns OFF the Result Set Request DSA signal 4 The Sensor Controller automa
199. FF the Command Request EXE signal ON OFF xX The user PLC turns OFF the EXE signal when the FLG signal turns ON The FLG signal is forced OFF if the EXE signal is not turned OFF within the set timeout time after the FLG signal turns ON Command code Command Command Area parameters Command Request EXE signal Command code OFF BUSY signal ON Control command OFF when the FLG signal turns ON OFF execution i Response code Response data ON x Response Area Command Completion FLG signal The FLG signal automatically turns OFF when the EXE signal turns OFF The FLG signal turns ON when execution of the control command is completed The command code and command parameters are set from the PLC Oo o T Z s n d eu19 x3 UM Buyeolunuiwoy pue Bunosuuog JO SPoyN No Next confirm that the BUSY signal and the Command Completion FLG signal have turned OFF and then turn ON the Command Request EXE signal again A request is sent to the Sensor Controller The Sensor Controller executes the command and turns ON the BUSY signal when the request is received When the Sensor Controller finishes execution of the command the command code response code and response data are set The Command Completion FLG signal is then turned ON The Sensor Controller confirms that the Command Completion FLG signal is ON and automatically turns OFF the BUSY signal The PLC user tu
200. FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only SOdIAQq eu19 x3 UM Bugeoviunwwop pue Buosuuog JO spoule 65 O Port Names for Multiple Lines An I O port name consists of the device name and controlled line number as shown below If only one line is controlled the line number is given as LineO Example Command Request Signal in the Command Area E001_LineOQ_Command Request Line number Device name e Using Multi line Random trigger Mode The I O ports in the Command Area Response Area and Data Output Area are assigned for each line The I O ports in the Sysmac Error Status Area are shared by all lines I O port Controlled line When not using multi line random trigger When Using Lines 0 to 2 in Multi line Random mode trigger Mode Line 0 E001_LineOQ_Command_Request E001_LineO_Command_Request Line 1 E001_Line1_Command_Request Line 2 aes E001_Line2_Command_Request EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Assigning Device Variables to I O Ports PDO Mapping When connected to an NJ series CPU Unit the data for PDO communications in the Vision Sensor is displayed with I O port names on the Sysmac Studio You can assign device variables to the I O ports in the Sysmac Studio I O map to perform programming and monitoring gt Multiview Explorer Conne
201. FH series specifications FH Image Processing System dimensions part names I O 2285550 0 Soy Instruction Manual information mounting information and wiring information Checking I O and other specifications and performing 9524422 4 Provides FH5 series specifications si installation and wiring Fz5 600 1100 FHS5 Image Processing dimensions part names I O 9910002 2 System Instruction Manual information installation information FZ5 L300 and wiring information Vision System FH FZ5 Series Describes the software functions Any application other than the Z340 settings and operations for using above applications and User s Manual Sa si gi FH FH5 series Vision Sensors communications Checking information on Vision System FH FZ5 Series Describes the functions settings processing items when designing 3 and operations of the processing or manipulating measurement Z341 Processing Item Function R ference Manual items that you can use with the FH flows FH5 series Vision Sensors Use this manual together with the User s Manual Describes the functions settings and communications methods for communicating between FH FH5 7342 Vision System FH FZ5 Series series Vision Sensors and external Checking information on This manual User s Manual for Communications Settings devices e g a PLC The following communications protocols are included Parallel PLC Link EtherNet IP EtherCAT
202. For the Sysmac Error status 2002 01 hex refer to Object Dictionary Area p 102 e For errors displayed in Sysmac Studio refer to gt NJ series Troubleshooting Manual Cat No W503 E1 07 or later Saving the Node Address Setting When the node address switch setting is 00 Software Setup mode the node address value you set in Sysmac Studio is enabled If the node address switches are set to any other value the value that is set on the switches is used as the node address In the Software Setup mode in Sysmac Studio execute Write Slave Node Address on the EtherCAT Edit screen to save the slave node address setting in the nonvolatile memory of the FH series Vision Sensor e Software Setting The set value saved as Slave Information Interface SII information in the nonvolatile memory of the slave is the node address EtherCAT master 1 The Node Address Switch is set to 00 at power OFF 2 Write a node address set value to Slave SII from the master 3 The value of the node address setting is applied to Register 0012 hex by the software when the slave power is ON 4 EtherCAT master reads the set value of Register 0012 hex 5 EtherCAT master writes the value of 0012 hex address to 0010 hex address as the node address value EtherCAT Nonvolatile Slave Controller 2 memory Ta SII E gt Register 0010h ee E E Register 0012h 1
203. Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60061240 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index35 35th Input Object to be mapped Range Unit Default 60061340 hex Size 4 bytes U32 Sub index36 36th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60061440 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index37 37th Input Object to be mapped Range Unit Default 60061540 hex Size 4 bytes U32 Sub index38 38th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60061640 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index39 39th Input Object to be mapped Range Unit Default 60061740 hex Size 4 bytes U32 Sub index40 40th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60061840 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions e 6005 hex Image Processing Results Integer Data e 6006 hex Image Processing Results Real Data EtherCAT Connections FH Only Visio
204. JO spoule 279 Communications Specifications Settings Set the communications specifications such as the data output method and data signal operation If communications cannot be performed even after setting these communications settings check the settings and the communications status Reference gt Testing Communications p 294 IMPORTANT Before you set the communications specifications select the Communications Module to use with the Sensor Controller in the startup settings Reference B Communications Module Settings Startup Settings p 55 e After you select the Communications Module save the settings to the Sensor Controller and restart the Sensor Controller If you do not restart the Sensor Controller the selected Communications Module will not be enabled Note Input signals cannot be handled during setting of communications specifications However the input status can be checked with Confirmation Reference gt Testing Communications p 294 Selecting the Output Control Type You can select the data output timing control method to use so that you can synchronize the timing of output with the external device Types of Output Control e None After measurements are completed the Sensor outputs the measurement results without synchronizing with the external device Or output is performed based on the GATE signal Adjust the external device so that it reads the measurement results whe
205. LOGCOND OLC Sets logged operation state Reference p gt p 443 fl OTS Enables disables outputs to external devices Reference p gt p 445 PARAALLCOND PAC Sets terminal states except for DO in batches Reference p gt p 447 Activates deactivates the specified parallel I O termi PARAPORTCOND PPC Reference p gt p 449 nal SCENE S Switches scene No currently being used Reference p gt p 454 SCNGROUP SG Switches the scene group number Reference p gt p 456 271 Vision System FH FZ5 Series User s Manual Non procedure Communications for Communications Settings Z342 Commands to Read Data Command Abbreviation Function Reference DATALOGCOND DLC Gets the conditions that are set for data logging Reference gt p 396 DATALOG f FOLDER DLF Gets the defined data logging folder name Reference p gt p 398 DATE None Gets the current date and time Reference p gt p 401 DIOFFSET DIO Gets the DI terminal offset data that is set Reference p gt p 404 IMAGECAPTURE ICF Gets the defined screen capture folder name Reference p gt p 411 FOLDER IMAGELOG FOLDER ILF Gets the defined image logging folder name Reference p gt p 417 IMAGELOG HEADER ILH Gets the set image logging prefix Reference p gt p 419 SYSDATA None Gets settings related to image logging Reference p p 462 UNITDATA UD Gets the parameters and or measurement values of Reference
206. Link s d eUI9 XW UM Bugeoariunwwop pue Buosuuog JO spoule 193 Vision System FH FZ5 Series User s Manual Communicating with PLC Link for Communications Settings Z342 Example 2 Outputting Data with More Than One Output Unit without Handshaking ON OFF ON parameters OFF Command Request ON i Me ee at ennega 1 EXE signal oFF BUSY signal OFF Command ON Completion FLG signal OFF Response Area Result Completion ON GATE signal ofr First data output Data Output Output data ON Area OFF The data is overwritten by the second data output Data Output Unit first Data Output Unit execution second execution 1 The measurement command code and command parameters are set from the PLC 2 Next confirm that the BUSY signal and the Command Completion FLG signal have turned OFF and then turn ON the Command Request EXE signal again A request is sent to the Sensor Controller 3 The Sensor Controller executes measurement processing and turns ON the BUSY signal when the request is received 4 When the first Data Output Unit in the measurement flow is executed the output data for the first Data Output Unit is output to the position at the specified offset in the Data Output Area 5 When the second Data Output Unit in the measurement flow is executed the output data for the second Data Output Unit is output to the position at the specified offset in the Data Output Are
207. Manual for Communications Settings Z342 3 Set the following items UDP Address setting Obtain an IP address automatically Use the following IP address IP address HO a eee Subnetmask 25 255 255 Default gateway 10 5 al 5 DNS server Address setting 2 C Obtain an IP address automatically Use the following IP address IP address Subnetmask Default gateway DNS server Input Output setting Input mode Input form Output IP address Input port No Output port No 1 Leal 1 Same number Input port No Note e An FH series Sensor Controller with four or eight Camera inputs has two Ethernet ports Set the settings for the two Ethernet ports as follows e Communications Module settings Use the same setting for both ports IP address settings Set a different IP address for each Ethernet port The IP address for the top Ethernet port is set in Address setting and the IP address for the bottom Ethernet port is set in Address setting 2 By using both Ethernet ports simultaneously you can use one for PLC Link non procedure Ethernet or IP communications with a PLC and the other for FTP or remote operation communications with an external device The FZ5 or an FH series Sensor Controller with two Camera inputs has only one Ethernet port In this case the IP address of the Ethernet port is set in Address
208. Manual for Communications Settings Z342 MEASURE or M Executing measurement Executes measurement one time lt Command format gt MEJAISUIRIERg OF lt Response format gt When processing is performed normally Non procedure Normal Fxxx series O KIER Measurement result En OlK r When processing is not performed normally Note About Normal Fxxx series method Reference gt Command Formats p 268 lt Parameters explanation gt Measurement result Starts continuous measurement Starts continuous measurement lt Command format gt MIEJAISIUIRIE Cha lt Response format gt When processing is performed normally 27 O AI EJ Z EJ EJEA Measurement result Cp Measurement resu Continuous measurement count C 2 Measurement resu Vision System FH FZ5 Series User s Manual for Communications Settings Z342 When Data Output is set in the flow the measurement results are output When Data Output is not set the measurement results are not output Reference Output Format p 274 Command Control ssolpueddy poo 439 When processing is not performed normally lt Parameters explanation gt The measurement results from the number of times continuous measurement is performed are output as a response Reference Output Format p 274 Measurement result Completes continuous measurement Continuous mea
209. N The command will not be exe cuted correctly OR This does not change when an error is being cleared DOO to DO15 This does not change when an error is being cleared GATE This does not change when an error is being cleared e Input Signals Signal Function DIO Turn ON DI1 to DI5 Turn OFF DI6 Turn ON This is the trigger signal to clear an error DI7 After DIO to DI6 are set turn ON DI7 after an interval over 1 ms After checking that the ERROR signal is OFF turn DI7 OFF and then turn DIO to DI6 OFF Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Parallel Communications s d eUI9 XW UM Bugeoiunwwop pue Buosuuog JO spoule N 319 320 Parallel Troubleshooting Cause Action Problem Decrease the number of lines or use a com There is absolutely no data output You have selected more than four lines in Multi line Random trigger Mode munications method other than parallel com munications The Output setting is turned OFF Select Layout setup in the Window menu on the Main Window and then turn ON the Out put setting Even though there is more than one data output item only the last data item is out put The data is being overwritten because the ON status of the GATE signal is not being checked Read data only when the GATE signal is ON Use handshaking for the output control to control the output timing STGOUT a
210. Node Address Switch EtherCAT Slave EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 e Node Address Switch Setting The value set on the node address switches is the node address 1 The Node Address Switch is set at power OFF 2 The value of Node Address Switch is applied to Register 0012 hex when the slave power is ON 3 EtherCAT master reads the set value of Register 0012 hex 4 EtherCAT master writes the value of 0012 hex address to 0010 hex address as the node address value EtherCAT Nonvolatile Slave Controller memory SII gt Register 0010h eee eee Register 0012h 1 Node Address Switch EtherCAT Slave Serial Number Display The serial number saved in the nonvolatile memory of the Vision Sensor is displayed in the Serial Number 1018 04 hex Controllers that support Sysmac Device Features can use this serial number to check the network configuration To enable this check in Sysmac Studio set Serial No Check Condition to Set Value Actual Unit on the EtherCAT Edit screen If the set condition is not met a Network Configuration Check Error will occur Note This network configuration check detects any slave devices that have been replaced which prevents you from forgetting to set parameters on those slaves Compliance with ESI Specification ETG 2000 S R
211. OFF during continuous measurements i e when DI7 is ON DI7 This is the execution trigger After DIO to DI6 are set turn ON DI7 after an interval over 1 ms Always keep this signal turned ON during a continuous measurement Continuous measurement is stopped when this signal is turned OFF Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Parallel Communications s d eu19 x7 UM Bugeorunwwop pue Buosuuog 104 spoule 313 314 Note e When the input command is not received correctly the ERROR signal turns ON e Acquisition is difficult because the amount of time during which the BUSY signal is OFF during a continuous measurement for a parallel command is extremely short 1 ms or less Get the OR signal when the GATE signal turns ON after adding the parallel judgement output at the end of the flow Scene Scene Group Switch e Time Charts FH DIO to DI6 signals O gt K 0100001 to switch to scene 1 The PLC user turns OFF the ON lt signal again when the ACK DI7 signal 7 signal is turned ON OFF After at least 1 ms ON IN7is i i BUSY signal turned ON i Command Request i OFF ON READY signal 7 OFF 1 The signal turns OFF ON when DI7 turns OFF ACK signal OFF m Timeout s gt FZ5 DIO to DI6 signals O gt X 0100001 to switch to scene 1 i The signal is turned OFF ON i
212. OMRON Vision Sensor FH FZ5 Series Vision System User s Manual for Communications Settings FH 10 LU FH 3 LU FZ5 L35L FZ5 6L FZ5 11L SYS Titel always in control Introduction Thank you for purchasing the FH FZ5 This manual provides information regarding functions performance and operating methods that are required for using the FH FZ5 When using the FH FZ5 be sure to observe the following e The FH FZ5 must be operated by personnel knowledgeable in electrical engineering e To ensure correct use please read this manual thoroughly to deepen your understanding of the product e Please keep this manual in a safe place so that it can be referred to whenever necessary About copyright and trademarks IJG Code is copyright C 1991 2011 Thomas G Lane Guido Vollbeding This software is based in part on the work of the Independent JPEG Group e Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products e EtherCATe is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany e ODVA CIP CompoNet DeviceNet and EtherNet IP are trademarks of ODVA e The SD and SDHC logos are trademarks of SD 3C LLC S FH FZ5 Manual Configuration The following table gives the manual configuration of the FH FZ5 Cat No Manual name Contents Main applications Provides
213. Output unit Output data Parallel Data Output The measurement data is output A maximum of eight items can be output Control Methods Using an External Device Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Output unit Output data The judgement results are output A maximum of 16 judgement result items can be output The following two types of judgement results can be output e Judgement results for specified processing items e Judgement results of set judgement conditions for the specified item values Parallel Judgement Output M IAJBAQ Parallel Data Output Units and Parallel Judgment Output Units are output in the order they are processed in the measurement flow Outputting Multiple Items with Parallel Data Output The items that are set for output data numbers 0 through 7 via parallel data output are output to the PLC reception buffer in ascending order one data item at a time 16 bit units Each time a data item is output the GATE signal turns ON 1 When this occurs the first data item that was output to the PLC reception buffer data 0 is overwritten by the next output data item data 1 Therefore the data output to the PLC reception buffer must be saved to PLC memory each time the GATE signal turns ON for each data item Data output order PLC Parallel data output 16 bits Reception buffer 4 The operation of the DSA signal depends on whether handshaking for output contro
214. P1 When the Terminal Type ls DSA FH 0 to 7 DSAO to DSA7 7 0000 0000 0000 0000 FZ5 0 DSAO 1 DSA1 When the Terminal Type Is DI 0 DIO to 7 DI7 When the Terminal Type Is DILINE FH Only 0 to 2 DILINEO to DILINE2 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Response Sensor Controller to PLC First wordin Command Bit ere Description Response Area code 12to015 8to11 4to7 0to3 2 8010 1000 0000 0001 0000 Command code 3 0020 0000 0000 0010 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 Response data Terminal state 7 0000 0000 0000 0000 0 OFF 1 ON IMPORTANT The supported signals and signal assignments for an FH series Sensor Controller depend on the number of lines used in Multi line Random trigger Mode Reference Multi line Random Trigger Mode Signal Specifications p 300 If you get the status of unused terminals the response code will be OK and the response data will always be 0 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 ssolpueddy po 351 Command Control Getting Terminal State at Once Retrieves the states of terminals except for DI in batches Active or Inactive Command PLC to Sensor Co
215. PDOs aiea a ETE inn ohana RE ii ain 44 Service Data Objects SDOS srra arlie itae shade tnse sche che deh eaddan ech re ia AA Eea ALEAT DEEE EAA iS BARRY 47 Communications between an EtherCAT Master and Slaves ccccccceeceeeeeeeeeceeeeeeeetcieeeeeeeitaeeeereeea 48 FH series Vision Sensor Communications Method When Connected to EtherCAT aseeseen 49 GOMMUNICATIONS SOTNAGS 2s cass eesti eas Seach A E EEA ERE A E EAA 53 Communications Module Settings Startup Settings 0 00 ceeeeeeeeeeeeeee eee eenneeeeeetaeeeeeeeaeeeerenea 55 Communications Specifications Settings 0 0 0 cece eine eerie ee eee ae tees eraeeeeeetaeeeeeenaeeeenenea 56 Output Data Settings Processing Item Registration ccccceeecteeeeeeeeeeeeeeeeicieeeeeesiaeeeeeetneeeeeeee 59 EtherCAT Network Configuration Settings 2 0 eeeceeeeseeneeee eee eeneee eee eeaeeeeeeeaaeeeeseeaeeeeeeeaeeeeenenaaes 61 Communications Test Lernis i ies eter eddies ceetens aati aera Aan aed 63 I O Ports by Area PDO Mapping and Memory Assignments c ccceeeeeeeteeeeeeeeneeeeeeeeeaeeeeeeeeaaes 63 WO SIGMES ers T E E E OET teas pstid nen ctaca aueus A 68 Measurement Results That You Can Output with Fieldbus Data Output eee ceeeeeeeeeeeeeeeeeeeeees 72 Measurement Trigger INpUt cccccsecceteeseccceeesseccaceetsecceceeeesaaceesenssnaecesessuaceeetesnaeeceeduaataeeeeeeneanees 76 Command Response Processing eeeceeeeeeeeeeee eee e nee ee rnei
216. PLC to the measurement Vision Sensor to request the e Turn ON the Result Set external output of the data out Request signal at the same Result Set put results from the execution time as the Trigger and Request Turn OFF the signal from the Data Out of the measurement flow Command Request signals HR Used only PLC when the Vision Sensor put Request If multiple Output Units are se for hand fe turns ON the Result Notifica i Signal If this signal is ON when an used to output more than 2 shaking out tion signal put control Output Unit Fieldbus Data Output Unit in the measure ment flow is executed the Vision Sensor will output the data from the processing item 256 bytes of output data turn ON the Result Set Request signal again after the Result Notification signals turns OFF Refer to gt Time Charts p 82 Turn ON this signal to clear the Turn ON the signal from the Turn OFF the signal from the Error Clear f Error Clear ote j Error Status signal from the PLC when the Error Status PLC when the Error Status Vision Sensor signal turns OFF signal turns OFF Turn ON this signal from the Flow Com Flow Com Turn ON this signal to execute PLC to request execution of a Turn OFF the signal when the mand mand a command during execution command that was input dur Flow Command Completion Request Request Bit of the fieldbus flow control ing execution of t
217. READYO READY 1 DO DOO to DO7 DO8 to DO15 Three or Four Lines Line number 1 0 EES Line 1 Line 2 Line 3 STEP STEPO STEP1 STEP2 STEP3 DSA Ta DILINE DILINE 0 to DILINE 1 used for all lines DSAO is assigned to DILINE1 DI DIO to DI7 used for all lines ENC Phase A Phase B or Phase s d eu19 x3 UM Buneoiunuiwoy pue Huosuuog JO spoule Z ACK ACK used for all lines STGOUT SHTOUT STGOUTO SHTOUTO STGOUT1 SHTOUT1 STGOUT2 SHTOUT2 STGOUT3 SHTOUT3 RUN RUNO RUN1 RUN2 RUN3 GATE BUSY BUSYO BUSY1 BUSY2 BUSY3 OR ORO OR1 OR2 OR3 ERR ERRO ERR1 ERR2 ERR3 READY READYO READY 1 READY2 READY3 DO Five to Eight Lines Line number VO Line 0 Line 1 Line 2 Line 3 Line 4 Line 5 Line 6 Line 7 STEP STEPO STEP 1 STEP2 STEP3 STEP4 STEP5 STEP6 STEP7 DSA DILINE DILINE 0 to DILINE 2 used for all lines DSAO is assigned to DILINE1 and DSA 1 is assigned to DILINE2 DI DIO to DI7 used for all lines ENC Phase A Phase B or Phase Z ACK ACK used for all lines 301 Vision System FH FZ5 Series User s Manual Parallel Communications for Communications Settings Z342 FZ5 Para Line number Line 0 Line 1 Line 2 Line 3 Line 4 Line 5 Line 6 Line 7 STGOUT SHTOUT STGOUTO STGOUT1 STGOUT2 S
218. Settings Z342 Command Control ssolpueddy po 475 The manual revision symbol is an alphabet appended at the end of the manual number found in the bottom left hand corner of the front or back cover Cat No Z342 E1 01 Revision code 01 Jul 2013 Original production Ver 5 0 ar Manual Revision History Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Authorized Distributor
219. TGOUT3 STGOUT4 STGOUT5 STGOUT6 STGOUT7 SHTOUTO SHTOUT1 SHTOUT2 SHTOUT3 SHTOUT4 SHTOUT5 SHTOUT6 SHTOUT7 RUN GATE BUSY BUSYO BUSY1 BUSY2 BUSY3 BUSY4 BUSY5 BUSY6 BUSY7 OR ORO OR1 OR2 OR3 OR4 OR5 OR6 OR7 ERR ERR used for all lines READY READYO READY1 READY2 READY3 READY4 READY5 READY6 READY7 DO Signals and Assignments According to Number of Lines Used I O Number of lines 1 line 2 lines STEP Assigned for each line DSA Assigned for each line DI The same setting is used for all lines RUN Not supported GATE Assigned for each line Busy oa OR Assigned for each line ERR The same setting is used for all lines READY Assigned for each line DO DOO to DO7 DO8 to DO15 e Signals According to Lines Used Line number 1 0 Line 0 Line 1 STEP STEPO STEP1 DSA DSAO DSA1 DI DIO to DI7 DIO to DI7 RUN No output GATE GATEO GATE1 BUSY BUSY RUN OR ORO OR1 ERR ERR shared READY READYO READY 1 DO DOO to DO7 DO8 to DO15 llel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Input Timing of Input Signals STEP Signal Input Timing The measurement trigger STEP signal is input with the following timing ON r STEP signal f a when the BUSY signal is ON OFF nf a og n Ai ON BUSY signal OFF ON when the BUSY signal is OFF 1 Turn ON t
220. TS fel ae Communication module types 1 digit lt Response format gt When processing is performed normally OKE When processing is not performed normally R mj Fa lt Parameters explanation gt Serial Ethernet Serial RS 232C 422 Parallel IO Fieldbus Remote operation Communication module types Prohibited Permitted o RWNA0 Input state Example Getting the input status when serial Ethernet inputs are enabled 1 lt Command gt i Tis o lt Response gt Ce O KfR Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Control ssolpueddy po 432 Setting communication module input states Permits prohibits input to communication modules Any communication module whose input state is set to Prohibit 0 accepts no communications whatsoever However inputs related to hardware parallel STEP signals DSA signals and ECAT STEP etc are not included in the prohibition lt Command format gt I IN PIU TITIRIAINIS S TIAI TIE x ce Input state 1 digit Communication module types 1 digit or Cc TIS e a Input state 1 digit Communication module types 1 digit lt Response format gt When processing is performed normally O KIoe When processing is not performed normally ERE Example Setting the serial RS 232C 422 input state to prohibited lt Command gt Tis 1 fof lt R
221. UN EtherCAT NET ERR EtherCAT LINK ACT Indicators System defined Variable Data type Name variables None fie Assumed cause Correction Prevention The data output handshaking controls Correct the data output handshaking Write suitable data output handshak in the program i e the ON OFF tim controls in the program i e the ON ing controls in the program i e the Cause and ing of the Result Set Request signal OFF timing of the Result Set Request ON OFF timing of the Result Set correction are not correct signal Request signal The output control timeout time is too Correct the timeout time so that it is gt ee f A Set the timeout time so that it is suit short in comparison with the program suitable for the program processing tds peer s able for the program processing time processing time time Attached 5 None information Precautions This error occurs when measurement results are output on EtherCAT For parallel I O PLC Link or EtherNet IP refer to Remarks the Output Control Timeout for Parallel I O PLC Link or EtherNet IP event Event name Image Logging Disk Write Error Event code 78190000 hexx Meaning Writing data to the image logging disk failed Source EtherCAT Master Function Module Source details Slave Detection timing eee Error reset after Error attributes Level Minor fault Recovery resetting the error Log category System in the slave Effects User program Continues Operation Logging images will not
222. Vision Sensor has output the output data to the Data Output Area it turns ON the Result Notification signal 5 The Vision Sensor turns OFF the Result Notification signal after the output time that is set in the EtherCAT settings has elapsed 6 The second Fieldbus Data Output Unit in the measurement flow is executed 7 When the time that is set for the output period in the EtherCAT settings has elapsed the output data for the second Fieldbus Data Output Unit is output to the Data Output Area The data for the first Fieldbus Data Output Unit is overwritten at that time 8 The Vision Sensor turns ON the Result Notification signal and then turns it OFF after the output time that is set in the EtherCAT settings has elapsed 9 When the Vision Sensor completes measurement processing it automatically turns OFF the BUSY signal 10 The Command Completion signal is turned ON 11 The PLC user turns OFF the Trigger signal when the Command Completion signal turns ON 12 When the Vision Sensor detects that the Trigger signal is OFF it turns OFF the Command Completion signal 1 A timeout error occurs and the Command Completion signal is forced OFF if the Command Request signal or Trigger signal is not turned OFF from the PLC user within the timeout time that is set in the EtherCAT settings EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Saving All of the Measurement Results
223. Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Operation to Start Continuous Measurements 1 The Start Continuous Measurements command code is set from the PLC user 2 The Command Request signal is then turned ON A request is sent to the Vision Sensor 3 The Vision Sensor sets the command code and response code when preparations for continuous measurement have been completed 4 The Command Completion signal is then turned ON 5 The PLC user turns OFF the Command Request signal when the Command Completion signal turns ON 6 When the Vision Sensor detects that the Command Request signal has turned OFF it starts continuous measurements 7 The BUSY signal is turned ON and the Trigger ACK signal is turned OFF 8 The Command Completion signal is then turned OFF automatically 1 A timeout error occurs and the Command Completion signal and BUSY signal are forced OFF if the Command Request signal is not turned OFF from the PLC user within the timeout time that is set in the EtherCAT settings Operation to End Continuous Measurements 9 The End Continuous Measurements command code is set from the PLC user during execution of continuous measurements for a Start Continuous Measurements command 10 The Command Request signal is then turned ON A request is sent to the Vision Sensor Note Continuous measurements are not ended in the middle of a measurement When the End Conti
224. Vision System FH FZ5 Series User s Manual Parallel Communications for Communications Settings Z342 Input Signals Scene Scene Group Switching Signal Function Set the scene number 0 to 31 Digna Pls When a DI terminal offset is set the set offset is added DIS ON Select Scene OFF oe Set Scene Group ON This is the execution trigger After DIO to DI6 are set turn ON DI7 after an interval over 1 ms The BUSY signal is ON during command execution After checking that the BUSY signal has DI7 turned ON turn DI7 OFF and then turn DIO to DI6 OFF If the DI7 signal OFF timing cannot be set faster than the BUSY signal OFF timing on the control side set the scene switching additional time to lengthen the BUSY signal OFF timing Refer to gt Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH FZ5 Series User s Manual Cat No Z340 The amount of time during which the BUSY signal is turned ON when a scene is switched can be changed Select Measurement setting from the Measure menu and make the setting in the conditions related to operation during measurement Refer to gt Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH FZ5 Series User s Manual Cat No Z340 Clear Measurement Values e Time Charts FH DIO to DI6 signals 0 gt K 1000000 ry The PLC user turns OFF the ON my signal again when
225. Wheel The discharge timing for when a defective part is found and the measurement results output timing can be synchronized OK lt rea output NG Discharge device GATE DO tt aw O e o osas OOs eax Controller Note e When synchronized output is enabled in the communications specifications the steps will be counted according to the number of times the STEP signal turns ON Set the settings so that results are output only once for each measurement Place only one Output Unit in the measurement flow either Parallel Judgement Output or Parallel Data Output For Parallel Data Output set only one output item e Designate only the STEP signal for measurement trigger input If measurements are performed using serial commands and continuous measurement the output time will not match and this can cause Sensor malfunctions s d eu19 x3 UM Buyeolunuiwoy pue Buosuuog JO spoule N 281 Vision System FH FZ5 Series User s Manual Parallel Communications for Communications Settings Z342 282 Setting the Output Signal Specifications You can change the operation of signals output with parallel communications Changing the Judgement Output ON Conditions Output Polarity The ON conditions for the OR signal and the DOO to DO15 signals can be set to turn ON the signals when the judgement results are OK or when they are NG The default setting is ON at NG This setting can be c
226. XE Flag Aa lele taa ay a alae a b fe psa Command 2 Command code Code 3 S_EIP Command 4 Parameter 1 Output Param1 5 Command 6 Parameter 2 Param2 7 Command 8 Parameter 3 Param3 9 Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 s d eu19 x3 UM Buyeolunuiwoy pue Buosuuog 104 spoule N Data Type to Access the Response and Output Areas Name of data type S_EIPinput Type of derivative data type Structure Name of data type Data type S_EIPinput STRUCT StatusFlag U_EIPFlag tts The data type that was defined above 1 CommandCodeEcho DWORD gt un 32 bit bit string data ResponseCode UDINT e 32 bit integer data ResponseData DINT ttt 32 bit integer data OutputData ARRAY O 7JOF DINT ttt Specifies an array of DINT data from 0 to 7 e Assignment Example for Variable Data Type That Matches the Response and Output Areas Response Area Bit Ie Wb ss 2 al Wo amp v amp 4 sl 2 a o Status 0 JERR JRUN OR READY BUSY FLG Flag 1 GATE Command 2 Command code CodeEcho 3 Response 4 Response code Code 5 Response 6 Response data Data 7 EP Output Area Input Bit 18 asd i
227. _ FZ5 L6 e RAM disk RAMDisk USB memory USBDisk USBDisk2 D For the FH FZ5 11LL do not save to a non volatile area on the C drive such as C ProgramFiles FZ This would reduce the storage area for scene data and other data and make correct operation impossible 462 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Example Getting the image logging setting when the setting for the current image logging save condition is 1 save only NG lt Command gt SIYISIDIAITIAL L o gi d ilnjg ilm al gj ef Llo gtali In glS lt Response gt OKE The current image logging save condition is 1 Only NG ssolpueddy po 463 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 Changes settings related to logging Changes setting related to current logging lt Command format gt SIYISIDJAITIAL Llof glg ifnig I fe L J L z J Setting value Identifier lt Response format gt When processing is performed normally O K IR When processing is not performed normally EIR ca lt Parameters explanation gt Data Identifier Setting value 0 None Image Logging imageLogging 1 Only NG 2 All Folder name of image logging save Save destination folder name one byte imageLoggingDirectory destination alphanumeric character a Prefi
228. a 1 If no offset has been set the data will overwrite the data from the first Data Output Unit in the same Data Output Area 6 The Command Completion FLG signal is turned ON 7 The PLC user turns OFF the Command Request EXE signal when the Command Completion FLG signal turns ON 8 When the Sensor Controller detects that the Command Request EXE signal is OFF it automatically turns OFF the Command Completion FLG signal and the BUSY signal 1 A timeout error occurs and the Command Completion FLG signal and BUSY signal are forced OFF if the Command Request EXE signal is not turned OFF from the PLC user within the time set in the PLC Link settings Retry interval for Ethernet PLC Link or Timeout for RS 232C 422 PLC Link 194 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Note Saving All of the Measurement Results If you output data from more than one Data Output Unit or for repeatedly measured output data e g for continuous measurements the same Data Output Area will be overwritten If you want to save all output data use one of the following methods Type Offset PLC Link Com munications Only Description When using more than one Output Unit you can offset the write destination of the output data for each Output Unit Set the Offset for the Data Output processing item Reference Output Format Data Output
229. a h Data output is enabled when this The signal turns OFF i Output Unit or Parallel i signal is ON after the set output time Judgement Output Read the data from the PLC ne has elapsed Data Output eA os Unit in the i _ when this signal turns ON 4 2_ Handshaking GATE Completion sig measurement flow 3 The signal turns OFF nal 5 the Result Set Request Depending on the flow that is set DSA signal is ON when the user PLC the GATE output may be started j turns OFF the Result f and preparations for while the BUSY signal is ON Set Request DSA F data output have been The OR signal and GATE signal signal d t il te simul completed o not necessarily operate simul 44 this occurs when the taneously Output Unit is executed as the measurement flow is executed in order from the top It does not occur when execution of a measurement is completed 2 The signal is output if a Parallel Judgement Output or Parallel Data Output processing item is set in the measurement flow The signal turns OFF 1 This signal tells when the STEP when the STEP signal signal can be input when multiple cannot be input inputs are used 1 When through images Turn ON the STEP signal when The signal turns ON are being displayed READY Multiple Input the READY signal turns ON ieee STEP sional the READY signal will Ready When using multiple inputs the g turn OFF but the j can be input STEP signal can be next STEP sign
230. a in the processing flow Place the processing unit for data output in the measurement flow Processing Units That Serve as Output Units The processing items under Output result in the processing item tree in the Flow Editor serve as Output Units Control Methods Using an External Device Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Output result t ii Data Output LI Parallel Data Output Mi Parallel Judgement Output li Fieldbus Data Output M INM AO Output Unit Selection Select the Output Units according to the communications protocol based on the combinations that are shown in the following table For details on communications protocols refer to Communications Protocols for Communicating with the FH FZ5 p 15 OK Data can be output Data cannot be output Communications protocol Output unit Non Parallel PLC Link EtherNet IP EtherCAT procedure Parallel Data Output OK m Parallel Judgement Output OK ae te Data Output OK OK Fieldbus Data Output OK OK 2 Set the items to output Set the items to output as output data in the Output Units that you have placed in the measurement flow Refer to the descriptions for the communications protocol for the specific procedures to set the output items in the Output Units Character Output PLC Link Non procedure Communications Only Set the character outp
231. able for each processing item in Processing Item List Manual Measurement The acquired measurement value is output as a response Example Getting the value of the search judgement result external reference 0 that was set in processing unit 5 for the judgement OK status lt Command gt U N UTI DIALTIAY 5 0f lt Response gt 1 Pa olk e Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 ssolpueddy po 469 470 Changing processing unit parameters The set parameters for the processing units set in the scene currently being used are changed lt Command format gt WIN TIOLA TIA TT EE TT TT ie J L Setting data External reference table No Processing unit No max 4 digits lt Response format gt When processing is performed normally OJK eri When processing is not performed normally ER Srl lt Parameters explanation gt Processing unit No Specifies the processing unit number 0 to the number of unit data items minus one External reference table Varies depending on the specified processing unit processing items For more details refer to No External Reference Table for each processing item in Processing Item List Manual Setting Data Sets the value of the settings data Example When Skipping angle external reference table value 124 in Search set as the 6th processing unit processing unit number 5 is changed
232. age Display Pane Reference p 348 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with PLC Link s n d eu19 x3 UM Bugeoatunwwop pue Buosuuog JO SPoyN 183 First word in Command Area Function Reference 3 2 0020 7010 re the input status enabled disabled for the Communications Mod Reference p 349 0020 7020 Gets the output status enabled disabled to external devices Reference p 349 0020 8010 Gets the ON OFF status of the specified parallel I O terminal Reference p 350 0020 8020 Gets the ON OFF status for all terminals except for DI terminals Reference p 352 0020 8030 Gets the ON OFF status for all DI terminals Reference p 353 0020 9000 Gets the user name for the currently logged in user account Reference p 353 0020 9010 Gets the affiliation group ID for the currently logged in user account Reference p 354 0020 A000 Gets the current state of the operation log Reference p 355 Commands to Set Status First word in Command Area Function Reference 3 2 0030 1000 Changes the scene Reference p 355 0030 2000 Switches the scene group number Reference p 356 0030 4000 Sets the layout number and changes the image Reference p 357 0030 5010 Sets the number of the Unit to display in the specified Image Display Reference p 358 Pane 0030 5020 Sets the number o
233. ajgje LjJo g g i n g DJi rje c tjoljrfy C DyJalt a RJA MID i s kI gt lt Response gt O K cr soolpueddy poo 465 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 466 SYSLOAD Reads system data lt Command format gt File name of system data lt Response format gt When processing is performed normally O KISe When processing is not performed normally EIRIfR lt Parameters explanation gt Specifies the name of the file to be read with a definite path e g USBDisk abc ini E abc ini Only files that are under the following systems and have an INI extension can be read File name of system Destination FH FZ5 11 series FZ5 L35_1 6 series gala RAMDisk C Data RAMDisk RAMDISK USBDisk EA FA GA HA USBDisk to USBDisk3 IMPORTANT Do not turn off power to the Sensor Controller until there is a response Example When LABEL INI in the IMG01 folder of the USB memory to which the drive name USBDisk2 is assigned is loaded lt Command gt TSTYISILOJAIDI_ _ USBDisk2 IMGO1 LABEL INI lt Response gt O K lt a Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 SYSSAVE Saves system data lt Command format gt SIYISISJAIVIE l Save destination lt Response format gt When processing is p
234. al for Communications Settings Z342 Communications Protocols for Communicating with the FH FZ5 The FH FZ5 can be controlled from a PLC computer or other external device through a variety of communications protocols The communications protocols that can be used to control the FH FZ5 from an external device are described in this section Control can be performed through different communi cations protocols Sensor Controller Parallel EtherNet IP PLC Link EtherCAT Non procedure Applicable Communications Protocols OK Supported Not supported Communi cations method Communi cations protocol Overview M INM AQO Communications cable type Parallel 1 0 Ethernet RS 232C 422 Contact inputs Parallel Data is exchanged between an external device and the Sensor Controller through combinations of ON OFF signals from multiple physical contacts OK Data sharing PLC Link This is OMRON s communications protocol for Vision System The control signals Command Area Response Area and area to store measurement data are assigned in the I O memory of the PLC and data is exchanged cyclically to share data between the PLC and the Vision System OK OK EtherNet IP This is an open communications protocol Tag data links are used to communicate with the FH On the PLC structure variables are created that corre
235. al is accepted only i input Determine after the READY signal turns ON whether or not the i e when image input is com STEP input is allowed pleted based on the BUSY signal Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 ON OFF timing Signal Signal name Function OFF to ON ON to OFF This signal tells when Camera exposure has been completed This signal is output only when SHTOUT is selected as the output signal in the output signal settings of the system settings e If more than one Camera is connected the signal will remain ON for the Camera with the longest exposure time After the Camera expo The signal turns OFF You cannot use the Shutter sure is completed the Sit r thetime set for th SHTOUT Shutter Output Output Signal when the image signal turns ON after the SHTOUT width in the FH only signal mode is set for a through image time set for the SHTOUT e If you have registered more than delay in the output signal output signebectings has elapsed one Camera Image Input settings has elapsed processing unit in the measurement flow the SHTOUT signal will be turned ON for each Camera Image Input processing unit individually Therefore use Camera Switching processing items instead of Camera Image Input processing items in the middle of the measurement flow After an external trigger input is receiv
236. all processing time for the measurement flow longer If required for your application change the communications settings to Asynchronous Output Mode which performs measurement processing and data output processing in parallel Reference Asynchronous Output p 167 150 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communications Setup Procedures The following settings are required to use PLC Link communications 1 Communications Module settings startup settings L 2 Communications specifications set tings l registration 3 Output data settings processing item __ 4 Testing communications The type of the Communications Module is selected to determine the com munications method to use between the Sensor Controller and the external device Reference Communications Module Settings Startup Settings p 151 The communications specifications are set for the communications method of the Communications Module that was selected in step 1 Set the communications area assignments for exchanging data with the external device Reference gt Communications Specifications Settings p 153 The data to output to the Data Output Area is registered in the Output Unit The Output Unit is placed in the measurement flow in the same way as for other processing items Reference Output Data Settings Processi
237. ample of how to set the settings for tag data links with an OMRON PLC using the Network Configurator Reference gt Tag Data Link Setting Methods p 211 _ The data to output to the Data Output Area is registered in the Output Unit The Output Unit is placed in the measurement flow in the same way as for other processing items Reference Output Data Settings Processing Item Registration p 214 If communications are not working properly check the communications setup from step 2 and perform a communications test to determine if the Sensor Controller can be detected on the network If that does not solve the problem refer to the troubleshooting section Reference gt Testing Communications p 218 Communicating with EtherNet IP s d eu19 x3 UM Buyeolunuiwo5 pue Buosuuog JO spoule N Communications Module Settings Startup Settings The method to use for communications with the Sensor Controller is selected from the Communications Modules 1 On the Main Window select Tool System Settings 2 Select System settings Startup Startup setting on the Multiview Explorer on the left and then click Communication System Settings X El System Settings l Startup Language Setting Basic Operation mode Startup setting El Camera Camera connection Communication module select Inter camera setting A Output signal setting Serial Ethernet Normal UIDP wi E Communication Serial S 2
238. an application that uses vision sensor functions e 6006 hex Image Processing Results Real Data EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 1A0A hex 11th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 32 hex Size 1 byte U8 Sub index1 1st Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060140 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 2nd Input Object to be mapped Range Unit Default 60060240 hex Size 4 bytes U32 Sub index3 3rd Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060340 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index4 4th Input Object to be mapped Range Unit Default 60060440 hex Size 4 bytes U32 Sub index5 5th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060540 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index6 6th Input Object to be mapped Range Unit Default 60060640 hex Size 4 bytes U32 Sub index7 7th Input Object to be mapped Access RO PDO map Not possible
239. and Non procedure communications functions Z343 Vision System FH Series Operation Manual for Sysmac Studio Describes the operating procedures for setting up and operating FH series Vision Sensors from the Sysmac Studio FH Tools Conventions Used in This Manual Symbols The symbols used in this manual have the following meanings Use of Quotation Marks and Brackets In this manual menus and other items are indicated as follows Menu n Item name Indicates relevant operational precautions that must be followed Indicates operation related suggestions from OMRON Communicating with an NJ series Controller via EtherCAT communications Indicates the menu names or processing items shown in the menu bar Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Indicates the item names displayed on the screen G Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Contents FH FZ5 Manual Configuration oco eii iiir iaie A TE T N T E Ai 1 Conventions Used in This Manual 2 2 ecccccccceceeeeeeeeeeeceecaecaeeeeeeeeeeeseeseceaeaaeaaeeeeeeeeeeeeeseesecsanaeess 1 We OVORVIOW is cdiceesitetnedccisiccis cocecencativashiitedehcucectenactesacesudeauvesucdssnceecadesencesvasntietesdetacdenscisvacetoadsosseseieasdgaee 7 ITFOCDUCHION 2 coeteh ad ceie Getice acs Sart tied beeen e sant teat and ots ah tit te sistant eta alin E fet ie
240. and for line 0 in the Multi line Random Trigger Mode Instance 2 to 8 For lines 2 to 8 in the Multi line Random Trigger Mode Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Attribute AttributelD Access Name Data type Description The command string to send to the Sensor Control ler is set in this attribute 0x01 Set Data BYTE array 504 characters max The commands that can be used are equivalent to non procedure commands Reference gt Command List p 326 Service Service code Description 0x32 SetAttribute Sets a value for the attribute Command Setting Example This section describes how to set attribute command strings and provides a setting example e For the data that is sent from the PLC to the Sensor Controller set a command character string equivalent to a non procedure command Attach 0x00 null at the end of the character string No line feed code is required The size of the send data includes the 0x00 at the end of the character string e For the reception data from the Sensor Controller to the PLC character string data equivalent to the non procedure command reception character string is returned Null 0x00 is inserted in the reception character string delimiter section The size of the reception data includes the final 0x00 Example Getting the Number 0 of the Current Scene Send data 2 bytes 0x53 S 0x00 l
241. andshaking An Output Unit processing item is required to Qata output is controlled by the DSA a a perform data output Multiple Output Unit items CALE signals Refer to gt Control with can be used Control Signals and Status Signals p 17 1 When the Sensor Controller receives a command from a PLC or other external device it executes the command and returns a response 2 The data obtained after the measurement is performed is output via the Communications Module by the Output Unit an abbreviation for Results Output Unit processing item in the measurement flow 3 The measurement data is output when the Output Unit is executed not when the measurement is actually finished 1 4 If handshaking is used for output control the measurement data will remain in the Communications Module in a standby state until a data output request DSA signal is received from an external device Refer to Data Output Control with Handshaking p 27 IMPORTANT To output data you must place an Output Unit processing item in the measurement flow You can place multiple Output Unit processing items in the measurement flow Refer to gt Settings Required for Data Output p 24 12 Communicating with an External Device Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Controlling the FH FZ5 There are three methods that you can use to control the Sensor Controller from a PLC or other external device The
242. anual Cat No W504 for the registration procedure IMPORTANT Use Sysmac Studio Standard Edition version 1 07 or higher to set up the EtherCAT connections between FH series Vision Sensors and an NJ series Controller Setting the Data Output Sizes Use the Sysmac Studio to assign PDO communications areas for each line in the master according to the Data Output Number settings in the EtherCAT communications specifications settings There are the following two setting methods When the FH series Vision Sensors Are Already Set If the data output sizes are already set in the Vision Sensors use the following procedure to make the settings in the Sysmac Studio 1 Place the Sysmac Studio online with a Vision Sensor 2 Take the Vision Sensor offline The settings from the Vision Sensor will be loaded to the Sysmac Studio 3 PDO communications areas will also be assigned in the master according to the EtherCAT communications specifications settings Making the Settings Offline To set the data output sizes on the Sysmac Studio when they are not yet set in the FH series Vision Sensors use the following procedure offline Display the window to edit the FH series system data Display the EtherCAT Settings Window and select the check boxes for the EtherCAT settings Restart the FH Simulator to enable the settings After the Simulator is restarted display the EtherCAT Settings Window and set the Data Output Number for each line
243. are assigned to PDOs Indexes and subindexes are also assigned to application objects Object Dictionary Index ene Object Contents z 1ZZZ hex 01 hex 6TTT hex TT hex 8 1 E 02 hex 6UUU hex UU hex 8 m 7 z 03 hex 6YYY hex YY hex 16 PDO Length 32 Bit PDO_1 Object A Object B Object D 6TTT hex TT hex Object A y 6UUU hex UU hex Object B 6VVVHex VV hex Object C eYYY hex YY hex Object D d 8 3 6ZZZHex ZZ hex Object E PDO Mapping with EtherCAT Slave Terminals An EtherCAT Slave Terminal has PDOs for the FH series Vision Sensor and each NX Unit Application objects are assigned by default to the PDOs for each Unit s d eu19 x3 UM Bugeoiunwwop pue Buosuuog JO spoule The following diagram shows a specific example for one of the PDOs in an FH series Vision Sensor Object Dictionary Index Sub Object Contents Index Mapping object 1BFF hex 01 hex 2001 hex 01 hex 8 PDO Length 8 Bit 512th transmit PDO mapping Sysmac error status 2001 hex 01 hex Sysmac error status object Application 1 This is expressed as 0x2001 01 on the Sysmac Studio In the previous example a single application object is assigned to the PDO at index 1BFF hex name 512th transmit PDO mapping This PDO is a TxPDO The application object c
244. at gt When processing is performed normally Screen capture folder name O KISR When processing is not performed normally EIR ssolpueddy po lt Parameters explanation gt Responds with the name of the folder that the screen capture is saved to with its absolute Screen capture folder name path Example When the screen capture save destination is set to RAMDisk lt Command gt TIC F Is lt Response gt RIAIMID i s k x OlKF Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 Setting the screen capture folder name Sets the screen capture folder name lt Command format gt U mjajeje cjajejtjujRjejejojt ojejrR es Screen capture folder name 128 characters max Screen capture folder name 128 characters max lt Response format gt When processing is performed normally O K lt a When processing is not performed normally EIREs lt Parameters explanation gt Specify the name of the folder to save the screen capture into with the absolute path e g USBDisk E Save destinations include directories under the following systems Screen capture folder nana Save destination FH FZ5 11 series FZ5 L35_1 6 series RAMDisk C Data RAMDisk RAMDISK USBDisk E FA GA HA USBDisk to USBDisk3 Example When setting the screen capture fo
245. ata OFF f uy If the offset function is not used the first data output will be overwritten by the second data output First data output Second data output Response Area 1 The Sensor Controller outputs data when execution of the Data Output Unit is started 2 Data is output every time the Data Output Unit or another Data Output Unit is executed The previously output data is overwritten Therefore you should use a PLC Link offset when executing multiple Data Output Units without handshaking Reference gt Output Format Data Output p 172 Vision System FH FZ5 Series User s Manual Communicating with PLC Link for Communications Settings Z342 SOdIA9q eu19 x3 UM Bugeovrunwwop pue Buosuuog JO spoule 189 Using Handshaking When the PLC user turns ON the Result Set Request DSA signal the Result Completion GATE signal turns ON At that point the output data that can be output is output The PLC user turns OFF the DSA signal when it has received the output data and when the Result Completion GATE signal is ON If data is output from more than one Data Output Unit turn ON the DSA signal again after the Sensor Controller turns OFF the Result Completion GATE signal to output the next output data 4 This is the data that is prepared for output when the Output Unit is executed in the measurement flow Data Output Unit Data Output Unit execution execution e Retry interval ie The PLC turn
246. ation gt 0 Prohibited Outp t state 1 Permitted Example The following sample command retrieves the output state Enabled lt Command gt lO T S a lt Response gt KER Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 Sets the output state to external device Permits prohibits output to external devices When the input state is disabled i e set to 0 all the communications modules are unable to transmit data lt Command format gt O U TIPIUITITIRIAINIS S TIA TIE fri gas Output state 1 digit or jolts a T Output state 1 digit lt Response format gt When processing is performed normally OIK cr When processing is not performed normally ERE Example Setting the output status to external devices to prohibited or prohibiting output to external devices lt Command gt OJT S O fa lt Response gt O K er 446 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 PARAALLCOND or PAC Retrieves terminal states except for DI in batches Retrieves the states of terminals except for DI in batches Active or Inactive lt Command format gt PIAIRIAIAILIL C O NID F lt Response format gt When processing is performed normally Terminal state OLKIER e T D Ol When processing is not performed normally EIR lt Parameters explanation gt Returns the s
247. ations is used unexpected operation may occur when the command is executed Response Sensor Controller to PLC First wordin Command Bit a Description Response Area code 12to15 8to11 4to7 0to3 3 0030 0000 0000 0011 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 ssolpueddy poo 357 Command Control 358 Display Image Unit Number Setting Sets the number of the unit displayed in the specified image display window Command PLC to Sensor Controller First word in Command Bit oe Description Command Area code 12to15 8to11 4to7 O0to3 2 5010 0101 0000 0001 0000 Command code 3 0030 0000 0000 0011 0000 4 0000 0000 0000 0000 Display image window number FH Image display window number 0 to 23 FZ5 Displaying 1 image 1 5 p 0000 0000 0000 0000 Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails O to 4 6 0000 0000 0000 0000 Unit number 1 to unit number of current scene 1 7 7 0000 0000 0000 0000 If you specify 1 Define displayed unit is set Response Sensor Controller to PLC First word in Command Bit meee Description Response Area code 12to15 8to11 4to7 0to3 2
248. ay not be possible depending on the cable length because speeds of over 20 Kbps are not defined in RS 232C standards In this case set the baud rate to 19200 bps or lower Click Apply to apply the settings Click Close to close the System Settings Dialog Box Non procedure Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Output Data Settings Processing Item Registration Use the following procedures to set the items to output and the output format for the non procedure protocol Note When outputting characters read by a processing item such as Barcode these settings are set in the processing item used to read the characters Character Inspection Barcode or 2DCode Refer to the descriptions for each processing item for details on the character output settings and output format e Reference p Character Inspection in the Vision System FH FZ5 Series Processing Item Function Reference Manual Cat No Z341 e Reference p gt Barcode in the Vision System FH FZ5 Series Processing Item Function Reference Manual Cat No Z341 e Reference p 2DCode in the Vision System FH FZ5 Series Processing Item Function Reference Manual Cat No Z341 Registering Processing Items Register the processing items for data output in the measurement flow 1 Click Edit flow in Toolbar 2 Click Data Output in the processing item tree E E Output result li MEELT aTi 8 Parall
249. b 4 1 4 5 s n d eu19 x3 UM Bugeorunwwop pue Huosuuog JO spoule 1 The command code and command parameters are set from the PLC 2 Next confirm that the BUSY signal and the Command Completion signal have turned OFF and then turn ON the Command Request signal again A request is sent to the Vision Sensor 3 The Vision Sensor executes the command and turns ON the BUSY signal when the request is received 4 When the Vision Sensor completes execution it automatically turns OFF the BUSY signal 5 The Command Completion signal turns ON after the command echo response code and response data are set 6 The PLC user turns OFF the Command Request signal when the Command Completion signal turns ON 7 When the Vision Sensor detects that the Command Request signal is OFF it turns OFF the Command Completion signal 1 A timeout error occurs and the Command Completion signal and BUSY signal are forced OFF if the Command Request signal is not turned OFF from the PLC user within the timeout time that is set in the EtherCAT settings Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 Continuous Measurement Command without Handshaking Continuous execution is used to repeatedly execute measurements by starting the next measurement operation image input and measurement processing as soon as one measurement operation image input and measurement
250. be possible until the problem is corrected EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT Indicators System defined _ Variable Data type Name variables None ae sae Assumed cause Correction Prevention A logging disk is not inserted Insert a logging disk insert th legging disk soithatitwillinot come out Delete unnecessary files from the log Delete unnecessary files from the log The available space on the logging ae re Cause and ae Seat ging disk or otherwise increase the ging disk or otherwise increase the disk is not sufficient correction available space available space Create the logging folder or change Create the logging folder or change There 9 no legging toler the logging folder the logging folder Security restrictions are set on the log Clear the security restrictions on the Clear the security restrictions on the ging disk logging disk logging disk Attached 3 None information Precautions This event occurs for disk writing errors for image logging There is no event that occurs for disk writing errors for data Remarks logging Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s d eu19 x3 UM Bugeovtunwwop pue Huosuuog JO spoule Setting Data Transfer Error An error occurred while transferring the EtherCAT Master Function Module Minor fault Continues Scene data was edit
251. bute of the attribute Settings for Data Sent by the Sensor Controller Instance Setting item Set value Description 101 For normal control and for line 0 in the Multi line Random Trigger Mode 103 For line 1 in the Multi line Random Trigger Mode 105 For line 2 in the Multi line Random Trigger Mode 107 For line 3 in the Multi line Random Trigger Mode Instance 109 For line 4 in the Multi line Random Trigger Mode 111 For line 5 in the Multi line Random Trigger Mode 113 For line 6 in the Multi line Random Trigger Mode 115 For line 7 in the Multi line Random Trigger Mode Attribute AttributelD Access Name Data type Description This attribute contains the data that was sent by the Sensor Controller 0x03 Get Data BYTE array The format is the same as tor input connection in tag data link communications Reference Input Connection to Sensor PLC Originator to Sensor Controller Target p 220 0x04 Get Size UNIT Number of bytes 48 Service Service code Name Description 14 0E hex GetAttributeSingle Gets the attribute value ClassID 100 64 hex Vision Sensor Object You can exchange character string data with a format equivalent to non procedure commands with objects specific to the Sensor Controller You can use this object for example to output character strings which is not supported by tag data links Instance Setting item Set value Description 1 For normal control
252. bytes U32 Access RO PDO map Not possible Sub index11 11th Input Object to be mapped Range Unit Default 60050B20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index12 12th Input Object to be mapped Range Unit Default 60050C20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index13 13th Input Object to be mapped Range Unit Default 60050D20 hex Size 4 bytes U32 Access RO EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible Sub index14 14th Input Object to be mapped Range Unit Default 60050E20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index15 15th Input Object to be mapped Range Unit Default 6 0050F20 hex Size 4 bytes U32 Sub index16 16th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60051020 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index17 17th Input Object to be mapped Range Unit Default 60060140 hex Size 4 bytes U32 Sub index18 18t
253. c Studio or an NS series PT To recover from a major fault level error remove the cause of the error and either cycle the power supply to the Controller or reset the Controller from the Sysmac Studio e Partial Fault Level These errors prevent control operations in a certain function module in the Controller The NJ series CPU Unit continues to execute the user program even after a partial fault level error occurs After you remove the cause of the error execute one of the following to return to normal status Reset the error from the user program the Sysmac Studio or an NS series PT Cycle the power supply to the Controller Reset the Controller from the Sysmac Studio e Minor Fault Level These errors prevent part of the control operations in a certain function module in the Controller The troubleshooting for minor fault level errors is the same as the processing for partial fault level errors e Observations These errors do not affect the control operations of the Controller Observations serve as warnings to the user so that the error does not develop into an error at a higher level e Information Events that are classified as information do not indicate errors Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 SOdIAQq eu19 x3 UM Buyeolunuiwoy pue Buosuuog 104 SPON Checking Sysmac Error Status You can use the troubleshooting functions of the Sysmac Studio Standard Versi
254. cations Output Status Gets the output status enabled disabled to Reference external devices gt p 349 Gets the ON OFF status of the specified par Reference 0020 8010 Get Terminal Status allel 1 0 terminal gt p 350 0020 8020 Get All Terminal Status Gets the ON OFF status for all terminals Reference except for DI terminals gt p 352 0020 8030 Get All DI Status Gets the ON OFF status for all DI terminals Reference gt p 353 0020 A000 Get Operation Log State Gets the current state of the operation log ies 59 Commands to Set Status Command Soar Command name Function Reference Command Area hex i Reference 0030 1000 Select Scene Changes to the specified scene number gt p 355 Changes to the scene group with the speci Reference 0030 2000 Set Scene Group fed number gt p 356 0030 4000 Set Layout Number Sets the layout number and changes the Reference image gt p 357 Sets the number of the Unit to display in the Reference 0030 5010 Set Display Image Unit Number specified image display window gt p 358 Sets the number of the subimage to display in Reference 0030 5020 Set Display Subimage Number the specified image display window gt p 359 Sets the image mode for the specified image Reference 0030 5030 Set Image Display Status display window gt p 360 E Enables disables inputs to the Communica Reference 0030 7010 Set Communications Input Status tions Modules gt p 361
255. ccess RO Range Unit Default 60050120 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 2nd Input Object to be mapped Range Unit Default 60050220 hex Size 4 bytes U32 Sub index3 3rd Input Object to be mapped Access RO Range Unit Default 60050320 hex Size 4 bytes U32 Access RO Sub index4 4th Input Object to be mapped Range Unit Default 60050420 hex Size 4 bytes U32 Sub index5 5th Input Object to be mapped Access RO Range Unit Default 60050520 hex Size 4 bytes U32 Access RO Sub index6 6th Input Object to be mapped Range Unit Default 60050620 hex Size 4 bytes U32 Sub index7 7th Input Object to be mapped Access RO Range Unit Default 60050720 hex Size 4 bytes U32 Access RO Sub index8 8th Input Object to be mapped Range Unit Default 60050820 hex Size 4 bytes U32 Sub index9 9th Input Object to be mapped Access RO Range Unit Default 60050920 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index10 10th Input Object to be mapped Range Unit Default 6 0050A20 hex Size 4
256. ceeeeeeeeeeeeseesecsecsiaeeeeereeeess 22 Setting Procedures for Communications 00 eee eee cece tte eee eeette eee e eee e eset eeaae eee eeetaeeeeeeetaeeeeeeeenaeeeeeeenaaes 30 Communications Setup Procedures c ccceceeccecceeeeeeeeeeetececeeaeaeeceeeeeeeeeeesecsencaesaeeeeeeeeeeeeeesensinaeess 30 Communications Protocols and Communications Modules 0 cceeeccceeeeeeeeeeeeeeeeeentneeeeeeenaeeeeeeeeaas 31 Differences in Specifications Based on the Communications Protocol ccccccceceeeeeeeeeeeeeteeneeeaeeees 32 List of Supported Signals by Communications Protocol ec ceeceeeeeenee eee eeeneeeeeeeeenaeeeeeeeeneeeeeeeeaaes 32 Restrictions on Using Different Communications Modules Simultaneously 33 Models That Are Compatible with the Communications Protocols cceceeeeeeeeeeeceecaeeeeeeeeeeeeees 34 2 Methods for Connecting and Communicating with External Devices cceeeeeeeeeeeeeeeeeee 37 EtherCAT Connections FH Only seccarsi iiaii eiri AN Ea AAN a AEA AAA 38 Introduction to Eth herGAT eira ea a a e a aae a aea aae aa aaae aar aea aa 38 Structure of CAN Application Protocol over EtherCAT CoE c ccececceceeeeeeeteeeeeetenieeeeeeetnieeeeeeeeea 41 EtherCAT Slave Information Files ESI Files 0 ccc ceeeecceeeeeeeeneeeeeeeeeeeeeeeeeaaeeeeeesaaeeeeeeenaeeeeenenees 42 Transitions of Communications States ocoli e ate a R AAEE RERE AA EA ARREA 43 Process Data Objects
257. cessing items in the measurement flow The Output option is not selected in the Select the Output option in the Adjustment Adjustment Window Window If the BUSY signal stays OFF after sending a measurement command the measurement The measurement commands are not being Ethernet command may not have been received received Send measurement commands only when the BUSY and FLG signals are both OFF Data is sometimes A cable has been disconnected Check the cable connections output but The Output option is not selected in the Select the Output option in the Adjustment sometimes Adjustment Window Window not a o If the BUSY signal stays OFF after sending a measurement command the measurement The measurement commands are not being F command may not have been received received Send measurement commands only when the BUSY and FLG signals are both OFF The read Verification string is not output Character output have not been set Set character output in the output parame ters for the character output processing items Character Inspection 2DCode etc Output for read target strings is set up in the above processing items not in the Data Out put processing items There is more than one Data Output Item but data is received from only the last Data Output Unit in the list The data output by the first Data Output Unit is being overwritten by the data output by a Data Output Unit executed af
258. chronously with the external device Output control F Handshaking This setting is used to output the measurement Handshaking results synchronously with the external device Output period ms 2 to 5 000 cycles 2 cycles Set the timing for outputting the measurement results Set the number of cyclic communications of the EtherCAT PDO communications cycle after which to output the measurement results from the Sensor Controller Output time ms 1 to 1 000 cycles Set the time to hold the output of the measurement results Set the number of EtherCAT PDO communications cycles to hold the output from Ice the Sensor Controller Timeout s Set the timeout time anen Output poles A timeout error occurs if the external device does not perform handshaking dur Control is set to 10 0 s Handshaking ing the set time Line n Data Out put number number of data outputs for line n Result Data Format 0 DINT 8 Result Data Format 1 DINT 16 Result Data Format 2 DINT 32 Result Data Format 3 DINT 64 Result Data Format 4 LREAL 4 Result Data Format 5 LREAL 8 Result Data Format 6 LREAL 16 Result Data Format 7 LREAL 32 Result Data Format 8 DINT 2 LREAL 3 Result Data Format 9 DINT 4 LREAL 6 Result Data Format 10 DINT 8 LREAL 12 Result Data Format 11 DINT 16 LREAL 24 Set number of data items to output for each line There are two data sizes that are use
259. ck Setting to set the communications specifications Output polarity on at NG Output control None Output period ms oo l Gate ON delay ms O oN Output time ms O o Timeout s 10 0 Number of delay _ l One shot OR signal Output time ms s d eu19 x3 UM Bugeorunwwop pue Buosuuog JO spoule N 285 Vision System FH FZ5 Series User s Manual Parallel Communications for Communications Settings Z342 286 4 Set the following items to define the communications specifications Setting value Setting item Factory default Operation The output is turned ON if the judgement is OK On at OK For the overall judgement the output is turned ON if all judgements are OK Output polarity The output is turned ON if the judgement is NG On at NG For the overall judgement the output is turned ON if even one judge ments is NG Method to output measurement results without synchronizing with None external devices Reference Output Control None p 310 Method to output measurement results while synchronizing with exter Handshaking nal devices Output control Reference gt Output Control Handshaking p 311 Synchronization output Method to output measurement results while synchronizing with line processing timing The STEP signal is ignored the number of times set in Number of delay and measurement results are output when the STEP signal next turns ON If
260. communications protocol Signal Signal name Function Parallel PLC Link eee EtherCAT EXE Control Turn ON this signal from the lt a OK OK Command Command PLC to send a command to Request Execution Signal the FH FZ5 OK TRIG Turn ON this signal to execute Ves B OK z Measure Bit Trigger measurements a x OK STEP Measure Bit Turn ON this signal to execute OK Si measurements 17 Vision System FH FZ5 Series User s Manual Control Methods Using an External Device for Communications Settings Z342 18 Signals for each communications protocol Signal Signal name Function Parallel PLC Link pcs EtherCAT DSA Use this signal from the PLC Used only for during handshaking to request OK OK OK E handshaking Data Output from the FH FZ5 the external output control Request Signal output of the data output results Result Set from the execution of the Request measurement flow T i T OK ERCLR Turn ON this signal to clear the OK Error Clear Bit ERR signal from the Sensor Error Clear Controller OK XEXE Turn ON this signal to execute ass OK OK Flow Flow Command a command during execution of Command Request Bit PLC Link fieldbus parallel or as a Ms OK Request non procedure flow control Command Rui These signals are used to input DI DIO to DI7 p commands from a parallel OK Signals interface Encoder Trigger This is the encoder input ENCTRIG In
261. creases the overall processing time of the measurement flow This is the same as the PLC Link operation of the FZ4 Vision Sensor Reference Asynchronous Output p 167 After a timeout error occurs communications with the destina Retry interval ms 910299393 tion device will be attempted at the interval time that is set as 09901 the retry interval 1 to 999999 Set the interval to perform polling from the FH FZ5 to the Polling cycle ms 0 external device e g PLC 1 Click Apply to apply the settings Click Close to close the System Settings Dialog Box 166 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Asynchronous Output When asynchronous output is enabled measurement flow and data output processing are performed in parallel In this case data output processing does not affect the measurement flow processing in any way Clear the option for asynchronous output if you want to perform output in the same way as for FZ4 and prior models This enables synchronous output which means that execution of the measurement flow continues only after the data output processing for the current measurement flow is finished In this case all data output processing finishes when all measurements are finished but the overall processing time of the measurement flow is increased e Asynchronous output Not Selected Sensor Controller
262. ct indicates up to 8 diagnosis histories It also sets whether to notify emergency messages or not e Sub index 1 Maximum Messages gives the number of error messages e Sub index 2 Newest Messages gives the sub index number the latest message in the diagnosis history e Sub index 5 Flags is the control flag of diagnosis history It specifies whether or not to notify error messages via emergency messages Setting 0001 hex means to notify It is set to 0001 hex Emergency notify when power is turned ON At startup the setting is 0000 hex no emergency notification e Sub indexes 6 to 13 Diagnosis messages 1 to 8 indicate the diagnosis history From sub index 6 Diagnosis message 1 to sub index 13 Diagnosis message 8 are stored 8 errors The 9th error and onward are stored from the sub index 6 Diagnosis message 1 again e The FH series Vision Sensors support only the flags 106 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 PDO Mapping Object Indexes 1600 hex to 17FF hex are used for Receive PDO mapping and indexes 1A00 hex to 1BFF hex are used for Transmit PDO mapping Sub indexes after sub index 1 provide information about the application object being mapped 31 16 15 8 7 0 Indexes Sup Bit length Indexes MSB LSB Bits 0 to 7 Bit length of the mapped object For example for 32 bits 20 hex is given Bits 8 to 1
263. cted to NJ series CPU Unit Configurations and Setup I O Map Double click n Right click a slave or I O port in the I O map and select Create Device Variable The device variable name is automatically created as a combination of the device name and the I O port name You can also select an I O port and enter a variable name in the Variable column You can also select a registered variable from the variable table to use as a device variable Refer to the gt Sysmac Studio Version 1 Operation Manual Cat No W504 for details on registering device variables s d eUI9 Xy UM Bugeorunwwop pue Buosuuog JO spoule N Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 I O Signals The following tables list the signals that are used to control I O for EtherCAT Input Signals i ON OFF timing Signal Signal Function name OFF to ON ON to OFF Turn ON the signal from the Control Turn ON this signal from the PLC to send a command to Turn OFF the signal from the Command Command the Vision Sensor and request PLC when the Vision Sensor PLC to send a command to Request Execution on execution based on the com turns ON the Command Com the Vision Sensor A 4 Signal mand code and command pletion signal parameters e Turn ON the signal from the PLC to externally output the During handshaking send this data that results from signal from the
264. d eu19 x3 UM Buyeolunuiwo9 pue Buosuuog 104 spoule N 311 Output Control Synchronization Control Operation When Number of Delay Is Set to 2 The signal is turned OFF when the BUSY signal turns ON ON STEP signal 1 2 3 4 5 OE ac f 2 4 5 Y ON while measurements are being processed ON y i BUSY signal i OFF Overall judgement Overall judgement Overall judgement Overall judgement Overall judgement result for 1 result for 2 result for 3 result for 4 result for 5 OR signal The results for 1 is output when the STEP signal turns ON the third time cst i wia ON GATE signal GATE ON E k OFF Output time 1 Repeatedly turn ON the STEP signal while the BUSY signal is OFF 2 The OR signal is output when the BUSY signal turns ON When the STEP signal turns ON for the third time the measurement results DO for the first time that the STEP signal turned ON are output and the GATE signal is turned ON after the time set for the GATE ON delay has elapsed 4 When the STEP signal turns ON for the fourth time the measurement results DO for the second time that the STEP signal turned ON are output and the GATE signal is turned ON after the time set for the GATE ON delay has elapsed 5 Each time the STEP signal turns ON after that the measurement result DO from when the STEP signal turned ON two times previously is output Parallel Communications Vision System FH FZ5 Series User s Manual for C
265. d for the output data 4 bytes DINT and 8 bytes LREAL Select the output data sizes and number of outputs from the following selections Result Data Format 0 DINT 8 Eight 4 byte data items are output Total 32 bytes Result Data Format 1 DINT 16 Sixteen 4 byte data items are output Total 64 bytes Result Data Format 2 DINT 32 Thirty two 4 byte data items are output Total 128 bytes Result Data Format 3 DINT 64 Sixty four 4 byte data items are output Total 256 bytes Result Data Format 4 LREAL 4 Four 8 byte data items are output Total 32 bytes Result Data Format 5 LREAL 8 Eight 8 byte data items are output Total 64 bytes Result Data Format 6 LREAL 16 Sixteen 8 byte data items are output Total 128 bytes Result Data Format 7 LREAL 32 Thirty two 8 byte data items are output Total 256 bytes Result Data Format 8 DINT 2 LREAL 3 Two 4 byte data items and three 8 byte data items are output for a total of 5 data items Total 32 bytes Result Data Format 9 DINT 4 LREAL 6 Four 4 byte data items and six 8 byte data items are output for a total of 10 data items Total 64 bytes Result Data Format 10 DINT 8 LREAL 12 Eight 4 byte data items and twelve 8 byte data items are output for a total of 20 data items Total 128 bytes Result Data Format 11 DINT 16 LREAL 24 Sixte
266. d in Command Area Function Reference 3 2 0030 1000 Changes the scene number 0030 2000 Switches the scene group number Reference p 355 0030 4000 Sets the layout number and changes the image Reference p 356 0030 5010 Sets the number of the Unit to display in the specified Image Display Reference P gt p 358 Pane 0030 5020 ee of the subimage to display in the specified Image Reference P gt p 359 0030 5030 Sets the image mode for the specified Image Display Pane Reference p 360 0030 7010 Enables disables inputs to the Communications Modules Reference p 361 0030 7020 Enables disables outputs to external devices Reference p 361 0030 8010 Sets the ON OFF status of the specified parallel I O terminal Reference p 362 0030 8020 Sets the ON OFF status for all terminals except for DO terminals Reference p 363 0030 8030 Sets the ON OFF status for all DO terminals Reference p 364 Changes the user account used by the user currently logging in Reference p 365 0030 A000 Sets the state of the operation log Reference p 365 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Commands to Read Data First word in Command Area Function Reference 3 2 Gets the unit data Reference p 366 Gets the current date and time Reference p 36
267. d in the parallel A parallel I O interface N Reference current Detected line is short circuited gt p 93 I O interface e The data is corrupted because the power supply was turned OFF while saving the previous scene data f 182D 0000 hex pe g o en As the result of changing V a group i the operation mode the P required amount of memory increased resulting in insufficient memory e The Camera connection The Camera that is information in the scene Change in Con connected is different data does not agree with the Reference PPRA es nected Camera from when data was connection information for y gt p 94 last saved the Camera connected to the Controller Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s d eu19 x3 UM Bugeoriunwwop pue Buosuuog JO spoule Event code Event name Meaning Assumed cause Level Maj Prt Min Obs Infor Reference 38590000 hex Camera Connec tion Error The Camera connec tion is wrong e A Camera is not connected to the Controller The Camera cable is broken e The Camera Selection settings are not correct in the Camera Image Input and Camera Switching processing items A Camera is not connected to the Camera port on the Controller according to the Camera Selection settings in the Camera Image Input and Camera Switching processing
268. de 3 0050 0000 0000 0101 0000 4 E 0000 0000 0000 0000 Terminal offset data 5 gt 0000 0000 0000 0000 0 to 9999 Response Sensor Controller to PLC First wordin Command Bit IA Description Response Area code 12t0o15 8to11 4to7 0to3 2 4060 0100 0000 0110 0000 Command code 3 0050 0000 0000 0101 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 381 Command Control Loading Scene Data Reads scene data Command PLC to Sensor Controller First word in Command Bit Denon Command Area code 12to15 8to11 4to7 0to3 2 1000 0001 0000 0000 0000 Command code 3 0060 0000 0000 0110 0000 4 0000 0000 0000 0000 Number of scene to read 5 0000 0000 0000 0000 6 0000 0000 0000 0000 Name of the file to be read with the absolute 7 0000 0000 0000 0000 path 5 0000 0000 0000 0000 Up to 256 characters Response Sensor Controller to PLC First word in Command Bit nee Description Response Area code 12to15 8to11 4to7 0to3 2 1000 0001 0000 0000 0000 Command cod 3 0060 0000 0000 0110 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000
269. del for communications control of the EtherCAT Slave Terminals is controlled by the EtherCAT master The following figure shows the communications state transitions from when the power supply is turned ON oe Power supply ON Pre Operational Safe Operational m l Operational Status a Sending Receling Description PDOs PDOs P cations Init Not possi Not possi Not possi Communications are being initialized Communications are ble ble ble not possible Only SDO communications message communications are Not possi Not possi possible in this state Pre Opetational Hoes ble ble This state is entered after initialization is completed It is used to initialize network settings Not possi In this state both SDO communications message commu Safe Operational Possible Possible p nications and sending PDOs are possible ble Information such as status is sent from the Slave Terminal y This is the normal state for communications perenne POPPINS Poenbies Etee rie PDO communications are used to control the I O data Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s d eu19 x3 UM Buyjeolunuiwoy pue Buosuuog 104 spoule Process Data Objects PDOs Introduction Process data objects PDOs are used to transfer data during cyclic communications in realtime T
270. der one data item at a time 16 bit units Each time a data item is output the GATE signal turns ON When this occurs the first data item that was output to the PLC reception buffer data 0 is overwritten by the next output data item data 1 Therefore the data output to the PLC reception buffer must be saved to PLC memory each time the GATE signal turns ON for each data item Data output order Parallel data output DOO to 0 Measurement data 0 DO15 7 Measurement data 7 GATE ON TA signal OFF 4 The operation of the DSA signal depends on whether handshaking for output control is enabled Reference gt Data Output Control with Handshaking p 27 Reception buffer Output Format Parallel Data Output 1 Click the Parallel Data Output icon in the measurement unit list flow 2 In the Item Tab Area click Output format 3 Select the output format in the output settings Output setting Format Binary s d eu19 x3 UM Bugeoiunwwop pue Buosuuog JO spoule Setting value Description Factory default Data is output as 2 s complement binary data Binary Information on 2 s Complement Refer to gt Definitions of Basic Terms in the FH FZ5 Series Image Processing System User s Manual Cat No Z340 Data is output expressing 1 digit with 4 bits and expressing a 3 digit integer and sign with 16 bits e Bits 12 to 15 BCD These bits give the sign positive 0000 negat
271. does not turn OFF within the specified time after the GATE signal turns ON a timeout error will occur Turn ON the STEP signal while the BUSY signal is OFF Measurement begins and the BUSY signal is turned ON during the measurement process Turn ON the DSA signal from the external device to request data transmission after the STEP signal turns ON 1 A timeout error will occur if the DSA signal is not turned ON within the set timeout interval from when the output data was output by the Output Unit in the measurement flow 1 After measurement is completed the OR signal is output based on the measurement result and the BUSY signal is turned OFF Measurement data is output when a Parallel Data Output Unit in the measurement flow is executed The GATE signal is turned ON if the DSA signal is ON after data output processing The user PLC reads the data and turns OFF the DSA signal when the GATE signal turns ON The GATE signal turns OFF if the DSA signal is turned OFF 2 2 If you do not turn OFF the DSA signal within the specified timeout time after the GATE signal turns ON a timeout error will occur 2 If more than one data item is being output for one measurement and you do not turn ON the DSA signal within the specified timeout time after the GATE signal turns OFF a timeout error will occur 3 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Parallel Communications s
272. dress STEP setting Encoder trigger setting Data Output area Network drive setting Screen capture setting Area CIO Area Cl0 ka Measurement setting Logging setting Address 200 Operation log setting User customization Sutput control Handshaking zj EA 5 Set the output control Sa TOLL gt Set whether to provide an interlock Raae a ilia with the PLC when performing data F output 6 This completes the Sensor Control ler settings Vision System FH FZ5 Series User s Manual Communicating with PLC Link for Communications Settings Z342 s d eu19 x3 UM Bugeoviunwwop pue Buosuuog JO SPoyN N 75 Checking the Communications Status 1 Connect the Sensor Controller and computer with an RS 232C 422 cable 2 If the cable is not connected check to confirm that the message PLC Link Error is displayed on the Controller 3 Confirm that the PLC Link Error message goes away when the cable is connected At the longest the message should disappear after the time set as the retry interval If the PLC Link Error message does not go away the PLC Link settings are not correct Check the following e Are the communications settings correct for the connected device e Is the cable connected e Are all cables wired correctly After you have confirmed the communications status as described above send an actual measurement command to the Controller and check to confirm that Vision Sensor communications are operating correct
273. e Range Unit Default 00000000 hex Size 4 bytes U32 Access RO PDO map Possible 6005 hex DINT Result Data Sub index0 Number of entries Range Unit Default 00 hex Size 1 byte U8 Access RO PDO map Not possible Sub index0 63 DINT Result Data0 63 Range Unit Default 00000000 hex Size 4 bytes INT32 Access RO PDO map Possible e The output data are stored 6006 hex LREAL Result Data Sub index0 Number of entries Range Unit Default 00 hex Size 1 byte U8 Access RO PDO map Not possible Sub index0 31 LREAL Result Data0 31 Range Unit Default 00000000 hex Size 8 bytes Double Access RO PDO map Possible e The output data are stored 142 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 7000 hex Control Flag Sub index 0 Number of entries Range Unit Default 00 hex Size 1 byte U8 Sub index 1 Command Request Access RO PDO map Not possible Range True 1 or False 0 Unit Default False 0 Size 1 bit BOOL Access RW PDO map Possible Sub index 2 Trigger Range True 1 or False 0 Unit Default False 0 Size 1 bit BOOL Sub index 3 8 Control Reserve Bit03 08 Access RW P
274. e 3 0040 0000 0000 0100 0000 Response Sensor Controller to PLC First word in Command Bit Description Response Area code 42t015 8to11 4to7 0to3 3 2 2000 0010 0000 0000 0000 Command code 3 0040 0000 0000 0100 0000 Response target command codes gt O 4 0000 0000 0000 0000 Response code 2 Command execution result 2 5 0000 0000 0000 0000 OK 0 0000 0000 p NG Not 0 0000 0000 6 0000 0000 0000 0000 Year data 1900 to 2100 7 0000 0000 0000 0000 8 0000 0000 0000 0000 Month data 1 to 12 9 0000 0000 0000 0000 10 0000 0000 0000 0000 Date data 1 to 31 11 0000 0000 0000 0000 12 0000 0000 0000 0000 Hour data 0 to 23 13 0000 0000 0000 0000 14 0000 0000 0000 0000 Minute data 0 to 59 15 0000 0000 0000 0000 16 0000 0000 0000 0000 Second data 0 to 59 17 0000 0000 0000 0000 Acquiring Version Information Acquires the Sensor Controller version information Command PLC to Sensor Controller First wordin Command Bit Beseripion Command Area code 412to15 8to11 4to7 Oto3 2 3000 0011 0000 0000 0000 Command code 3 0040 0000 0000 0100 0000 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 367 Command Control 368 Response Sensor Controller to PLC First word in Command Bit ie Description Response Area code 12to15 8to 11 4to7 0 to 3 2 3000 0011 0000 0000 0000 Command code 3 0040 0000 000
275. e Manual Cat No Z341 e Barcode Refer to Barcode in the Vision System FH FZ5 Series Processing Items Reference Manual Cat No Z341 e 2DCode Refer to B 2DCode in the Vision System FH FZ5 Series Processing Items Reference Manual Cat No Z341 Registering Processing Items Register the processing items for data output in the measurement flow 1 Click Edit flow in Toolbar 2 Click Data Output in the processing item tree J Output result Lit Benen rae r 8 Parallel Data Output i j Paralel Judgement Output lj Fieldbus Data Output 3 click Append The Data Output processing item is appended at the bottom of the unit list flow 0 Camera Image Input 1 Search 2 Data Output li Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 4 Click the Data Output icon ah and set the data output items and data format Refer to the following reference for details on the settings e Reference Registering the Items To Output p 170 Note The number of items that can be output in a single data output processing item is 8 to 256 If you need to output more data items use more than one Output Unit If multiple Output Units are registered in the same measurement flow the data is output to the same destination If you do not control the output the output data that was output first will be overwr
276. e Automation Controller 1C13 hex Sync manager 3 PDO assignment is assigned to this object e This object is automatically assigned in the default settings of the Sysmac Studio Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 s d eUJ9 XW UM Bugeorunwwop pue Huosuuog 104 spoule 136 Sync Manager Communication Object The communication memory of EtherCAT is set by the objects from 1C00 hex to 1013 hex 1C00 hex Sync Manager Communication Type Sub index 0 Number of used SM channels Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO Sub index 1 Communication Type Sync Manager 0 PDO map Not possible Range Unit Default 01 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 2 Communication Type Sync Manager 1 Range Unit Default 02 hex Attribute Size 4 bytes U8 Access RO Sub index 3 Communication Type Sync Manager 2 PDO map Not possible Range Unit Default 03 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 4 Communication Type Sync Manager 3 Range Unit Default 04 hex Attribute Size 4 bytes U8 Access RO e The sync manager
277. e IP address of the Sensor Controller Subnet mask 0 0 0 0 to 255 255 255 255 255 255 255 0 Input the subnet mask address Default gateway a b c d a 1 to 223 b 0 to 255 c 0 to 255 d 0 to 255 10 5 5 110 Input the default gateway address DNS server a b c d a 1 to 223 b 0 to 255 c 0 to 255 d 0 to 255 10 5 5 1 Input the DNS server address Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with PLC Link s d eu19 x3 UM Buyeoiunuiwoy pue Huosuuog 104 spoule 155 Setting item Set value Factory default Description Address setting 2 for an FH series Sensor Controllers with Set the IP address of the bottom Ethernet port on four or eight Camera inputs only the Sensor Controller Obtain an IP address automatically Use the following IP address a b c d a 1 to 223 b 0 to 255 c 0 to 255 d 2 to 255 10 5 6 100 0 0 0 0 to Subnet mask 255 255 255 255 255 255 255 0 a b c d a 1 to 223 b 0 to 255 c 0 to 255 d 2 to 255 10 5 6 100 a b c d a 1 to 223 b O to 255 c 0 to 255 d 2 to 255 10 5 6 100 IP address Same as Address setting Default gateway DNS server Input Output settings a b c d a 0 to 255 b 0 to 255 c 0 to 255 d 0 to 255 0 0 0 0 0 to 65535 Set the port No to use for data I O with the Sensor 9600 Controller Outp
278. e Terminal Type Is ACK FH Only 0 ACK 0000 0000 0000 0000 9 0000 0000 0000 0000 Terminal state 0 OFF 1 ON Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Response Sensor Controller to PLC First word in Command Bit ee Description Response Area code 12to15 8to11 4to7 0 to 3 2 8010 1000 0000 0001 0000 Command code 3 0030 0000 0000 0011 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 IMPORTANT The supported signals and signal assignments for an FH series Sensor Controller depend on the number of lines used in Multi line Random trigger Mode Reference Multi line Random Trigger Mode Signal Specifications p 300 If you set the status of unused terminals the response code will be OK and the set terminal status will be discarded Terminal State Batch Setting Sets the states of terminals except for DO in batches Active or Inactive Command PLC to Sensor Controller ssolpueddy poo First word in Command Bit Command Area code 12to15 8to11 4to7 0to3 Description 2 8020 1000 0000 0010 0000 3 0030 0000 0000 0011 0000 Command code 4 0000 0000 0000 0000 5 0000 0000 0000
279. e cause of the error is removed Error reset Normal status is restored when the error is reset after the cause of the error is removed Cycle the power supply Normal status is restored when the power supply to the Controller is turned OFF and then back ON after the cause of the error is removed Controller reset Normal status is restored when the Controller is reset after the cause of the error is removed Depends on cause The recovery method depends on the cause of the error 3 One of the following System System event log Access Access event log 4 One of the following Continues Execution of the user program will continue Stops Execution of the user program stops Starts Execution of the user program starts EtherCAT Connections FH Only s d eUJ9 Xy UM Bugeortunwwop pue Huosuuog 104 spoule N 91 i Error Descriptions Fan Power Supply Error 08210000 hex An error occurred in the fan or power supply EtherCAT Master Function Module Always at startup Error reset after resetting the error in the slave Minor fault Continues System All slave functionality stops until the problem is corrected Turn OFF the power supply remove A foreign object is interfering with fan the object interfering with fan opera Make sure that there are no foreign operation tion and turn the power supply back __ objects interfering with fan operation ON
280. e ee Example The following sample command loads the image with registered image number 100 as a measured image lt Command gt R lt Response gt OlKFe RESET Restart the Sensor Controller lt Command format gt IRIEISJE T fri lt Response format gt None Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Control ssolpueddy po 453 SCENE or S Acquires scene number Acquires the current scene No lt Command format gt SICTEINJEF or lt Response format gt When processing is performed normally C R On Scene No 3 digits max When processing is not performed normally lt Parameters explanation gt Scene No The acquired scene No currently used scene No is output as a response 0 to 127 Example When scene 0 is being used lt Command gt ISIC E N E fa lt Response gt Ok O K er 454 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Scene switch No Switches the scene number to be used lt Command format gt Scene No 3 digits max lt Response format gt When processing is performed normally O K Ica When processing is not performed normally lt Parameters explanation gt Scene No Specifies the scene No after switching 0 to 127 Example When switching to scene 2 lt Command gt SICIEINIE 2 x lt Response gt O K Ice
281. e may drop e g responses may be delayed or packets lost or communications errors may occur when there is temporarily high traffic on the network Test the operation under actual conditions before you start actual operation of the system When the measurement interval is short or when the measurement processing load is high the Sensor Controller will give priority to measurement processing over communications processing Therefore communications between the external device and the Sensor Controller may be temporarily interrupted or communications errors may occur If this happens set the communications error timeout interval longer than the transaction time or lengthen the measurement interval Set the communications error timeout interval in the tag data link connection settings as follows Packet interval RPI value x Timeout value lt Sensor Controller transaction time Use Support Software such as the Network Configurator to change the tag data link connection settings For information on setting the tag data links using the Network Configurator refer to B Tag Data Link Setting Methods p 211 202 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communications Processing Flow For EtherNet IP communications the following three communications areas are set in the PLC to perform communications Input tag set to the Sensor Controller 1 Com
282. e name Save destination Save destination FH FZ5 11 series FZ5 L35_1 6 series RAMDisk C Data RAMDisk RAMDISK USBDisk E FA G HA USBDisk to USBDisk3 4 The maximum number of images that can be logged depends on the model of the Sensor Controller that you use and the models and number of connected Cameras For details refer to B Number of Logged Images in the Vision System FH FZ5 Series User s Manual Cat No Z340 for the maximum number of images that can be logged I_MAX IMPORTANT e If the specified file name already exists this existing file will be overwritten Do not turn off power to the Sensor Controller until there is a response Example When the image data of image data No 3 is saved with the file name LABEL1 IFZ in the IMG01 folder in the USB memory to which the drive name USBDisk2 is assigned lt Command gt UI IMIGISJA VJE 3 USBDisk2 IMGO1 LABEL1 1FZ fr 429 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 lt Response gt ao Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 INPUTTRANSSTATE or ITS Getting communication module input states Gets the input state permitted prohibited for communication modules lt Command format gt I IN PIU TITIRIAINIS S TIAI TIE fe T Communication module types 1 digit or U
283. e setting tab page for line 0 The EtherCAT communications settings for multiple lines are given in the following table Setting item Description Output control The same setting is used for all lines Output period The same setting is used for all lines The settings for the fieldbus data output for each line depends on the Data Out Output setting put Number setting for each line Refer to B Output Data Settings Processing Item Registration p 59 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Output Data Settings Processing Item Registration Use the following procedures to set the items to output to EtherCAT and the output format Registering Processing Items Register the processing items for data output in the measurement flow 1 Click the Edit flow button in the Toolbar 2 Select the Fieldbus Data Output processing item from the processing item tree E Output resutt i lil Data Output 2 Parallel Data Output H Ji Parallel Judgement Output BAM Fieldbus Data Output 3 Click the Append button The Fieldbus Data Output processing item is appended at the bottom of the unit list flow ol 0 Camera Image Input pi 1 Search 2 Fieldbus Data Output 4 Click the Fieldbus Output Icon and set the data output items and data format Refer to the following references for details on the settings Reference Setting t
284. ect to be mapped Range Unit Default 60050B20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index12 12th Input Object to be mapped Range Unit Default 60050C20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index13 13th Input Object to be mapped Range Unit Default 60050D20 hex Size 4 bytes U32 Access RO PDO map Not possible Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s n d eu19 x3 UM Bugeorunwwop pue Huosuuog JO spoule 114 Sub index14 14th Input Object to be mapped Range Unit Default 60050E20 hex Size 4 bytes U32 Access RO Sub index15 15th Input Object to be mapped Range Unit Default 6 0050F20 hex Size 4 bytes U32 Sub index16 16th Input Object to be mapped Access RO Range Unit Default 60051020 hex Size 4 bytes U32 Access RO Sub index17 17th Input Object to be mapped Range Unit Default 60051120 hex Size 4 bytes U32 Sub index18 18th Input Object to be mapped Access RO Range Unit Default 60051220 hex Size 4 bytes U32 Access RO Sub index19 19th Input Object to be mapped Range Unit Default 60051320 h
285. ed the sig The signal turns OFF es y nal turns ON after the after the time that is set STGOUT o Trigger ie the trigger signal forthe ie set for the STEP _ for the STGOUT width in i STGOUT delay in the the electronic flash electronic flash settings settings has elapsed has elapsed ACK FH Command This flag tells when DI command The signal turns ON The signal turns OFF only Completion execution is completed when execution of the DI when the user PLC Flag command is completed turns ON the DI7 signal Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Parallel Communications s d eu19 x3 UM Buneoiunuiwo9 pue Huosuuog JO SPoyN 299 Multi line Random Trigger Mode Signal Specifications For parallel signals the supported signals and signal assignments depend on the number of lines used in Multi line Random trigger Mode The following tables show the differences in signal assignments and the signals that can be used depending on the number of lines Refer to the FH or FZ5 Instruction Sheet for terminal functions and assignments FH e Signals and Assignments According to Number of Lines Used BT Numberoflines i ss i i i i stw a 1 line 2 lines 3 or 4 lines 5 to 8 lines STEP Assigned for each line DSA Assigned for each line Not supported The samesighalis The same signal is used for all lines l DI The DILINE signal which specifies the
286. ed during execu The signal turns OFF when XFLG mand Comple was executed during exe tion of fieldbus flow control the Flow Command Busy tion Bit cution of fieldbus flow con trol has been completed Vision System FH FZ5 Series User s Manual for Communications Settings Z342 has been completed i e when Flow Command Busy turns OFF Communicating with EtherNet IP XEXE signal turns OFF s d eu19 x3 UM Bugeorunwwop pue Buosuuog JO spoule N 230 Signal Signal name Function ON OFF timing OFF to ON ON to OFF XBUSY Flow Com mand Busy Bit This signal tells when a command that was input during execution of field bus flow control is being executed The signal is ON when a command that was input dur ing execution of the fieldbus flow control is being exe cuted The signal turns OFF when the Flow Command Busy Bit XEXE signal turns OFF XWAIT Flow Com mand Wait Bit This signal tells when input of a command can be acknowledged during execution of fieldbus flow control The signal is ON when a command can be input dur ing execution of fieldbus flow control The signal is OFF when a command cannot be input during execution of the field bus flow control Output Items Measurement Results for Which Output Is Possible Fieldbus Data Output You can use the processing items that are related to outputting results to output the
287. ed when there was little available space on the RAM disk and the operation mode was Sin gle line High speed Mode 781A0000 hex scene data Slave Error reset after resetting the error in the slave scene data Clean up the contents of the RAM disk to create more available space After editing scene data System Measurements will be performed without using the edited Always make sure there is sufficient available space on the RAM disk for the current size of scene group data The data transfer button was clicked when there was little available space on the RAM disk and the operation mode was Non stop Adjustment Mode Clean up the contents of the RAM disk to create more available space Always make sure there is sufficient available space on the RAM disk for the current size of scene group data None Output Buffer Error EtherCAT EtherCAT Master Function Module Minor fault Continues Data measurements are being per formed on a period that is shorter than the time that is required for data output handshake controls in the program The RAM disk is used as a buffer when the operation mode is Single line High speed Mode or Non stop Adjustment Mode Always ensure that there is enough available space for the current size of the scene group data 781B0000 hex The data output buffer for measurement data is full Slave Er
288. ee te tert heed a Lib atu vided cea at tants cd ated Heat ube Devan 183 Command Response Processing cseeccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeeseeeeaaeeeseeeaeeeeseeeaeenes 186 Data Qutput tAue ee tae eee ieee cei te ceed aise ae at lnben eel nese E 189 Time Charts eoan tiie alia deinen ei het netic te 192 PLC Link Troubleshooting i2 2 0i0 2 xtdeces eel edie ee iat tid ened A eee ee 195 Communicating with EtherNet IP iire EE E EAEE 198 Introduction to EerNatIP reiii ea A A 198 Data Exchange with EtherNet P cccsrannon tannsi Ae NEEE EEA AA EENET EAA 199 EtherNet IP Communications ccccecccceceeecceceeseeeseeeeeeeeeaceneeensaaaeeaesseaaaeaeeseaaaaeeeeseacaeaeeteeaaeeeeenees 202 Communications Processing FIOW ceecceececeeecceeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeseeeeaeseeseeeeeeeeeseeeaeeeeseeeaeenes 203 Communications Setup Procedures ccceccecceeceeeeeeeeeeeeeecacaeceeeeeeeeeeeesecdcceaeeeeeeeeeeeteeeeeesnaeess 205 Communications Module Settings Startup Settings 0 eee ceeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeaeereeeenaaees 206 Communications Specifications Settings ce ecececeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeesenaaeeseseeenaeenes 207 Tag Data Link Setting Methods 00 0 ccc antea a e A Ga ANETE EA Ri 211 Output Data Settings Processing Item Registration eceecceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeseeenaeeeeseeaeees 214 Testing COMMUNICATIONS rere ana i eea aeie v
289. eeceeeeeeeeeseeeneeeeseeeeeeeeeeenaeeeeeenaees 287 Testing COMMUNICATIONS seica ecetteececedeeeeeceeeeeeeeeeeeeaeaeeceedeanseceeedsadaeceseteeedaceeeseedaeeeeeneadeaeeeneeaees 294 KO SiH vsiiet esia ents aerate nee ti ete dee at ch eh dices ee teehee 296 SWiA 1 Lessee ener a Rm eC pee ee ere ee ae 305 Command Formats essien Sees ddecteel ib a a a a a iad cited dadasetontctad cannes alti lala beaded 307 WANE GANS ech th E A athe eas A cota A rats rade cle Me Moet iaetee cat oad tactic AN poe 310 Parallel Troubleshooting 2ssii22 ecciecta tile dl wie createed eet e acai needed eee eels 320 3 APPONCICOS AEE EEE E AE 321 Command Controle eaen t a eae chee nie A eed oe ate eee ee 322 Parameter Notation Examples for Command Control 0 ccccccceceeeeeeeeeeeeecaeeeeeeeeeeeeeeeeeeessnsnnaneees 322 Command ihist cist tetetectedl ae tated at dacet bel econ a a a ae a a a aa sid arcen dh ddadediebdadadls bel decks 326 Command D efaj E r a ara e A r E A ae Aa a EE A Aaa a Er e 332 Non procedure Command Details ccecccececcecceceeeeeeeeeeeeeeeaecaeeeeeeeeeeecesecceneaaeaeeeeeeeeeeeeeteeeseaeess 391 M nual Revisi n ISTO sbirri roiret dinlenir Ae esa ATE EARRA RE EI REESE A A ASALE aAA TE EATE 476 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 amp Vision System FH FZ5 Series User s Manual for Communications Settings Z342 M IAJBAQ Overview This section provides a basic overvi
290. eeeeeeeaaeees 251 Communications Specifications Settings ce cccceeeeceeeeeeeeeeeeeeeeeneeeeeeseeeeeeeeseeeeeeeeseeeaeeeeteeenanenees 252 Output Data Settings Processing Item Registration ceecceceeeeceeeeeeeeeeeeeeeseeeeeeeeseeenaeeeeseeaeees 259 Testing COMMUNICATIONS serret ie EEEE EE dhavnkecadeabtylece beabhaotevadancggees deastngeeeadigetes 264 QUtPUU TAA EEEE ET EEEE EE BA oS tee nda al aaa oath nae ea EE EEE EA 267 Command Fortiats 2is s05 eeint eb E E aust tak os feta tac eet ead deta elias oleae takin 268 Command RE gt EEE A dewe csc tesiees ETE ys gadeee steak Seana IE isu cectened A E 270 Output F m At scene dee ae nai ed beeen ini eevee eee 274 Non procedure Communications Troubleshooting ccceceeeeeeeeeeeeeeeneeeeeeeeeneeeeeeeeeeeeesaeeeeeeeea 276 Parallel Commiunications 22sia0 da Aiea A EEE ee E ee ei 277 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communications Processing FIOW cecccceeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeeeeneeeeeeseeeeaeeeeseseeeeeeeseeeaeeeeseeeaeeees 277 Communications Setup Procedures oyisini aa aae a ia aaa aA aaah 278 Communications Module Settings Startup Settings seessesesssessesrrreseerresterrrsstenrnssternsssrennnnnnt 279 Communications Specifications Settings ee ceeceeeeeeeeeeeeeeeeeeseeeeeeeeeeseeeaeeeeseeeeaeeeeseeeaeeeeseeenaeeeees 280 Output Data Settings Processing Item Registration cceec
291. el Data Output Ti Parallel Judgement Output lj Fieldbus Data Output 3 gt Click Append The Data Output processing item is appended at the bottom of the unit list flow 0 Camera Image Input 3 1 Search 2 Data Output Lif 4 Click the Data Output icon and set the data output items and data format Refer to the following reference for details on the settings Reference Registering the Items To Output p 260 Note e Data is output in the order that data output is registered in the measurement flow i e the timing is different for each data output processing item Data output is executed in the order that it is executed in the measurement flow Reference gt Outputting the Output Data p 23 Vision System FH FZ5 Series User s Manual Non procedure Communications for Communications Settings Z342 s d eu19 x3 UM Bugeoriunwwop pue Buosuuog JO spoule 259 Registering the Items To Output Set expressions for the data to output Up to 8 expressions from 0 to 7 can be set in each unit 1 Click the Data Output icon 4 in the measurement unit list flow 2 in the Item Tab Area click Setting 3 In the list select the output data number for the expression to set Output data o Comment t Expression 4 Er o on Be Ey The selected output data number is displayed under the li
292. em FH FZ5 Series User s Manual for Communications Settings Z342 Description You can output character strings and numbers that are read by processing items such as Character output PLC Link Character Inspection Barcode or 2DCode Refer to Items that Can Be Output as Output communications only Data p 24 for details You can also use commands to obtain results after a measurement is performed You can also use the FTP server to obtain logged image files and logged data files saved in the FH FZ5 or in external memory from a web browser or FTP client Vision System FH FZ5 Series User s Manual Communicating with an External Device for Communications Settings Z342 11 M N Communications between the FH FZ5 and an External Device Communications between the FH FZ5 and an external device are performed as shown below The following figure shows the flow when a communications command is used to start a measurement and then output data PLC or other external device Data output request DSA signal 1 1 Command Example Starting a measurement etc Response Sensor Controller Measurement flow Communications Communications processing i processing Camera Input 2 The data at this point is output to the Communications Module Module Result Completion signal GATE signal 1 1 When output control is set to H
293. ement Trigger after Changing a Scene without Handshaking ON Command code Select Scene command OFF Somma OCO eeo O parameters OFF i Command lt M Area Command p i Select Scene a Request signal OFF command execution ON s Trigger signal SE Measurement EY OFF 1a i trigger an p BUSY signal on ee E ne Command ON T e e Response Ready Signal OFF i Area C4 i o Result ON i i Completion 2 S ee ee signal OFF r 11 C Data ON i i Area OFF 5 8 10 12 13 Fieldbus Data Output Unit execution Command ON Completion i signal OFF 1 The command code and command parameters for the Select Scene command are set from the PLC 2 Next confirm that the BUSY signal and the Command Completion signal have turned OFF and then turn ON the Command Request signal again A request is sent to the Vision Sensor 3 When the Vision Sensor receives the request it turns ON the BUSY signal turns OFF the Command Ready signal and changes the scene 4 The Vision Sensor automatically turns OFF the BUSY signal and turns ON the Command Ready signal after changing the scene is completed 5 The Command Completion signal is turned ON 6 The PLC user turns OFF the Command Request signal when the Command Completion signal turns ON 7 When the Vision Sensor detects that the Command Request signal is OFF it turns OFF the Command Completion signal 8 The measurement is executed when the Tr
294. en 4 byte data items and twenty four 8 byte data items are output for a total of 40 data items Total 256 bytes 4 If you control from six to eight lines in the multi line random trigger mode you cannot use the 256 byte data output sizes 4 Click the Apply button Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s n d eu19 x3 UM Buyjeoiunuiwoyg pue Huosuuog JO spoule IMPORTANT If you change any of the Line N Data Output Number settings restart the Controller If you use alignment select the data type of the output data according to the application DINT Data This data type holds a single precision floating point number If you use alignment coordinate values are multiplied by 1 000 and output as integers Only 1 1 000 of the precision is output e LREAL Data This data type holds a double precision floating point number If you use alignment coordinate values are output as double precision floating point numbers This allows you to output the actual values to an external device However processing 64 bit calculations on the NJ series Controller or other PLC will be slower than processing 32 bit calculations EtherCAT Communications Settings for Multi line Random trigger Mode If you will use the multi line random trigger mode for EtherCAT communications for multiple lines you can set the EtherCAT communications settings only on th
295. en by any output data written afterwards Use one of the following methods if you want to save all the output data Sensor Controller PLC Processing order Measurement flow Measurement started L 0 Camera Image Input 1 Search I O memory Search measurement 2 Data Output results output Command Area Response Area Communications Module Output Area 3 Position Compensation The data that is output first is overwritten by the second data output Position compensa 4 Data Output tion values output i Offsets PLC Link Communications Only When you use multiple Output Units to output data you can offset the write destination of the output data for each Output Unit Set the Offset for the Data Output processing item Refer to gt Output Data Settings Processing Item Registration p 214 Controlling Data Output with Handshaking If handshaking is used to control data output the timing of outputting the data is controlled by I O signals Each time that data is output read the output data and move it to a different part of I O memory in the PLC Refer to gt Data Output Control with Handshaking p 27 Note For ASCII data output through non procedure communications you can append a record separator after each output data item The default is the delimiter The following two types of data can be output via parallel communications
296. ene groups or perform other Communications ee ae tasks The communications commands depend on the communications protocol that you command input ae i use Refer to the section for each communications protocol for details Data Output to an External Device from the Sensor Controller Type Description When the Sensor Controller confirms a control signal or communications command input and begins measurement processing the status of the Sensor is reported to the external device Status signals through status signals e g a BUSY signal For information on status signals refer to Control with Control Signals and Status Signals p 17 NG is output whenever there is one or more NGs in the judgement results for multiple processing items The overall judgement can be output through the OR signal or through the TJG output Overall judgement parameter This behavior can be changed in the settings For information on the OR signal refer to gt Control with Control Signals and Status Signals p 17 For information on the TJG output parameter The measured values from processing items can be output The output items must be processing items for output and registered as output data data 0 to data 7 Refer to gt Settings Required for Data Output p 24 for details You can also use commands to obtain results after a measurement is performed Measured values Communicating with an External Device Vision Syst
297. eporting Configuration Sub index0 Number of notice Range Unit Default 03 hex Size 1 byte U8 Access RO PDO map Not possible Sub index1 Switch of handshake mode Range Unit Default 00 hex Size 1 bit BOOL Access RW PDO map Not possible Sub index2 Result Valid period Range Unit Default 02 hex Size 4 bytes INT32 Access RW PDO map Not possible Sub index3 Result Notificaction Time Range Unit Default 01 hex Size 4 bytes INT32 Access RW PDO map Not possible Objects are provided for each line as shown below when more than one line is used Line 1 Line 2 Line 3 Line 4 Line 5 Line 6 Line 7 Vision System FH FZ5 Series User s Manual 6010 hex Status Signals to 6016 hex Image Processing Results Real Number Data 7010 hex Control Signals to 7012 hex Command Parameter 8010 hex Image Processing Results Output Settings 6020 hex Status Signals to 6026 hex Image Processing Results Real Number Data 7020 hex Control Signals to 7022 hex Command Parameter 8020 hex Image Processing Results Output Settings 6030 hex Status Signals to 6036 hex Image Processing Results Real Number Data 7030 hex Control Signals to 7032 hex Command Parameter 8030 hex Image Processing Results Output Settings 6040 hex Status Signals to 6046 hex Image Processing Results Real Number Data 70
298. er p 10 e Process from Starting Measurements at the Sensor Controller to Data Output Reference Communications between the FH FZ5 and an External Device p 12 e Sensor Controller Control Methods Control Signals Commands etc Refer to B Controlling the FH FZ5 p 13 e Types of Communications Protocols for Communicating with the Sensor Controller Refer to gt Communications Protocols for Communicating with the FH FZ5 p 15 e Moving Data between the Sensor Controller and an External Device Refer to B Saving FH FZ5 Data to an External Device p 16 L Control Methods Using an External Device The methods that you can use to control the Sensor Controller from an external device are described Control with Control Signals and Status Signals Refer to Control with Control Signals and Status Signals p 17 Command Response Method Refer to gt Command Response Method p 21 Data Output after Measurements Refer to gt Data Output after Measurements p 22 L Setting Procedures for Communications Refer to B Setting Procedures for Communications p 30 The procedures that are required to set up communications before starting communications between the Sensor Controller and an external device are given L ee POA OTa rae ame Refer to gt Communications Protocols and Communications Modules p 31 Communications Protocol The differences in the specifications of the different c
299. erence p 382 Loads system data Reference p 383 Loads System Scene group 0 data Reference gt p 384 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with EtherNet IP s n d eUJ9 Xy UM BuyeolunuiwoD pue Buosuuog JO spoule File Save Commands First word in Command Area Function Reference 3 2 _ Saves the scene data Reference gt p 385 2s Saves the scene group data Reference gt p 385 Saves system data Reference p 386 Saves the image data Reference p 387 _ _ Saves all the image data in the image buffer specified with main unit Reference p 387 logging image Saves the last logging image Reference gt p 388 Saves System Scene Group 0 data in a file Reference p 389 Captures the screen Reference p 389 234 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Response Processing Timing Chart for Command Execution The commands for measurement execution or other processing that are stored in advance in the memory of the PLC are input and executed when you turn ON the Command Request EXE signal The Command Completion FLG signal turns ON when execution of the control command is completed Use this as the trigger to turn O
300. erformed normally O K cri When processing is not performed normally EIR ca lt Parameters explanation gt USBDisk abc ini E abc ini extension to the file name Specifies the save destination and file name during saving with a definite path e g Save destinations include directories under the following systems Be sure to attach an INI Save destination Save destination FH FZ5 11 series FZ5 L35_1 6 series RAMDisk C Data RAMDisk RAMDISK USBDisk E FA G HA USBDisk to USBDisk3 IMPORTANT If the specified file name already exists this existing file will be overwritten Do not turn off power to the Sensor Controller until there is a response e For the FH FZ5 11 series do not save to a non volatile area on the C drive such as C ProgramFiles FZ This would reduce the storage area for scene data etc and make correct operation impossible Example When saving system data in the file named LABEL INI in the IMGO1 folder in the USB memory to which the drive name USBDisk2 is assigned lt Command gt SIYISISJAJVIE USBDisk2 IMGO1 LABEL INI fx lt Response gt O K cri Vision System FH FZ5 Series User s Manual for Communications Settings Z342 ssolpueddy po 467 Command Control TIMER or TMR Issues the specified command string after a specified delay lt Command format gt
301. ermine if data can or cannot be received from an external device that is being sent serially continuous 4 If Xon Xoff is selected for the flow control and no response is received from the computer within the set timeout interval there must either be a disconnection or the computer is not functioning correctly causing the communications to time out Vision System FH FZ5 Series User s Manual Non procedure Communications for Communications Settings Z342 s d eu19 x3 UM Bugeorunwwop pue Buosuuog JO SPON N 249 250 Communications Setup Procedures The following settings are required to use non procedure communications 1 Communications Module settings startup settings L 2 Communications specifications settings gt L 3 Output data settings processing item registration L 4 Testing communications Non procedure Communications The type of the Communications Module is selected to determine the com munications method to use between the Vision Sensor and the external device Reference Communications Module Settings Startup Settings p 251 The communications specifications are set for the communications method of the Communications Module that was selected in step 1 Set the communications area assignments for exchanging data with the external device Reference Communications Specifications Settings p 252 _ Set the data to output and register it i
302. error output ey eee Clear Error The ERROR indicator is 1 10 00001 P PS 11000001 also cleared Clear Parallel Clears the OR signal and 1 40 00010 Input example OR DO DO signal 11000010 0 OFF 1 ON Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Multi line Random Trigger Mode Input format DI7 to DIO DILINEO DILINE1 and DILINE2 Data Description Command Execute Command OA DI7 DI6 DI5 DI4 to DIO The Controller Performs measure does not see Continuous ment continuously while A Ta f 00 this signal so a Measurement command is being Pout setting of either piri 0 or 1 makes no difference Input Scene Select Scene ee Data 01 No in binary i format 0 to 31 Input Scene Set Scene Changes the measure Group No in 11 i Group ment scene groups binary format 0 to 31 Clear Mea beach measurement surement Val The OR signal and DO 10 00000 ues signal are not cleared Clears the error output Clear Error The ERROR indicator is 10 00001 also cleared Clears the OR signal and DO Clear Parallel 10 00010 OR DO signal 41 Two lines DILINEO Three or four lines DILINEO and DILINE1 Five to eight lines DILINEO to DILINE2 Only the signals assigned to the line that the command was sent to can be cleared The OR and DO signals are not cleared 72 Line number Specify the line number to send
303. es 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 379 Command Control Image Logging Prefix Setting Sets the prefix for the name of the file the image logging is saved to Command PLC to Sensor Controller First word in Command Bit ee Description Command Area code 42t0 15 8to11 4to7 Oto3 2 4040 0100 0000 0100 0000 Command code 3 0050 0000 0000 0101 0000 4 0000 0000 0000 0000 5 0000 10000 0000 0000 Image logging prefix Up to 32 characters 0000 0000 0000 0000 Response Sensor Controller to PLC First wordin Command Bit O Description Response Area code 12t0o15 8to11 4to7 0to3 2 4040 0100 0000 0100 0000 Command code 3 0050 0000 0000 0101 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Data Logging Condition Setting Sets the data logging conditions Command PLC to Sensor Controller First word in Command Bit ee Description Command Area code 12to15 8to11 4to7 0to3 2 4050 0100 0000 0101 0000 Command code 3 0050 0000 0000 0101 0000 4 0000 0000 0000 0000 Data logging conditio
304. es 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails 0 to 4 Unit No Sets the number 0 to number of units in current scene minus 1 of the unit displayed in the image display window Example When setting 2 as the number of the unit displayed in image display window 1 lt Command gt IJUIN 4 2 fe lt Response gt O K Fe Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 IMAGEZOOM or EIZ Zooms the image display window whose number is specified in or out to the specified zoom ratio The zoom ratio here is the ratio compared to the original image 100 Before zooming After zooming zoom in lt Command format gt C R Imjajejejzjojoim ETT TT ttt L Magnification 6 digits max Image display window number 2 digits max Magnification 6 digits max Image display window number 2 digits max lt Response format gt When processing is performed normally O KI e When processing is not performed normally Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Control ssolpueddy po 427 lt Parameters explanation gt Number of the image display window to return the display position and display magnification to their default values FH Image display window number 0 to 23 FZ5 Displaying 1 image 1
305. esponse gt OJK er Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 LASTIMAGESAVE or LIS Executes a save of the last input image The character string handed over by the argument is used as the file name lt Command format gt LIAIS TITIMIAIGIEISIA VIE l ile name max 256 digits or ejs L F ile name max 256 digits lt Response format gt When processing is performed normally OIK cr When processing is not performed normally ERIS ssolpueddy po lt Parameters explanation gt Specify the save destination and file name for saving with the absolute path e g C Data RAMDisk abc ifz RAMDISK abc ifz If you only give the folder name then the time stamp ifz is automatically assigned as the file File name name Save destination FH FZ5 11 series FZ5 L35_1 6 series RAMDisk C Data RAMDisk RAMDISK Example When saving the last input image to the file named abc ifz lt Command gt LIIS I lt _ RAMDisk abc if zf lt Response gt OJK er Note e When the extension is ifz the image is saved with the specified file name e When the extension is anything other than ifz the image is saved with ifz appended to the file name If there is no extension only the folder name is given the image is saved to a file named time stamp ifz
306. essing is performed normally OJK CRl When processing is not performed normally EIR Srl lt Parameters explanation gt Specify the DO terminals to switch ON 0 65535 1st bit DOO e 2nd bit DO1 Terminal state e 16th bit DO15 Example When setting DOO and DO4 ON lt Command gt DIPIC 1 7 lt Response gt OlKFe 408 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 ECHO or EEC Returns as is any character string sent by an external device Only single byte alpbhanumerics can be used lt Command format gt elcfHio TT TT TTT i L Arbitrary character string 256 characters max or feje TTT TTT i a rbitrary character string 256 characters max lt Response format gt When processing is performed normally Same character string O K erl When processing is not performed normally lt Parameters explanation gt ssolpueddy po Arbitrary Sets the character string returned as is The response is the character string set here as is character string Example When returning the character string TEST lt Command gt ejeje Tje s T l lt Response gt TIE S T IPR 409 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 410 IMAGECAPTURE or EIC Captures the screen The folder into which the captured image is saved depends on the system data setting
307. etmask Default gateway DNS server Address setting 2 Obtain an IP address automatically Use the following IP address IP address Subnetmask Default gateway DNS server Input Output sett ing eee Input mode Normal Input form ASCII Output IP address 0 ol oj ol Input port No 9600 Output port No 1 1 Same number Input port No Checking the Communications Status 1 On the Main Window select Tool System Settings In the tree view on the left select System Settings Communication Ethernet Normal xyz xyz depends on the Communications Module Set the IP address of the Sensor Controller The default settings are as follows Address setting 10 5 5 100 Address setting 2 10 5 5 101 Set the IP address of the PLC or other external device in Output IP address Set the port numbers to use for data I O with the PLC or other external device in Input port No and Output port No Set the same number as the number for the PLC or other external device This completes the Controller settings Use the ping command to check if the Sensor Controller exists on the Ethernet network Use this to determine if the Sensor Controller s IP address has been set correctly and that the Sensor Controller is correctly connected to the Ethernet network Note The
308. etting the error in the slave Minor fault Continues System All slave functionality stops and measurement trigger sig nals and commands are not acknowledged A serious error occurred in the system in the Controller Consult your OMRON representative Consult your OMRON representative None None Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 s n d eu19 x3 UM Bunesiunuwoy pue Bunosuuog 104 SPON Net IP Output Control Timeout for Parallel I O PLC Link or Ether 58210000 hex EtherCAT Master Function Module Minor fault Continues The data output handshaking controls in the program i e the ON OFF tim ing of the Result Set Request signal are not correct A timeout occurred in data output handshaking control for measurement results Slave Error reset after resetting the error in the slave rupted Correct the data output handshaking controls in the program i e the ON OFF timing of the Result Set Request signal At measurement result output System The most recent measurement results data will be cor Create suitable data output handshak ing controls in the program i e the ON OFF timing of the Result Set Request signal The output control timeout time is too short in comparison with the program processing time C
309. ettings 236 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Operation to End Continuous Measurements 9 10 The End Continuous Measurements command code is set from the PLC user during execution of continuous measurements for a Start Continuous Measurements command The Command Request EXE signal is then turned ON A request is sent to the Vision Sensor Note Continuous measurements are not ended in the middle of a measurement When the End Continuous Measurements command is executed continuous measurements are ended after the measurement that is currently being executed is completed e Ending Continuous Measurements 11 12 13 14 15 The Sensor Controller stops continuous measurements when it receives an execution request When the Sensor Controller ends continuous measurements it sets the command code and response code and then it turns ON the Command Completion FLG signal The Sensor Controller confirms that the Command Completion FLG signal is ON and automatically turns OFF the BUSY signal The PLC user turns OFF the Command Request EXE signal when the Command Completion FLG signal turns ON When the Sensor Controller detects that the Command Request EXE signal is OFF it automatically turns OFF the Command Completion FLG signal and the BUSY signal IMPORTANT The measurements during continuous mea
310. ew of the communications specifications and Sensor Controller control methods This information is required before performing communications between the FH FZ5 and an external device INTHODUCHION sorap ai ceed ives eeeventiveeseseeteteees AAAA RENNEN KENNARAR 8 Confirming the System Configuration ccsesseeeeeeeeee 9 Communicating with an External Device cceeee 10 Control Methods Using an External Device 0 17 Setting Procedures for Communications ceee 30 Differences in Specifications Based on the Communications Protocol ccceseeseneeseseeteeeeseeeeeeneees 32 Introduction This section provides a basic overview of the communications specifications and Sensor Controller control methods This information is required before performing communications between the FH FZ5 and an external device Confirming the System Configuration Refer to Confirming the System Configuration p 9 The external device configuration that is required to perform measurement processing with the FH FZ5 is described L Communicating with an External Device The basic operations of the Sensor Controller how the Sensor Controller works and the specifications for communications between the Sensor Controller and an external device are described The following information is provided Basic Flow of Communications and Signals Refer to B Basic Control Operations of the Sensor Controll
311. ex Size 4 bytes U32 Sub index20 20th Input Object to be mapped Access RO Range Unit Default 60051420 hex Size 4 bytes U32 Access RO Sub index21 21st Input Object to be mapped Range Unit Default 60051520 hex Size 4 bytes U32 Sub index22 22nd Input Object to be mapped Access RO Range Unit Default 60051620 hex Size 4 bytes U32 Access RO Sub index23 23rd Input Object to be mapped Range Unit Default 60051720 hex Size 4 bytes U32 Sub index24 24th Input Object to be mapped Access RO Range Unit Default 60051820 hex Size 4 bytes U32 Access RO Sub index25 25th Input Object to be mapped Range Unit Default 60051920 hex Size 4 bytes U32 Sub index26 26th Input Object to be mapped Access RO Range Unit Default 60051A20 hex Size 4 bytes U32 Access RO Sub index27 27th Input Object to be mapped Range Unit Default 60051B20 hex Size 4 bytes U32 EtherCAT Connections FH Only Access RO Vision System FH FZ5 Series User s Manual for Communications Settings Z342 PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map
312. f the subimage to display in the specified Image Reference p 359 Display Pane 0030 5030 Sets the image mode for the specified Image Display Pane Reference p 360 0030 7010 Enables disables inputs to the Communications Modules Reference p 361 0030 7020 Enables disables outputs to external devices Reference p 361 0030 8010 Sets the ON OFF status of the specified parallel I O terminal Reference p 362 0030 8020 Sets the ON OFF status for all terminals except for DO terminals Reference p 363 0030 8030 Sets the ON OFF status for all DO terminals Reference p 364 0030 9000 Changes the user account used by the user currently logging in Reference p 365 0030 A000 Sets the state of the operation log Reference p 365 Commands to Read Data First word in Command Area Function Reference 3 2 0040 1000 Gets the unit data Reference p 366 0040 2000 Gets the current date and time Reference p 367 0040 3000 Gets system version information Reference p 367 0040 4000 Gets settings related to image logging Reference p 369 0040 4010 Gets the defined image logging folder name Reference p 370 0040 4020 Gets the defined data logging folder name Reference p 371 0040 4030 Gets the defined screen capture folder name Reference p 371 184 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 First word in
313. file name LABEL1 SCN in the IMG01 folder in the USB memory to which the drive name USBDisk2 is assigned lt Command gt SICINISJAIVIE 3 USBDisk2 IMGO1 LABEL1 SCN er lt Response gt O K Ice Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 ssolpueddy po 459 460 SGRLOAD Reads scene group data lt Command format gt SIGIRILJOJA D le File name of scene group data Scene group No max 2 digits lt Response format gt When processing is performed normally O K a When processing is not performed normally lt Parameters explanation gt Scene group No Specifies the scene group No to be read 0 to 31 Specifies the name of the file to be read with a definite path e g USBDisk abc sgp E abc sgp Only files that are under the following systems and have an SGP extension can be read File name of scene Load to FH FZ5 11 series FZ5 L35_1 6 series group data r 7 RAMDisk C Data RAMDisk RAMDISK USBDisk E FA GA HA USBDisk to USBDisk3 IMPORTANT Do not turn off power to the Sensor Controller until there is a response Example When LABEL1 SGP in the IMGO1 folder of the USB memory to which the drive name USBDisk2 is assigned is loaded to scene group 3 lt Command gt ISIGIRILIOJAID 3 USBDisk2 IMGO1 LABEL1 SGP
314. finished This increases the overall process ing time of the measurement flow Not selected This is the same as the PLC Link operation of the FZ4 Vision Sensor Reference Asynchronous Output p 167 Retry interval ms 0 to 999999 10000 Set the time in which a timeout error will occur 1 After a timeout error occurs communications with the destination device will be attempted at the interval time that is set as the retry interval Reference Data Output Control with Handshaking p 27 4 If handshaking is enabled a timeout error will also occur if any of the following operations are not performed during the Retry interval If the DSA signal is not turned ON after a certain time elapses from when measurements are finished If the DSA signal is not turned OFF after a certain time elapses from when the GATE signal turns ON If the DSA signal is not turned ON after a certain time elapses from when the GATE signal turns OFF Polling cycle ms 1 to 999999 Set the interval to perform polling from the FH FZ5 to the external device e g PLC Click Apply to apply the settings Click Close to close the System Settings Dialog Box Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with PLC Link s d eu19 x3 UM Bujeolunuiwog pue Buosuuog JO SPON N 161 Connecting via RS 232C 1 On the Main Window select Tool System Se
315. for Communications Settings Z342 Saves Image Data Saves the image data that is saved in the Sensor Controller s memory Command PLC to Sensor Controller ssolpueddy poo First word in Command Bit Denon Command Area code 12t0o15 8to11 4to7 0to3 2 4000 0100 0000 0000 0000 Command code 3 0070 0000 0000 0111 0000 4 0000 0000 0000 0000 Image data No 5 0000 0000 0000 0000 6 0000 0000 0000 0000 7 p 0000 0000 0000 0000 Absolute path of save destination and file name 0000 0000 0000 0000 Up to 256 characters 0000 0000 0000 0000 Response Sensor Controller to PLC First word in Command Bit Doenan Response Area code 12to15 8to11 4to7 0 to 3 2 4000 0100 0000 0000 0000 Command code 3 0070 0000 0000 0111 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Saving All Image Data Writes all of the image data that is saved in the Sensor Controller s memory to ifz format in external memory Command PLC to Sensor Controller First wordin Command Bit Rave Description Command Area code 412t0o15 8to11 4to7 Oto3 2 4010 0100 0000 0001 0000 Command code 3 0070 0000 0000 0111 0000 r4 0000 0000 0000 0000 Absolute path of save destination and save file 5 0000 0000 0000 0000 name 000
316. g executed To check whether a command is being executed access the Command Completion FLG signal The FH FZ5 turns ON the signal when it receives a command from the user PLC The signal turns ON after the EXE signal turns ON The signal turns OFF when the user PLC turns OFF the Command Request EXE signal Command Com EES pletion Signal The FH FZ5 uses this sig nal to tell the user PLC that command execution has been completed The signal turns ON when the FH FZ5 com pletes execution of a received command The signal turns OFF when the user PLC turns OFF the Command Request EXE signal Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Signal Signal name Function ON OFF timing OFF to ON ON to OFF GATE Used only for handshaking output control Data Output Completion Sig nal This signal tells the user PLC when to read the measurement results Data output is enabled when this signal is ON Read the data from the PLC when this signal turns ON The Result Set Request DSA signal turns ON after the FH FZ5 executes the Output Unit Data Output Unit in the measurement flow t preparations for data output have been completed and the Result Set Request DSA signal is turned ON 1 This occurs when the Output Unit is executed as the measurement flow is executed in
317. g of barcodes and external reference table No 172 judgement comparison character string of 2D Code cannot be used Command PLC to Sensor Controller First word in Command Bit AT Description Command Area code 412t0o15 8to11 4to7 0to3 2 1000 0001 0000 0000 0000 Command code 3 0040 0000 0000 0100 0000 4 0000 0000 0000 0000 Unit No 5 0000 0000 0000 0000 6 0000 0000 0000 0000 Data number in the External Reference Tables 7 0000 0000 0000 0000 Response Sensor Controller to PLC First wordin Command Bit T Description Response Area code 12to15 8to11 4to7 0to3 3 0040 0000 0000 0100 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 Acquired data 7 z 0000 0000 0000 0000 Value multiplied by 1000 366 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Acquiring Date and Time Acquires the date and time from the internal calendar timer in the Sensor Controller Command PLC to Sensor Controller First word in Command Bit Doenan Command Area code 12to15 8to11 4to7 0to3 2 2000 0010 0000 0000 0000 Command cod
318. g Bit Area HR e Auxiliary Bit Area AR e DM Area DM e EM Area EMO to EMC Set the Command Area The range of the EM Area depends on the model of the CPU Unit of the connected PLC Address 0 to 99999 0 Set the first word address in the Command Area Response area Area CIO Area CIO e Work Area WR Holding Bit Area HR e Auxiliary Bit Area AR e DM Area DM e EM Area EMO to EMC Set the Response Area The range of the EM Area depends on the model of the CPU Unit of the connected PLC Address 0 to 99999 100 Set the first word address in the Response Area Data autput area CIO Area CIO e Work Area WR e Holding Bit Area HR Set the Data Output Area Area Auxiliary Bit Area AR es wei Shaner depends on the model of the CPU e DM Area DM e EM Area EMO to EMC Address SL see Set the first word address in the Data Output Area Set whether to provide an interlock with the PLC when per forming data output Sisutesatel e None None Data is output regardless of the status of sig P e Handshaking nals from the PLC GATE is always OFF Handshaking Data is output after confirming DSA from the PLC Selected Measurement processing and data output pro Asynchro nous output Communicating with PLC Link Selected e Not selected cessing are performed in parallel The data out put processing does not affect the processing t
319. g IP address IP address Subnetmask Default gateway DNS server Address setting 2 C Obtain an IP address automatically s d eUI9 Xy UM Buyeoilunuiwoy pue Buosuuog JO spoule Use the following IP address IP address Subnetmask Default gateway DNS server Input Output setting Input mode Normal Input form ASCII Output IP address Ol f Input port No 9600 Output port No 1 lel 1 Same number Input port No Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 Note e An FH series Sensor Controller with four or eight Camera inputs has two Ethernet ports Set the settings for the two Ethernet ports as follows e Communications Module settings Use the same setting for both ports IP address settings Set a different IP address for each Ethernet port The IP address for the top Ethernet port is set in Address setting and the IP address for the bottom Ethernet port is set in Address setting 2 However the bottom Ethernet port on the FH cannot be used for EtherNet IP communications By using both Ethernet ports simultaneously you can use one for PLC Link non procedure Ethernet or IP communications with a PLC and the other for FTP or remote operation communications with an external device The FZ5 or an FH series Sensor Controller with two Camera inputs ha
320. g Item You can use the processing items that are related to outputting results to output the following data You can also access measured values from the Calculation or other processing units Measured item Judgement JG Text string Judgement result Description Data 0 to 255 D000 to D255 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Results of expressions set for output data 0 to 255 Communicating with PLC Link s n d eu19 x3 UM Bugeorunwwop pue Huosuuog JO spoule 182 External Reference Table for the Data Output Processing Item Number Data name Set Get Data range 0 No judgement unmeasured 0 Judgement Get only 1 Judgement result OK 1 Judgement result NG Seas 0 Ethernet 136 Communications method Set Get 1 RS 232C RS 422 137 Output format Set Get 0 ASCII 1 Binary 138 Digits of integer Set Get 1 to 10 139 Digits of decimal Set Get 0 0 to 4 4 140 Minus Set Get 0 1 8 141 Field separator Set Get 0 OFF 1 Comma 2 Tab 3 Space 4 Delimiter 142 Record separator Set Get 0 OFF 1 Comma 2 Tab 3 Space 4 Delimiter 143 0 suppress Set Get 0 No 1 Yes Output IP addresses 1 to 4 only 144 to 147 when Ethernet is selected for the Set Get Destination IP addresses communications method Output IP Address Setting only 149 when Ethernet is selected for the Set Get 0 Reference to syste
321. g tag data links as shown below Originator A Ba o Q oO a PLC Sensor Contrller Input tag set name A Connection Output tag set name Connection from Input_101 Sensor Controller to PLC Tag DO Tag Input_101 Output tag set name B Connection Input tag set name Connection from Output_100 PLC to Sensor Controller Ethernet EtherNet IP Data Exchange Method To exchange data a connection is opened between two EtherNet IP devices One of the nodes requests the connection to open a connection with a remote node The node that requests the connection is called the originator and the node that receives the request is called the target Data Exchange Memory Locations The memory locations that are used to exchange data across a connection are specified as tags You can specify memory addresses or variables for tags A group of tags consists of an output tag set and an input tag set Note Message communications are used when communicating with a PLC that does not support tag data link communications or when using functions such as character string output that are not supported in tag data link communications If you are using EtherNet IP message communications refer to gt Communicating with the Sensor Controller with EtherNet IP Message Communications p 244 Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 s d
322. h Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060240 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index19 19th Input Object to be mapped Range Unit Default 60060340 hex Size 4 bytes U32 Sub index20 20th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060440 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index21 21st Input Object to be mapped Range Unit Default 60060540 hex Size 4 bytes U32 Sub index22 22nd Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060640 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index23 23rd Input Object to be mapped Range Unit Default 60060740 hex Size 4 bytes U32 Sub index24 24th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060840 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index25 25th Input Object to be mapped Range Unit Default 60060940 hex Size 4 bytes U32 Sub index26 26th Input Object to be mapped Access RO PDO map Not possible Range Unit
323. hanged by setting the Output polarity in the communications specifications Reference Reference gt Communications Specifications Settings p 285 Setting the Timing to Turn OFF the Judgement Output Signal OR One shot Output One of the following two modes can be selected for the output timing of the measurement results OR signal after the measurement results are finalized depending on the connected external device This setting can be changed by setting One shot OR signal in the communications specifications Reference gt Communications Specifications Settings p 285 e One shot Output Disabled Default The OR signal stays ON until the judgement changes The signal is turned OFF ON when the BUSY signal STEP signal turns ON OFF 9 4 o A Y a V BUSY signal sp ON while the measurement process is being ON executed OR signal NG OK OFF Overall judgement output polarity ON for NG Held until the next judgement result is output e One shot Output OR signal output stays ON for a certain amount of time and then it is turned OFF again The time to maintain the OR signal output can be specified Setting range 0 1 to 1000 0 ms The signal is turned OFF ON when the BUSY signal STEP signal turns ON OFF f Sod ON u y RUSY Rna E ON while the measurement process is being ON executed j i OR signal NG 1 OK OFF i Overall judgement Gne shot output polarity lt ON for NG output
324. has the following settings e SMO Mailbox receive EtherCAT Master Unit to Slave Unit e SM1 Mailbox transmit EtherCAT Slave Unit to Master Unit e SM2 Process data output EtherCAT Master Unit to Slave Unit e SM3 Process data input EtherCAT Slave Unit to Master Unit PDO map Not possible 1010 hex Sync Manager 0 PDO Assignment Sub index 0 Number of assigned PDOs Range 00 hex Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible e It indicates the number of PDO mappings used by this sync manager e Mailbox reception sync manager does not have PDOs 1C11 hex Sync Manager 1 PDO Assignment Sub index 0 Number of assigned PDOs Range 00 hex Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible e It indicates the number of PDO mappings used by this sync manager e Mailbox transmit sync manager does not have PDOs EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 1012 hex Sync Manager 2 PDO Assignment Sub index 0 Number of assigned PDOs Range Unit Default 02 hex Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 2 1st 2nd PDO Mapping Object Index of assigned 2nd PDO Range Unit Default Differ by Slave U
325. he Command Request EXE signal and the Result Set Request DSA signal at the same time The output data for the first Data Output Unit can be dependably received 2 The Sensor Controller executes the Data Output Unit in the measurement flow Because the Result Set Request DSA signal is ON the Result Completion GATE signal turns ON and the output data from the Data Output Unit is output to the external device 3 The PLC user reads the data when the Result Completion GATE signal turns ON and it turns OFF the Result Set Request DSA signal 4 The Sensor Controller automatically turns OFF the Result Completion GATE signal when it detects that the Result Set Request DSA signal has turned OFF 5 if there is more than one Data Output Unit in the measurement flow the PLC user turns ON the Result Set Request DSA signal when the Result Completion GATE signal turns OFF and then waits for execution of the next Data Output Unit 190 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 6 When the next Data Output Unit is executed the GATE signal turns ON and the data is output Receive the second output data and then repeat steps 3 to 5 above Repeat steps 3 to 5 for any other data outputs s d eu19 x3 UM Buneolunuiwoy pue Huosuuog 104 spoule Vision System FH FZ5 Series User s Manual Communicating with PLC Link for Communications Settings Z342 Time Charts
326. he Output Data p 60 Note Depending on the Data Output Number setting for the line you can set from 4 to 64 data items for output with one data output processing item Examples DINT16 You can register up to 16 data items LREAL 24 You can register up to 24 data items Refer to gt Communications Specifications Settings p 56 for the number of data items that you can output for each Data Output Number setting If you need to output more data items than given above use more than one Output Unit However the data is output to the same destination so if you do not control the output the output data that was output first will be overwritten by the output data that is output after it Use the following method to read each set of output data Controlling Data Output with Handshaking If handshaking is used to control data output the timing of outputting the data is controlled by I O signals Each time that data is output read the output data and move it to a different part of I O memory in the PLC Refer to gt Data Output Control with Handshaking p 27 for more information on handshaking Data is output in the order that data output is registered in the measurement flow i e the timing is different for each data output processing item Data output is executed in the order that it is executed in the measurement flow Reference gt Outputting the Output Data p 23 Vision System FH FZ5 Series User s Manual Ethe
327. he STEP signal when the BUSY signal is OFF When multiple inputs are used the STEP signal can be turned ON when the READY signal is ON However if the image mode is set to Through Mode the READY signal will always be OFF so check the status of the BUSY signal to determine when to input the STEP signal 2 Check that the BUSY signal is ON then turn OFF the STEP signal Note If the STEP signal is turned ON when the READY signal is OFF no measurements will be executed and the ERROR signal will turn ON DIO to DI7 Command Execution Timing FH Parallel DIO to DI6 Parallel DI7 Parallel BUSY signal ACK signal Command Completion Flag Command Request oy ON EA OFF Timeout s When executing continuous measurement commands turn OFF DI7 when you want to stop continuous measurements as shown below For continuous measurement commands the ACK signal will remain OFF Parallel DIO to DI6 continuous measurements Parallel DI7 Parallel BUSY signal ACK signal Command Completion Flag _ Ims ON re eee ON OFF ON OFF Vision System FH FZ5 Series User s Manual for Communications Settings Z342 s d eUI9 Xy UM Bugeorunwwop pue Buosuuog JO spoule N 303 Parallel Communications Set the DIO to DI6 signals to ON or OFF based on the command to input After you have set the DIO to DI6 signals wait for at least 1 ms and then turn ON DI7 The comma
328. he Trigger signal is OFF it turns OFF the Command Completion signal 1 A timeout error occurs and the Command Completion signal and BUSY signal are forced OFF if the Command Request signal or Trigger signal is not turned OFF from the PLC user within the timeout time that is set in the EtherCAT settings Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 s d eu19 x3 UM Buyeolunuiwo9 pue Buosuuog JO spoule Example 2 Outputting Data with More Than One Output Unit without Handshaking 11 ON Command Trigger signal A easuemet p Area OFF ON BUSY signal OFF Response Command ON Area Completion signal OFF Result ON Notification signal OFF Data ON First data output Second data output Output Output data Area OFF The data is overwritten 7X10 by the second data output 3 Execution of first Fieldbus 6 Execution of second Data Output Unit Fieldbus Data Output Unit 1 Confirm that the BUSY signal and the Command Completion signal have turned OFF and then turn ON the Trigger signal A request is sent to the Vision Sensor 2 The Vision Sensor executes measurement processing and turns ON the BUSY signal when the request is received 3 When the first Fieldbus Data Output Unit in the measurement flow is executed the Vision Sensor outputs the output data for the first Fieldbus Data Output Unit to the Data Output Area 4 When the
329. he fieldbus signal turns ON flow control Turn ON the signal from the ae 2 gnag Turn OFF this signal from the te PLC to execute measure a Turn ON this signal to execute PLC when the Vision Sensor Trigger Measure Bit ments after you confirm that measurements i turns ON the Trigger Ack sig the Trigger Ready signal is nal ON 4 A timeout error will occur and the Command Completion signal and BUSY signal will be forced OFF if the Command Request signal does not turn OFF within the timeout time that is set in the EtherCAT settings after the Command Completion signal turns OFF 2 A timeout error will occur if the Result Set Request signals does not turn OFF within the timeout time that is set in the EtherCAT settings after the Result Notification signal turns OFF However data will not be corrupted even if a timeout error occurs for EtherCAT Clear the timeout error and turn ON DSA to output the data from when the timeout occurred 3 A timeout error will occur if the Result Set Request signal does not turn ON within the timeout time that is set in the EtherCAT settings after the Trigger signal or Command Request signal turns ON and measurement processing is started EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Output Signals Signal name BUSY Busy signal Function This signal tells when com mands and other external inputs cannot be ackn
330. he internal calendar timer in the Sensor Controller lt Command format gt DIA T E eri lt Response format gt When processing is performed normally CR E Second Minute i Hour l Date Month Year KF When processing is not performed normally lt Parameters explanation gt Year 4 digits Month 2 digits Year Month Date Hour Minute Date 2 digits Second Hour 2 digits Minute 2 digits Second 2 digits Example When the current date and time is 08 30 2007 12 30 00 lt Command gt IDIATT E erl lt Response gt Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Control ssolpueddy po 402 Setting date and time Changes the date and time of the internal calendar timer in the Sensor Controller lt Command format gt Hour Date Month Year lt Response format gt When processing is performed normally O KISr When processing is not performed normally EIR cri Note e lt Hour 2 digits gt lt Minute 2 digits gt and lt Second 2 digits gt can be omitted during setting Settings cannot be updated when these are omitted however and the previous time will be kept unchanged Allowable omission patterns include omitting lt second gt only omitting lt minute gt and lt second gt and omitting lt hour gt lt minute gt and lt second gt Patterns that cannot be used include omitting lt hour gt only and omitting
331. he specified amount Reference p 337 0010 5020 Zooms the image display in or out by the specified factor Reference p 338 0010 5030 ri the display position and display magnification to their default val Reference p 338 0010 7010 Copies the scene data Reference p 339 0010 7020 Deletes the scene data Reference p 340 0010 7030 Stores the scene data Reference p 340 0010 8010 Registers the specified image data as a registered image Reference p 452 0010 8020 Loads the specified registered data as a measurement image Reference p 453 oo looro ee n e Tawo orhe cere Arpa TWA deia tat Retoronan gt p 341 0010 A010 Adds a user account to a specified group ID Reference p 342 0010 A020 Deletes a specified user account Reference p 343 0010 B010 Branches to the start of the measurement flow processing unit 0 Reference p 344 0010 F010 Restarts the Sensor Controller Reference p 344 Commands to Get Status First word in Command Area Function Reference 3 2 0020 1000 Gets scene number Reference p 345 0020 2000 Gets the scene group number Reference p 345 0020 4000 Gets the number of the layout that is currently displayed Reference p 346 0020 5010 E n i unit that is currently displayed in the specified Reference p 347 0020 5020 Gets the subimage number for the specified Image Display Pane Reference p 347 0020 5030 Gets the image mode for the specified Im
332. hen processing is not performed normally ERIS lt Parameters explanation gt 0 None Data logging condition 1 Only NG 2 All Example When setting the data logging condition to All lt Command gt DILIC 2 k lt Response gt OlKFe Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Control ssolpueddy po 397 398 DATALOGFOLDER or DLF Getting the data logging folder name Gets the set data logging folder name lt Command format gt DAI TIAILIO G FIO L DIE R or DIL FIs lt Response format gt When processing is performed normally Data logging folder name OLKIcR When processing is not performed normally ERIS lt Parameters explanation gt Data logging folder name Responds with the data logging folder name with its absolute path Example When setting the logging data save destination to RAMDisk lt Command gt LIF lt Response gt RIAIMID i s k x OKE Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Setting the data logging folder name Sets the data logging folder name lt Command format gt Data logging folder name 128 characters max or phj L J Data logging folder name 128 characters max lt Response format gt When processing is performed normally O KISe When processing is not performed normall
333. here are two types of process data objects PDOs the RxPDOs which are used by the EtherCAT Slave Terminal to receive data from the EtherCAT master and the TxPDOs which are used by the EtherCAT Slave Terminal to send data to the EtherCAT master RxPDO Output data and motion commands to NX Units Output Units p EtherCAT master Example Built in EtherCAT port on NJ series CPU Unit TxPDO Status of EtherCAT Slave Terminals and input data from NX Units Input Units EtherCAT Slave Terminal The EtherCAT application layer can hold more than one object to enable the transfer of various process data of the EtherCAT Slave Terminal The contents of the process data is defined in the PDO mapping objects EtherCAT Slave Terminals support PDO mapping for I O control EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 PDO Mappings PDO mapping objects contain the I O data for the EtherCAT Slave Terminals PDO mapping objects for the RxPDOs are managed in the object dictionary from indexes 1600 to 17FF hex and for the TxPDOs from indexes 1A00 to 1BFF hex PDO Mapping Scheme in EtherCAT The PDO mapping scheme in EtherCAT is described below Three application objects objects A B and D are allocated to the PDO name PDO_1 at index 1ZZZ hex As described here PDO mapping shows how application objects
334. hernet cable RS 232C cable 9 Vision System FH FZ5 Series User s Manual Confirming the System Configuration for Communications Settings Z342 10 Communicating with an External Device This section gives the communications specifications describes the control methods that you can use for communications and describes the settings that are required before starting communications with an external device Basic Control Operations of the Sensor Controller The following figure shows basic communications between an external device and the Sensor Controller and the flow of signals and data DE D DE DDED D Trigger sensor tH cm e e ama CDa E Measurement triggers and other control commands are input The measurement results are output Status signals Overall judgement e Measured values Character output 0 0 i A p Sensor Controller The following methods can be used to exchange data between an external device and the Sensor Controller Commands That Can Be Input to the Sensor Controller from an External Device Type Description F A measurement is executed when a measurement trigger i e an ON STEP signal is input Control signals i A f For information on control signals refer to Control with Control Signals and Status Signals input signals Control p 17 commands oe You can send commands to perform measurements change sc
335. hex Reference 010 101 ingle M t Perf 1 t 0010 1010 Single Measuremen erforms 1 measuremen gt p 332 0010 1020 Start Continuous Measurements Executes continuous measurements aa 0010 1030 End Continuous Measurements Ends continuous measurements Rereren e gt p 333 Executes a test measurement for the speci Reference 0010 1040 Execute Unit Test fied Unit gt p 333 0010 2010 Clear Measurement Values Clears all measurement result values Relerence gt p 334 0010 2020 Clear Data Output Buffer Clears all data in the data output buffer cages 0010 3010 save Dain Sens r Saves the current system data and scene Reference groups in the Sensor gt p 335 Reference 010 401 Re register Model Registers th del in 0010 4010 e register Mode egisters the model again gt p 336 Shifts the image display position by the spec Reference 90105019 veel ified amount gt p 337 Zooms the image display in or out by the Reference 9010 5020 Zoom specified factor gt p 338 Returns the display position and display mag Reference 99103930 Et nification to their default values gt p 338 0010 7010 Copy Scene Data Copies the scene data Raper 0010 7020 Delete Scene Data Deletes the scene data Reference gt p 340 Reference 0010 7030 Store Scene Data Stores the scene data gt p 340 0010 8020 Load Registered Image Loads the specified registered image as the Reference measurement image gt p 452 0010 9010 Echo Retu
336. hin the timeout time that is set in the Ethernet IP communications settings Or increase the length of the timeout time that is set in the EtherNet IP settings Slow Operation Problem Cause Action Response and data output is slow You are performing communications with incompatible protocols e g PLC Link and EtherNet IP Do not use incompatible protocols for com munications Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Non procedure Communications This section provides the communications settings communications specifications input formats and other information required to perform non procedure normal communications between the Sensor Controller and an external device Communications Processing Flow The Sensor Controller and external device communicate with command based non procedure communications via Ethernet or RS 232C 422 Communications are performed via the Ethernet using the UDP IP or TCP IP protocol External device Sensor Controller Command gt ASCII character command For example when MEASURE is sent to execute a single measurement MM Response ees OK NG values etc Measurement Flow Execution of processing items a Data Output Unit Measurement data There is no handshaking to det
337. iaiaeiaeiaa A 77 Data Outputs E EEE E A TA EEA aves A EATA 80 oina EAOn E EE E A E E ete pale E T E E E A E SE 82 EtherCA Troubleshooting gas cieee EA A A nha eee 86 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Sysmac Error Status duiae i aa ee ities eee haan es dee ede ae Taa Ra 87 SYSMAC Device FEAtUIES srca nE rea RE EA AEEA R REET AREEN EARR RNANA 100 tapeet BICONE E a E I tdets 102 Communicating with PLC Link ssniisiieriessariira einir i E AA rA AEEA EA Deedee cone 149 Communications Processing FIOW ssisestsiriir stisniti ieeinei isata nie idaan Ena aiina Ainaa dE Derai EAn a anaa E RaKa 149 Communications Setup Procedures ccceccecceececeeeeeeeeeeeecneaeceeeeeeeeeeeesecdcccaeeeeeeeeeeeeeseeeeeeseaeess 151 Communications Module Settings Startup Settings 0 0 ee eceeeeeeeeeee cesses eeeeeeeeeeeeseeneaeeeeeeeaaeees 151 Communications Specifications Settings ee eeeeeeceeeeeeeeeeeeeeseeeeeeeeeseeeeeeeeeeeeeaeeeeseeaaeeeeneeeneeees 153 Output Data Settings Processing Item Registration ceesceceeeeceeeeeeeeeeeeeeeeeeeaeeeseeenaeeeeseenaees 168 Testing Communications 22 iaent eh sivieietaieeh ti Shee eid eee sehen iene ala E it 173 Memory Allocation asniensis idee a ee Bee ed deed ed 176 VO SIQNAlS vanciseta diane ARAA en ati eet SA ais i al Ault 179 OUTPUTS IS tes ae teas E aes Means rath oo ak A a ens oath aes Sea netic ad wre tat Meee Shere A 181 Command Lists ethic
338. ications data I O methods communications settings communications commands and other details for each communications protocol used to communicate between the FH FZ5 and external devices EtherCAT Connections FH Only c scccsessseereeeeseeeees 38 Communicating with PLC Link cccccsssseeeeeeeseeeeees 149 Communicating with EtherNet IP ccssseceeeesseeeeeeeees 198 Non procedure Communications eeeeeeeeeeeee 249 Parallel Communications cccccceeceseeeeeesseeneeneeeeees 277 s d eu19 x3 UM Buneoilunuiwoy pue Huosuuog JO spoule EtherCAT Connections FH Only Introduction to EtherCAT EtherCAT Ethernet Control Automation Technology is a high performance industrial network system that enables faster and more efficient communications based on Ethernet Each node achieves a short communications cycle time by transmitting Ethernet frames at high speed Although EtherCAT is a unique communications protocol standard Ethernet technology is used for the physical layer which means you can use Ethernet cables for wider application And the effectiveness of EtherCAT can be fully utilized not only in large control systems that require high processing speeds and system integrity but also in small and medium control systems How EtherCAT Works With EtherCAT Ethernet frames pass through all of the slave nodes When a frame passes through a slave node the slave node reads and
339. ies Vision Sensor from OMRON to use a Beckoff master EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communications Settings The following settings are required to use EtherCAT communications 1 Communications Module settings startup settings L 2 Communications specifications set tings L registration 3 Output data settings processing item L 4 EtherCAT network configuration set tings 5 Communications confirmation Vision System FH FZ5 Series User s Manual for Communications Settings Z342 The type of the Communications Module is selected to determine the com munications method to use between the Sensor Controller and the external device Refer to B Communications Module Settings Startup Settings p 55 The communications specifications are set for the communications method of the Communications Module that was selected in step 1 The data size that is output to the Data Output Area is also set Refer to gt Communications Specifications Settings p 56 The data to output to the Data Output Area is registered in the Output Unit The output is placed in the measurement flow in the same way as for other processing items Refer to Output Data Settings Processing Item Regis tration p 59 The FH series Vision Sensors are registered in the EtherCAT slave configu ration on the Sysmac S
340. ifications PLC I O memory areas and communications commands used with PLC communications and provides communications timing charts and other information required to communicate between the Sensor Controller and an external device through PLC Link communications Communications Processing Flow The Sensor Controller and external device communicate with PLC Link communications via Ethernet or RS 232C 422 IMPORTANT PLC Link communications can be performed via Ethernet or RS 232C 422 but not both at the same time e When using PLC Link communications to connect to an OMRON CJ series PLC or NJ series Machine Automation Controller via Ethernet you can connect only one FH FZ5 series Sensor Controller or line Do not set the output port number of the FH FZ5 to the same number as the FINS UDP port of the CJ series PLC or the NJ series Machine Controller If more than one FH FZ5 is connected to the same FINS UDP port PLC Link communications will not work correctly and a PLC Link Error may occur You can use PLC Link communications to perform control from the PLC with command response communications and to output data after measurements You can use these two communications methods simultaneously For PLC Link communications the following three communications areas are set in the PLC to perform communications You write the control commands to execute for the Sensor Controller to Command Area Command response this area
341. ig ger is set in the system settings Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Output Signals ON OFF timing Signal Signal name Function OFF to ON ON to OFF The signal turns OFF in The signal turns ON nee the following when the Controller is eit Measurement This signal tells whether or not the e When in ADJUST RUN a ready for measurement Mode Signal Controller is in RUN Mode Mode and the RUN window is disblaved e When the Controller Payas cannot perform measurements This signal tells when commands and other external inputs cannot be acknowledged Make sure this signal is OFF before you request a command While this signal is ON no com The FH FZ5 turns ON the mands will be accepted even if signal when it receives a The signal turns OFF 3 they are sent command from the user when the user PLC paar Buey pinal Note PLC The signal turns turns OFF the Command The execution of commands or ON after the EXE signal Request EXE signal other processing received turns ON through any other protocol can be detected e Just because this signal is ON does not necessarily mean that a command is being executed Outputs the overall judgement The status of the OR sig This is determined when the mea ua i nal is maintained until the surement is completed BUSY sig next OR signal is output nal ON to OFF 4 The Outpu
342. igger signal is turned ON EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 To execute a measurement trigger after changing the scene first confirm that the Command Completion signal and the BUSY signal that turned ON for execution of the Select Scene command have turned OFF Also if the BUSY signal is ON for too little time and the external device cannot read it increase the time that the BUSY signal is ON for changing scenes so that the external device can read the ON state You can set the following items Refer to Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH FZ5 SeriesUser s Manual Cat No Z340 9 When the Vision Sensor receives the request it turns ON the BUSY signal turns OFF the Command Ready signal and processes the measurement 10 When the Vision Sensor has output the output data to the Data Output Area it turns ON the Result Notification signal 11 The Vision Sensor turns OFF the Result Notification signal after the output time that is set in the EtherCAT settings has elapsed 12 The Vision Sensor automatically turns OFF the BUSY signal and turns ON the Command Ready signal after processing the measurement is completed 13 The Command Completion signal is turned ON 14 The PLC user turns OFF the Trigger signal when the Command Completion signal turns ON 15 When the Vision Sensor detects that t
343. ime of the measurement flow Measurement processing and data output pro cessing are synchronized so that all data output processing is finished when measurements are finished This increases the overall processing time of the measurement flow Not selected This is the same as the PLC Link operation of the FZ4 Vision Sensor Reference Asynchronous Output p 167 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Setting item Retry interval ms 10000 Set value Factory default 0 to 999999 Description Set the time in which a timeout error will occur After a timeout error occurs communications with the destina tion device will be attempted at the interval time that is set as the retry interval Reference Data Output Control with Handshaking p 27 4 If handshaking is enabled a timeout error will also occur if any of the following operations are not performed during the Retry interval If the DSA signal is not turned ON after a certain time elapses from when measurements are finished If the DSA signal is not turned OFF after a certain time elapses from when the GATE signal turns ON If the DSA signal is not turned ON after a certain time elapses from when the GATE signal turns OFF Polling cycle ms 0 1 to 999999 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 0 to 999999 Set the interval to perform
344. in the specified image display window Command PLC to Sensor Controller First word in Command Bit oe Description Command Area code 12to15 8to11 4to7 O0to3 2 5010 0101 0000 0001 0000 Command code 3 0020 0000 0000 0010 0000 4 0000 0000 0000 0000 Image display window number FH Image display window number 0 to 23 FZ5 Displaying 1 image 1 5 p 0000 0000 0000 0000 Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails O to 4 Response Sensor Controller to PLC ssolpueddy poo First word in Command Bit Par Description Response Area code 42to015 8to11 4to7 0to3 2 5010 0101 0000 0001 0000 Cominand code 3 0020 0000 0000 0010 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 7 3 0000 0000 0000 0000 Unit No Getting Display Sub image Number Gets the number of the sub image currently displayed in the specified image display window Command PLC to Sensor Controller First word in Command Bit SP Description Command Area code 412t0o15 8to11 4to7 0to3 2 5020 0101 0000 0010 0000 Command code 3 0020 0000 0000 0010 0000 4 0000 0000 0000 0000 Display image window number FH Image display window number 0 to 23 FZ5 Displaying 1 image 1 5
345. index9 9th Input Object to be mapped Access RO Range Unit Default 60060410 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index10 10th Input Object to be mapped Range Unit Default 60060420 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index11 11th Input Object to be mapped Range Unit Default 60060430 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index12 12th Input Object to be mapped Range Unit Default 60060440 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index13 13th Input Object to be mapped Range Unit Default 60060450 hex Size 4 bytes U32 Access RO EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible Sub index14 14th Input Object to be mapped Range Unit Default 60060460 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index15 15th Input Object to be mapped Range Unit Default 60060470 hex Size 4 bytes U32 Sub index16 16th Input Object
346. ing items measurement results and measurement data in the expression You can also perform arithmetic or function calculations on the measurement data before it is output Click the button for the Comment box and enter an explanation of the expression The comment you enter will be displayed in the detailed results on the Main Window For example if you enter Test as the comment for expression 0 Test will be displayed in place of Expression 0 in the detailed results area on the Main Window Repeat steps 4 tand 5 to set expressions for all of the required output data numbers Click the DINT Setting or LREAL Setting tab and then set expressions in the same way as for steps 3 to 5 above Note If you delete one of the expressions that is set for an output data number 0 is output for the output data for that number EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Network Configuration Settings To connect FH series Vision Sensors to an NJ series Controller you must use the Sysmac Studio to register the Vision Sensors in the network configuration Registering the Vision Sensors in the EtherCAT Slave Configuration Register the Vision Sensors in the EtherCAT slave configuration on the Edit Network Configuration tab page Refer to gt Section 5 Controller Configurations and Setup in the Sysmac Studio Version 1 Operation M
347. ing items related to results output No data output ON Prase a iEn Data output started To output measurement results immediately execute the measurement trigger and turn ON the DSA signal The Sensor Controller does not monitor when the DSA signal changes from OFF to ON It only checks for the ON state Therefore the measurement results will be output from the Sensor Controller to the external device immediately after an Output Unit is executed and the output data must be received by the PLC at this time Control Methods Using an External Device Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Measurement flow DSA data output request signal status Start measurement a ON Processing items related to results output 4 Data output started Processing completed M IN AQO Receiving Multiple Continuous Output Data Items When receiving multiple output data items from multiple Output Units use the DSA and GATE signals to receive the items one at a time Example PLC Link Communications with Handshaking Output Unit 1 executed Output Unit 2 executed O i i i Measurement trigger Wait for the Wait for the i e g STEP signal N first output data second output data _ _ _ _ gt I I A PARNI l ON 7 Result Completion H GATE signal OFF i 1 Li i 1 1 Outp
348. io all of the subindices of 1 that include the above bits are mapped 7001 hex Command Code Range Unit Default 00000000 hex Size 4 bytes U32 Access RW e Stores the command code such as Change scene Vision System FH FZ5 Series User s Manual for Communications Settings Z342 PDO map Possible EtherCAT Connections FH Only s n d eu19 x3 UM Bugeotunwwop pue Huosuuog 104 spoule 7002 hex Command Parameter Sub index0 Number of entries Range Unit Default 00 hex Size 1 byte U8 Access RO PDO map Not possible Sub index1 Command Parameter 0 Range Unit Default 00000000 hex Size 4 bytes 4 bytes INT32 Access RW PDO map Possible Sub index2 Command Parameter 1 Range Unit Default 00000000 hex Size 4 bytes INT32 Access RW PDO map Possible Sub index3 Command Parameter 2 Range Unit Default 00000000 hex Size 4 bytes INT32 Access RW PDO map Possible Sub index4 Command Parameter 3 Range Unit Default 00000000 hex Size 4 bytes INT32 Access RW PDO map Possible e Store the parameter of the command e g the scene number is stored when the command Switch scene 144 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 8000 hex Result R
349. ion protocol Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 EtherCAT Slave Information Files ESI Files The setting information for an EtherCAT slave is provided in an ESI file EtherCAT slave information The EtherCAT communications settings are defined based on the ESI files of the connected slaves and the network connection information You can create the network configuration information by installing ESI files into the network setup software configuration tool You can download the network configuration information to the EtherCAT master to configure the EtherCAT network Configuration Tool EtherCAT master configuration information ESI files LV EtherCAT EtherCAT Slave Terminal Communications are started according to the communications settings and the network configuration based on the ESI files that are installed ESI files for the FH can be downloaded from the OMRON website 4 Installation of the ESI files is not necessary if you are using the Sysmac Studio The ESI files for OMRON EtherCAT slaves are already installed in the Sysmac Studio You can update the Sysmac Studio to get the ESI files for the most recent models EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Transitions of Communications States The state transition mo
350. ions If the DSA signal is not turned ON after a certain time elapses from when measurements are finished e The DSA signal turns OFF after the GATE flag turns ON e The DSA signal turns ON after the GATE flag turns OFF Click Close to close the System Settings Dialog Box IMPORTANT PLC Connection Timeout Interval Set the PLC connection timeout interval so that it is longer than the measurement processing time 210 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Tag Data Link Setting Methods This section describes how to set data links for EtherNet IP The communications areas in the PLC for which data links are created to the Sensor are specified as tags and tag sets and the connections are set for tag data link communications To connect to OMRON Controllers and communicate through EtherNet IP you use the Network Configurator to set up tag data links i e tags tag sets and connection settings The procedures to set up the tag data link using the Network Configurator are described here Refer to the following manuals for details on the tag data link settings that are made with the Network Configurator e Reference gt NJ series CPU Unit Built in EtherNet IP Port User s Manual Cat No W506 e Reference gt CS CJ series EtherNet IP Units Operation Manual Cat No W465 e Reference gt CJ series EtherNet IP Units Operation Manual for NJ series
351. ions areas for the Sensor using the following Command Area Signal name Variable name EXE ElPOutput ControlFlag F 0 TRIG ElPOutput ControlFlag F 1 ERCLR E lPOutput ControlFlag F 15 DSA ElPOutput ControlFlag F 16 Command code ElPOutput CommandCode Command parameter 1 ElPOutput CommandParam1 Command parameter 2 ElPOutput CommandParam2 Command parameter 3 ElPOutput CommandParam3 Response Area Signal name Variable name FLG ElPinput StatusFlag F 0 BUSY ElPinput StatusFlag F 1 READY EIPInput StatusFlag F 2 OR ElPinput StatusFlag F 3 RUN E Pinput StatusFlag F 4 ERR ElPinput StatusFlag F 15 GATE E IPInput StatusFlag F 16 Command code EIPInput CommandCodeEcho Response code E IPinput ResposeCode Response data ElIPiInput ResposeData Output Area Signal name Variable name Output data 1 ElPinput OutputData 0 Output data 8 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 ElPinput OutputData 7 Communicating with EtherNet IP s d eu19 x3 UM Bugeoiunwwop pue Huosuuog JO spoule 226 Accessing Communications Areas by Specifying I O Memory Addresses AT specifications can be set for variables to individually specify the I O memory addresses that are assigned in the communications areas 1 Setting Tag Sets Network Configurator Specify the tag na
352. isplay window number 0 to 23 FZ5 Displaying 1 image 1 Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails 0 to 4 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 ssolpueddy po 415 Command Control Example When returning the display position and display zoom ratio for the image display window 1 to their default values lt Command gt EL TIF 1 R lt Response gt O KFFe 416 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 IMAGELOGFOLDER or ILF Getting the image logging folder name Gets the set image logging folder name lt Command format gt HT IMIAIG E L O G F O L DIE RI LIF lt Response format gt When processing is performed normally Image logging folder name r O KIcR When processing is not performed normally R s mj Fa ssolpueddy po lt Parameters explanation gt Image logging folder name Responds with the name of the folder the logging image is saved to with its absolute path Example When the image logging save destination is set to RAMDisk lt Command gt LIF lt Response gt RIAIMID i s k e OKE 417 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 Setting the image logging folder name Sets the image logging folder name lt Command format gt I mjajeje LjojejFj
353. isplayed Cause You are performing communications with incompatible protocols e g PLC Link and EtherNet IP Action Do not use incompatible protocols for com munications You changed the communications settings on the PLC i e the port settings Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Restart the PLC s n d eu19 x3 UM Buneoiunuiwo9 pue Huosuuog JO spoule 197 Communicating with PLC Link 198 Communicating with EtherNet IP Introduction to EtherNet IP EtherNet IP is an industrial multi vendor network that uses Ethernet The EtherNet IP specifications are open standards managed by the ODVA Open DeviceNet Vendor Association EtherNet IP is used by a wide range of industrial devices Because EtherNet IP uses standard Ethernet technology various general purpose Ethernet devices can be used in the network EtherNet IP has mainly the following features High speed High capacity Data Exchange through Tag Data Links The EtherNet IP protocol supports implicit communications which allows cyclic communications called tag data links with EtherNet IP devices Tag Data Links at Specified Communications Cycle for Each Application Regardless of the Number of Nodes Tag data links cyclic communications operate at the cyclic period that is specified for each application regardless of the number of nodes Data is exchanged over the network at the refresh cycle that
354. it Default 6 0050A20 hex Size 4 bytes U32 PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible Access RO PDO map Not possible Sub index11 11th Input Object to be mapped Range Unit Default 60050B20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index12 12th Input Object to be mapped 116 Range Unit Default 60050C20 hex Size 4 bytes U32 EtherCAT Connections FH Only Access RO Vision System FH FZ5 Series User s Manual for Communications Settings Z342 PDO map Not possible Sub index13 13th Input Object to be mapped Range Unit Default 60050D20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index14 14th Input Object to be mapped Range Unit Default 6 0050E20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index15 15th Input Object to be mapped Range Unit Default 6 0050F20 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index16 16th Input Object to be mapped Range Unit Default 60051020 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index17
355. items Reference gt p 95 48020000 hex System Error An error occurred in the system A serious error occurred in the system in the Controller Reference P p 95 58210000 hex Output Control Timeout for Par allel I O PLC Link or EtherNet IP A timeout occurred in data output handshak ing control for measure ment results The data output handshaking controls in the program i e the ON OFF timing of the Result Set Request signal are not correct The output control timeout time is too short in comparison with the program processing time The parallel I O Result Set Request or Result Notification signal is not wired correctly Reference gt p 96 58220000 hex Output Control Timeout for EtherCAT A timeout occurred in data output handshak ing control for measure ment results The data output handshaking controls in the program i e the ON OFF timing of the Result Set Request signal are not correct The output control timeout time is too short in comparison with the program processing time Reference gt p 97 78190000 hex Image Logging Disk Write Error Writing data to the image logging disk failed e A logging disk is not inserted The available space on the logging disk is not sufficient e There is no logging folder Security restrictions are set on the logging disk Reference gt
356. ith command argument 1 to the scene with the number specified with command argument 2 Deletes scene data with a number specified by command argument 1 after completing copying If there is already data at the copy destination the copied data is written over that data lt Command format gt mjojv sjejejjej Tt L Cc R Target scene number 3 digits max Source scene number 3 digits max Target scene number 3 digits max Source scene number 3 digits max lt Response format gt When processing is performed normally O KISe When processing is not performed normally ERI lt Parameters explanation gt Specifies the scene number to copy scene data from 0 to the number of the scenes in the scene Source scene number group minus one Specifies the target scene number for copying scene data 0 to the number of the scenes in the Target scene number scene group minus one Example The following sample command moves the scene data saved under scene 2 to scene 10 lt Command gt Mis D 2 1 O s lt Response gt OlKFe Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 OPELOGCOND or OLC Gets logging operation state Gets the logging operation state lt Command format gt O PJE L O G C O N DI r e e Ol a lt Response format gt When processing is performed normally Cc Logging
357. itten by the output data that is output after it Use one of the following methods to read each set of output data You can offset the location where the output data is written in the Data Output Area for each Output Unit Set the Offset for the Data Output processing item Reference Output Format Data Output p 172 Offset If handshaking is used to control data output the timing of outputting the data is con trolled by I O signals Each time that data is output read the output data and move it to a different part of I O memory in the PLC Reference Data Output Control with Handshaking p 27 for details on handshaking Controlling data output with handshaking e Data is output in the order that data output is registered in the measurement flow i e the timing is different for each data output processing item Data output is executed in the order that it is executed in the measurement flow Reference gt Outputting the Output Data p 23 s d eu19 x3 UM Buyeolunuiwoy pue Buosuuog JO spoule 169 Vision System FH FZ5 Series User s Manual Communicating with PLC Link for Communications Settings Z342 Registering the Items To Output Set expressions for the data to output 1 Click the Data Output icon a in the measurement unit list flow 2 in the Item Tab Area click Setting Setting Output format Output data Number of output data items 8 Leal gt No Expression
358. ive 1111 e Bits O to 11 Every 4 bits express 1 digit from ones place bits 0 to 3 1st digit to the the hundreds place bits 8 to 11 3rd digit 291 Vision System FH FZ5 Series User s Manual Parallel Communications for Communications Settings Z342 292 Registering Parallel Judgement Output Items Use the following procedure to output the judgement results that are set for parallel output Registering Parallel Judgement Output Units Register the processing items for parallel judgement output in the measurement flow 1 Click Edit flow in the toolbar or on the Main Window 2 Select the Parallel Judgement Output processing item from the processing item tree Output resutt i Data Output E Parallel Data Output f m EE Judgement Output i Fieldbus Data Output 3 Click Append The Parallel Judgement Output processing item is appended at the bottom of the unit list flow nig 0 Camera Image Input 4 1 Search Ry 2 Parallel Judgement Output Note Data is output in the order that data output is registered in the measurement flow i e the timing is different for each data output processing unit Data output is executed in the order that it is executed in the measurement flow Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Registering the Items To Output In an expression set the target for judgement i e the
359. k 256 max 1 024 bytes max e EtherCAT 64 max 256 bytes max The following items can be output e Judgement result e Measured parameters correlation values reference coordinates etc e Results calculated based on the values of the measured parameters e Judgement results from expression results Parallel Judgement Output Character Output PLC Link Communications or Non procedure Communications Only You can output the characters that were read by processing items such as Character Inspection e Character output is supported only for PLC Link communications or non procedure communications A maximum of 32 characters can be output e Read character strings are output separated by delimiters or non procedure communications The processing items that support character output are listed below Refer to the descriptions for each processing item for details on the character output format e Character Inspection Refer to B Character Inspection in the Vision System FH FZ5 Series Processing Items Reference Manual Cat No Z341 Barcode Refer to Barcode in the Vision System FH FZ5 Series Processing Items Reference Manual Cat No Z341 2DCode Refer to B 2DCode in the Vision System FH FZ5 Series Processing Items Reference Manual Cat No Z341 Settings Required for Data Output Use the following procedure to set up Output Unit processing units for data output Measurement Data 1 Place the output dat
360. l pictink therNet enercar Non IP procedure Sets all the ON OFF states for terminals other than NA OK OK OK OK DO Enables Disables the DO terminal in batches NA OK OK OK OK Changes the user account used by the user currently NA OK Rsq t NA OK logging in Sets the operation log state NA OK OK OK OK 4 You cannot execute tag data link commands Execute the command with message communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Control ssolpueddy po 329 330 Commands to Read Data OK Applicable command RST Command with restricted execution NA Non applicable command Function Parallel PLC tink FtherNet Ethercar Non IP procedure Acquires unit data NA OK RST OK OK Gets the current date and time NA OK RsT NA OK Acquires system version information NA OK RST NA OK Acquires settings related to image logging NA OK RST NA OK Gets the defined image logging folder name NA OK RST NA OK Gets the defined data logging folder name NA OK RST NA OK Gets the defined screen capture folder name NA OK RST NA OK Acquires the set image logging prefix NA OK RST NA OK Acquires the set data logging condition NA OK OK OK OK Acquires the set DI terminal offset data NA OK OK OK OK 4 You cannot execute tag data link commands Execute the command with message communications Commands to Write Data OK Applicable com
361. l data with the current image NA OK OK OK OK Moves the image display position in parallel the NA OK OK OK OK specified distance Zooms in out the image display by the specified zoom NA OK OK OK OK ratio Returns the display position and display zoom ratio to NA OK OK OK OK their initial values Copies scene data NA OK OK OK OK Deletes scene data NA OK OK OK OK Moves scene data NA OK OK OK OK Registers specified image data as registered image NA OK RST NA OK Loads the specified registered data as a NA OK OK OK OK measurement image Responds in the response areas 5 6 with the data NA OK NA NA NA that was set in command areas 4 5 Returns the input string as is to the output echo NA NA OK OK OK Executes the specified command string after a NA NA NA NA OK specified delay Adds a user account to a specified group ID NA OK RST NA OK Deletes a specified user account NA OK RST NA OK Branches to the start of the measurement flow NA OK OK OK OK processing unit No 0 326 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 OK Applicable command RST Command with restricted execution NA Non applicable command Function Parallel PLctink FtherNet ctnercar _Non IP procedure Restarts the Sensor Controller NA OK OK OK OK Clear Error OK NAC3 NAC NAS NA Clear Parallel OR DO OK NA NA NA NA You can execute the same operation with the Measurement Execution
362. l is enabled Reference Data Output Control with Handshaking p 27 Data Output Control with Handshaking The timing for data output can be controlled through the DSA and GATE signals This is useful when receiving output data from multiple Output Units because it enables you to control the timing for transferring output data Requirements for Using Data Output Control with Handshaking To use data output control set the output control method to Handshaking in the communications protocol settings For details refer to gt Communications Specifications Settings for each communications protocol Parallel Communications Refer to gt Communications Specifications Settings p 280 PLC Link Communications Refer to gt Communications Specifications Settings p 153 EtherNet IP and EtherCAT Communications Refer to gt Communications Specifications Settings p 56 or p 207 Handshaking If the external device does not turn ON the DSA signal the measurement data will not be output to the external device from the Sensor Controller While the DSA signal is ON the GATE signal turns ON when the measurement data is output from the 27 Vision System FH FZ5 Series User s Manual Control Methods Using an External Device for Communications Settings Z342 q Sensor Controller The external device receives the measurement data when the GATE signal turns ON Signals Used for Handshaking Signal Name Operation Data Output Request This
363. lapses from when the Result Notification signal turned OFF 1 The PLC user turns ON the Trigger signal and the Result Set Request signal at the same time The output data for the first Fieldbus Data Output Unit can be dependably received 2 The Vision Sensor executes the Fieldbus Data Output Unit in the measurement flow Because the Result Set Request signal is ON the Result Notification signal turns ON and the output data from the Fieldbus Data Output Unit is output to the external device 3 The PLC user reads the data when the Result Notification signal turns ON and it turns OFF the Result Set Request signal 4 The Vision Sensor automatically turns OFF the Result Notification signal when it detects that the Result Set Request signal has turned OFF 5 If there is more than one Field Data Output Unit in the measurement flow the PLC user turns ON the Result Set Request signal when the Result Notification signal turns OFF and then waits for execution of the next Field Data Output Unit 6 When the next Fieldbus Data Output Unit is executed the Result Notification signal turns ON and the data is output Receive the second output data and then repeat steps 3 to 5 above Repeat steps 3 to 5 for any other data outputs s d eu19 x3 UM Buyeolunuiwo9 pue Buosuuog 104 spoule Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 Time Charts Example 1 Inputting a Measur
364. larity Negative sure is completed 9 Negative The SHTOUT signal turns OFF when exposure is completed 3 Click Apply IMPORTANT e If more than one Camera is connected the SHTOUT signal will remain ON for the Camera with the longest exposure time e You cannot use the Shutter Output Signal when the image mode is set for a through image If you have registered more than one Camera Image Input processing unit in the measurement flow the SHTOUT signal will be turned ON for each Camera Image Input processing unit individually Therefore use Camera Switching processing items instead of Camera Image Input processing items in the middle of the measurement flow The SHTOUT signal will be output for as many times as imaging is performed when Camera Image Input HDR or Camera Image Input HDR Lite processing item is used The SHTOUT signal that is output through EtherCAT communications is affected by this setting 284 Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communications Specifications Settings Use the following procedure to select the type of output control set the output signal operation and set other parallel interface communications specifications 1 onthe Main Window select Tool System Settings Communication 2 Select System Settings Communication Parallel from the tree view on the left The Parallel View is displayed 3 Cli
365. lation results of expressions are output e Parallel Judgement Output DOO to DO15 Signals The measured values of the processing items or calculation results are judged and the judgement results are output 277 Vision System FH FZ5 Series User s Manual Parallel Communications for Communications Settings Z342 278 Note If the operation mode is set to Multi line Random trigger Mode and the number of lines to use simultaneously was increased the signals control and output that can be performed is different from when only a single line is used as described in the following table For the signals that can be used and for differences in assignments refer to 1 O Signals p 296 FH Number of controlled lines Differences from when only a single line is used i e when the operation mode is not set to Multi line Trigger Mode 2 lines e The usable functions are the same as for when only a single line is used e DO signals are divided as follows Line 0 DOO to DO7 Line 1 DO8 to DO15 3 or 4 lines e Parallel data output and parallel judgement output cannot be performed DO signals cannot be used e Handshaking output cannot be used the GATE signal and DSA signal cannot be used e An encoder cannot be used 5 to 8 lines FZ5 e The RUN signal cannot be used The same ERR signal is used for all lines e Parallel data output and parallel judgement output cannot be performed DO signal
366. lder name to USBDisk lt Command gt TICIF U S B D i s k k lt Response gt OlKFe 412 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 IMAGEDISPCOND or IDC Gets image mode Gets the image mode for the specified Image Display window lt Command format gt i imjajeje oj i s ejcjojnjo 4 E Image display window number 2 digits max or C foje R es Image display window number 2 digits max lt Response format gt When processing is performed normally Image mode r ONKISe When processing is not performed normally ERIS lt Parameters explanation gt Display image window number FH Image display window number 0 to 23 FZ5 Image display window number Displaying 1 image 1 Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails 0 to 4 0 Through Image mode 1 Freeze or Freeze and Last NG together 2 Last NG Example When getting the image mode of the image display window 1 through lt Command gt T DIC _ 1 a lt Response gt a OlKFe Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Control ssolpueddy po 413 Sets image mode Sets the image mode for the specified Image Display window lt Command format gt Image mode 1 digit mage display window number 2 digits max or Hoje
367. le assumes that Serial Ethernet PLC Link SYSMAC CS CJ CP One is selected as the Communications Module Stop the program on the PLC when you check the communications settings Checking the Communications Settings Use the following procedure to check if the communications settings are correct 1 On the Main Window select Tool System Settings Select System data and then select Communication PLC Link Sysmac CS CJ CP One Setting PLC Link Address setting Obtain an IP address automatically Use the following IP address IP address Subnetmask 2 Set the IP address of the Sensor Controller The default settings are as follows Address setting 10 5 5 100 Address setting 2 10 5 5 101 Default gateway Nee server Address setting 2 Obtain an IP address automatically Use the following IP address IP address Subnetmask Default gateway N DNS server Input Output setting m 3 Set the IP address of the PLC in Output IP address Output IP address 4 Set the port number to use for data I O with the PLC in Input port No Set the same number as the destination PLC Input port No IMPORTANT Be sure to match the settings on the PLC for the Output IP address and Input port No If these settings do not match those on the PLC PLC Link Error
368. line number to send the com used for all lines mand is added ENC Phase A Phase B or Phase Assigned for each line Not supported Z ACK The same signal is used for all lines STGOUT SHTOUT Assigned for each line RUN Assigned for each line Not supported GATE Assigned for each line Not supported BUSY Assigned for each line OR Assigned for each line ERR Assigned for each line Wanda rls Is READY Assigned for each line DO DOO to DO15 Line 0 DOO to DO Not supported Line 1 DO8 to DO15 e Signals According to Lines Used Two Lines CO S enm I O Line 0 Line 1 STEP STEPO STEP1 DSA DSAO DSA1 DILINE DILINE 0 used for all lines DI DIO to DI7 used for all lines ENC Phase A Phase B or Phase Z ENCO Phase A ENCO Phase B or ENCO Phase Z When an encoder is used STEPO is assigned to ENCO Phase Z ENC1 A Phase ENC1 B Phase or ENC1 Z Phase When an encoder is used STEP6 is assigned to ENC1 Phase A STEP7 is assigned to ENC1 Phase B and STEP1 is assigned to ENC1 Phase Z ACK ACK used for all lines 300 Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Line number vO Line 0 Line 1 STGOUT SHTOUT STGOUTO SHTOUTO STGOUT1 SHTOUTO RUN RUNO RUN1 GATE GATEO GATE1 BUSY BUSYO BUSY1 OR ORO OR1 ERR ERRO ERR1 READY
369. ll output the data Result Completion GATE from the processing item signals turns OFF Reference Time Charts p 240 Turn ON this signal to Turn ON the signal from the Turn OFF the signal from ERCLR Error Clear Bit clear the ERR signal from PLC when the Error Status the PLC when the Error Sta the Sensor Controller ERR signal turns OFF tus ERR signal turns OFF er Turn ON the signal from the Flow Com het Rhine PLC to request execution of Turn OFF the signal when XEXE mand Request execution of fieldbus ip a command that was input the Flow Command Comple Bit during execution of fieldbus tion XFLG signal turns ON control flow control Turn ON the signal from the PLC to execute measure Turn OFF the signal from the STEP Measure Bit Turn ON this signal to exe ments after you confirm that PLC when the Sensor Con cute measurements the BUSY and Command Completion FLG signals are OFF troller turns ON the BUSY signal 4 A timeout error will occur and the Command Completion FLG signal and BUSY signal will be forced OFF if the Command Request EXE signal does not turn OFF within the timeout time that is set in the EtherNet IP settings after the Command Completion FLG signal turns OFF 2 A timeout error will occur and all data ready for output will be discarded if the DSA signal is not turned ON after the Result Completion GATE signal turns OFF within the timeout time that is set in the
370. llel I O EtherNetiP Lalbal bal bala ON Date time setting Fan control setting Select one of the following Communications Modules based on the communications method that is used to connect with the Sensor Controller and the Unit to connect to then click Apply Communications Module Serial Ethernet Description Performs non procedure communications through an Ethernet connection Select this Communications Module to communicate with the external device with Normal UDP UDP communications Select this Communications Module to communicate with the external device with Normal TCP TCP communications Select this Communications Module to communicate with the external device as a Normal TCP Client TCP client Normal UDP Fxxx series method Select this Communications Module to communicate with the external device through UDP or Fxxx series communications Normally select this Communications Module to use non procedure communica D cies tions through an RS 232C 422 connection Normal Normally selected when performing non procedure RS 232C 422 communications Select this Communications Module to communicate with the external device through Fxxx series communications Normal Fxxx series method 1 With the Normal Fxxx series method communications method the OK response timing in relation to MEASURE commands is different from that of the No
371. lly O KISe When processing is not performed normally EIR cr lt Parameters explanation gt Registered image number Specifies the registered image number 0 to 999 0 Last measured image Source to register 1 System logging image 2 Image file If you have specified a system logging image as the source to register specify a logging image number 0 to the number of the logging system images minus one If you have specified an image file specify a file name with O to 256 characters Logging image number File name Example When an image with registered image number 100 and logging image number 10 is registered lt Command gt RIT 1jojo 1 110 lt Response gt OlKFe Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Loads specified image data as registered image Loads a specified registered image as a measured image The status after the command is executed is the same as after the operation is executed for the Read Button in the Registered Image Manager lt Command format gt REG TIMIAIGIE IF E Registered image number max 3 digits or C R Registered image number max 3 digits lt Response format gt When processing is performed normally OIK eRi When processing is not performed normally ERIS lt Parameters explanation gt Registered image number Specifies the registered image number 0 to 999 A ee ae r
372. low Head Branches to the flow head processing unit No 0 Only supports execution of commands in the flow Command PLC to Sensor Controller First word in Command Bit re Description Command Area code 42to015 8to11 4to7 0to3 2 B010 1011 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 Response Sensor Controller to PLC First word in Command Bit a Description Response Area code 12to15 8to11 4to7 0to3 2 B010 1011 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Restart Restarts the Sensor Controller IMPORTANT When a restart command is executed BUSY does not turn off even after the command execution bit turns off After a restart command is executed perform a memory clear of BUSY on the PLC side Command PLC to Sensor Controller First word in Command Bit re Description Command Area code 42t015 8to11 4to7 0to3 2 F010 1111 0000 0001 0000 Command code 3 0010 0010 0000 0001 0000 Response Sensor Controller to PLC There is no response because restarting is performed Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Acquiring Scene Number Acquires the current scene No
373. low in the same way as for other processing items There are two types of Output Units for parallel communications e Parallel data output e Parallel judgement output Reference Output Data Settings Processing Item Registration p 287 L 4 Testing communications If communications are not performed normally check the communications spec ifications settings that were made in step 2 Also look at the communications status of all I O signals to make sure that the wiring is correct Reference Testing Communications p 294 If that does not solve the problem refer to the troubleshooting section Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communications Module Settings Startup Settings The method to use for communications with the Sensor Controller is selected from the Communications Modules 1 2 On the Main Window select Tool System Settings Select System setting Startups Startup setting on the Multiview Explorer on the left and then click Communication System Settines ra System Settings Startup Startup setting Camera Camera connection Inter camera setting Output signal setting Communication Parallel RS 232C 422 Normal Fxxx series methad Ethernet Normal TCP Client EtherNetaP Other Date time setting Fan control setting Language Setting Basic Communication Operation
374. lue 45 0000 0000 0000 0000 0000 _ identifier 0 Logging Identifier 1 Identifier of settings data to set and 6 0000 0000 0000 0000 0000 set value 7 0000 0000 0000 0000 0000 Separate the setting name and set value with 00 NULL 0000 0000 0000 0000 0000 e ImageLogging 0 do not save 1 save only NG 2 save all e imageLoggingDirectory image logging folder z name folder_name C2 single byte g alphanumeric characters 2 e imageLoggingHeader 8 0000 0000 0000 0000 0000 Prefix_for image logging_file_name single byte alphanumeric characters e DataLogging 0 do not save 1 save only NG 2 save all e dataLoggingDirectory data logging folder name folder_name single byte alphanumeric characters 4 If the name of a folder that does not exist is specified a new folder will be created 2 Specifying the name of a folder to save to The method for specifying the name of the folder to save to depends on the model FH FZ5 11 RAM disk C Data RAMDisk USB memory E F e FZ5 L35_1 FZ5 L6 RAM disk RAMDisk USB memory USBDisk USBDisk2 e For the FH FZ5 11L1L do not save to a non volatile area on the C drive such as C ProgramFiles FZ This would reduce the storage area for scene data and other data and make correct operation impossible Response Sensor Controller to PLC First word in Command
375. lunuiwo9 pue Huosuuog JO spoule 232 Commands to Get Status First word in Command Area Function Reference 3 2 0020 1000 Gets scene number Reference p 345 0020 2000 Gets the scene group number Reference p 345 0020 4000 Gets the number of the layout that is currently displayed Reference gt p 346 0020 5010 Eoy NN E that is currently displayed in the speci Reference P p 347 0020 5020 Gets the subimage number for the specified Image Display Pane Reference p 347 0020 5030 Gets the image mode for the specified Image Display Pane Reference p 348 0020 7010 Gets the input status enabled disabled for the Communications Reference gt p 349 Modules 0020 7020 Gets the output status enabled disabled to external devices Reference p 349 0020 8010 Gets the ON OFF status of the specified parallel I O terminal Reference p 350 0020 8020 Gets the ON OFF status for all terminals except for DI terminals Reference gt p 352 0020 8030 Gets the ON OFF status for all DI terminals Reference p 353 Gets the user name for the currently logged in user account Reference p 353 Gets the affiliation group ID for the currently logged in user account Reference p 354 0020 A000 Gets the current state of the operation log Reference gt p 355 Commands to Set Status First wor
376. ly Memory Allocation This section explains allocations for each area including the Command Area Response Area and Data Output Area Command Area PLC to Sensor Controller First word in Bit Command Name Area 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 XEXE EXE Control input 1 DSA 2 words 2 Command CMD CODE code 2 3 words 4 5 6 7 8 Up to 12 9 igwp param words for 10 command 11 parameters 12 13 14 15 Signal Signal name Function EXE Command Request Bit Executes a command Reference gt Command List p 183 DSA Data Output Request Bit Requests the next data output Reference Output Data Settings Pro cessing ltem Registration p 168 XEXE Flow Command Request Bit Executes a flow command CMD CODE_ Command code Stores the command code CMD PARAM Command parameters Stores command parameters 176 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Response Area Sensor Controller to PLC The order in which data is stored depends on the manufacturer of the connected PLC For details see gt Reference Parameter Notation Examples for Command Control p 322 First word in Bit Response Name Area 15 14 13 12 11 10 9 8 7 6 5 4 3 2
377. m 1 Individual specification communications method 150 Output form decimal Set Get 0 Fixed point 1 Floating point 151 Offset Set Get 0 to 99999 152 Number of output data items PLC Set Get 8 to 256 Link only 1000 to 1255 Data 0 to Data 255 Get only e ASCII 99999999 9999 to 999999999 9999 Binary 2147483 648 to 2147483 647 If you are using external reference numbers 5 to 12 on an FZ4 or earlier model use 1000 to 1007 on the FH FZ5 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command List The following tables list the commands used in PLC Link communications For command details refer to gt Parameter Notation Examples for Command Control p 322 Execution Commands First word in Command Area Function Reference 3 2 0010 1010 Performs one measurement Reference p 332 0010 1020 Starts continuous measurement Reference p 332 0010 1030 Completes continuous measurement Reference p 333 0010 1040 Executes a test measurement for the specified unit Reference p 333 0010 2010 Clears measurement values Reference p 334 0010 2020 Clears the data output buffer Reference p 335 0010 3010 Saves data in the Sensor Controller Reference p 335 0010 4010 Re registers the model data with the current image Reference p 336 0010 5010 Shifts the image display position by t
378. m FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s n d eu19 x3 UM Bugeorunwwop pue Huosuuog JO spoule 126 Sub index14 14th Input Object to be mapped Range Unit Default 60060E40 hex Size 4 bytes U32 Access RO Sub index15 15th Input Object to be mapped Range Unit Default 60060F40 hex Size 4 bytes U32 Sub index16 16th Input Object to be mapped Access RO Range Unit Default 60061040 hex Size 4 bytes U32 Access RO Sub index17 17th Input Object to be mapped Range Unit Default 60061140 hex Size 4 bytes U32 Sub index18 18th Input Object to be mapped Access RO Range Unit Default 60061240 hex Size 4 bytes U32 Access RO Sub index19 19th Input Object to be mapped Range Unit Default 60061340 hex Size 4 bytes U32 Sub index20 20th Input Object to be mapped Access RO Range Unit Default 60061440 hex Size 4 bytes U32 Access RO Sub index21 21st Input Object to be mapped Range Unit Default 60061540 hex Size 4 bytes U32 Sub index22 22nd Input Object to be mapped Access RO Range Unit Default 60061
379. m FH FZ5 Series User s Manual Cat No Z340 240 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 O The Sensor Controller executes measurement processing and turns ON the BUSY signal when the request is received 10 The Command Completion FLG signal is turned ON 11 The Sensor Controller confirms that the Command Completion FLG signal is ON and automatically turns OFF the BUSY signal 12 The PLC user turns OFF the Command Request EXE signal when the Command Completion FLG signal turns ON 13 When the Sensor Controller detects that the Command Request EXE signal is OFF it automatically turns OFF the Command Completion FLG signal and the BUSY signal 1 A timeout error occurs and the Command Completion FLG signal and BUSY signal are forced OFF if the Command Request EXE signal is not turned OFF from the PLC user within the timeout time that is set in the EtherNet IP settings s d eu19 x3 UM Buneolunuiwoy pue Huosuuog JO spoule Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 Example 2 Outputting Data with More Than One Output Unit without Handshaking Command Area Command code ON X Measurement command OFF Response Area Data Output Area Output data 0 to 7 ON i DATAO to DATA7 OFF i i gi A ON O Q 10 11 242 Communicating with EtherNet IP
380. mal 0 to 4 decimal digits are rounded up before the data is output When 0 is selected the decimal digits will be rounded off F H Select what is displayed in the sign column for a negative Minus 8 number Select the method for adjusting when there is a blank to the left of the output data Available Insert 0 into the blank digits 0 suppress e Available OFF Insert a space for unused character OFF Example If the integer section is set to 5 digits and the deci mal section is set to 3 digits the data is 100 000 Available 00100 000 OFF _100 000 _ represents a space OFF Comma Field separator lt Tab Select the separator for output data The delimiter is obtained from the system e Space e Delimiter e OFF eon Select the separator for each time data is output Record separator e Tab N The delimiter is obtained from the system e Space Delimiter 262 Non procedure Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 1 if you have selected Ethernet for the Communication method perform the Ethernet settings Output Setting Communication method C RS 232CiRS 422 Format setting Output form ASCII Binary Digits of integer 10 7 Digits Digits of decimal ls gt Digits Minus eo Cc 38 0 suppress C Available None Field separator Comma Record separator Delimiter gt Output IP address setting Refer Sy
381. mand RST Command with restricted execution NA Non applicable command Function Parallel PLC tink FtherNet Ethercar _Non IP procedure Sets unit data NA OK RsT OK OK Sets the date time NA OK RsT 1 NA OK Changes settings related to image logging NA OK RST NA OK Sets the image logging folder name NA OK RST NA OK Setting the data logging folder name NA OK RST NA OK Setting the screen capture folder name NA OK RST NA OK Sets the image logging prefix NA OK RST NA OK Sets the data logging condition NA OK OK OK OK Sets the DI terminal offset data NA OK OK OK OK 4 You cannot execute tag data link commands Execute the command with message communications File Load Commands OK Applicable command RST Command with restricted execution NA Non applicable command Function Parallel PLC ink e AEn CAT lie IP procedure Loads the Scene data NA OK RST NA OK Loads the scene group data NA OK RST NA OK Loads system data NA OK RST NA OK Loads System Scene group 0 data NA OK RST NA OK 4 You cannot execute tag data link commands Execute the command with message communications Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 File Save Commands OK Applicable command RST Command with restricted execution NA Non applicable command Function Parallel PLO fink
382. mand Area command response method You write the control commands to execute for the Sensor Controller to this area Output connection to PLC 2 Response Area command response method The Sensor Controller writes the results of executing the con trol commands that were written in the Command Area to this area 3 Data Output Area data output after measurement The Sensor Controller writes the output data for the measure ment to this area after execution of the measurement The above three areas are set using Support Software that can set tag data link settings e g Network Configurator The areas can be specified by using I O memory addresses or variable names For details on tag data link settings using the Network Configurator refer to gt Tag Data Link Setting Methods p 211 Or if you are connecting to anon OMRON PLC or EtherNet IP unit download the EDS file for the Sensor Controller from your OMRON website and follow the procedures in the user s manual for the external device you want to connect to and in the instructions for the software that you use to set the tag data link settings PLC Sensor Controller Output tag set Input tag set i oe ad gt i Responds i Output tags 1 whena a i i ac JA command is nput connection ommand Area 8 tothe Se
383. measured value of a processing item or the calculation result of an expression Up to 16 expressions from 0 to 15 can be set in each unit 1 Click the Parallel Judgement Output icon S in the measurement unit list flow 2 in the Item Tab Area click Setting 3 In the list select the output data number for the expression to set Setting Output parameter Judgement data No Comment Expression IF Commentview Comment Expression Result 0 0000 Judgement condition 999999999 9999 L 999999999 9999 m The selected output data number is displayed under the list 4 Click the button next to the expression box and set the expression Specify the processing items measurement results and measurement data in the expression You can also perform arithmetic or function calculations on the measurement data before it is output s d eu19 x3 UM Bugeorunwwop pue Buosuuog 104 spoule N 5 Click the button for the judgement condition and then set the upper and lower limits to judge as OK If the result data set in step 4 above is within the range set here the result will be judged as OK Judgement condition 999999999 9999 aa 999999999 9999 al 6 Click the button for the Comment box and enter an explanation of the expression 7 Repeat steps 4 and 5 to set expressions for all of the required output data numbers 293 Vision System FH FZ5 Serie
384. measurement Command PLC to Sensor Controller First word in Command Bit ys Description Command Area code 12to15 8to11 4to7 0to3 2 1020 0001 0000 0010 0000 Command code 3 0010 0000 0000 0001 0000 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Response Sensor Controller to PLC First word in Command Bit Pe Description Response Area code 12to15 8to11 4to7 0to3 2 1020 0001 0000 0010 0000 Command code 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 g 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Stopping Continuous Measurement Stops continuous measurement Command PLC to Sensor Controller ER First word in Command Bit Besenpaon Command Area code 12to15 8to11 4to7 0to3 a 2 1030 0001 0000 0011 0000 g Command code 2 3 0010 0000 0000 0001 0000 D Response Sensor Controller to PLC First wordin Command Bit Descripuan Response Area code 12 to 15 8to 11 4to7 0 to 3 2 1030 0001 0000 0011 0000 Commandcod 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Unit Stand alone Test Measurement Execution Perf
385. mes in the PLC directly by using the I O memory addresses that are assigned in the communications areas Output tags are specified for the input connections to the Sensor and input tags are specified for output connections to the PLC Setting Examples Allocated I O memory address Output tag Input tag D1 00 Setting Variables Sysmac Studio Define variables with AT specifications to the I O memory addresses that are assigned in the communications areas as shown below Setting Examples Variable AT specification a DO 0 b DO 1 c D0 15 d D1 0 Setting Connections Set the connections as shown in the following table Originator device PLC settings Target device Sensor settings Input tag set DO Output tag set Input101 Output tag set D100 Input tag set Output100 Example Setting Example for Variables to Access the Command Area Command Area PLC Output Tag D0 I O memory Variables Used to Access the Command Area in the PLC from the User Program Settings address 450 oaa 1 0 Variable name AT DO ERCLR eee TRIG EXE specification Pta type Die fe EE DSA a Assigned to the EXE signal DO 0 BOOL b Assigned to the TRIG signal DO0 1 BOOL c Assigned to the ERCLR signal DO 15 BOOL d Assigned to the DSA signal D1 0 BOOL Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications
386. method You read the results of executing the control commands that were writ Response Area ten to the Command Area from this area Data output after measurements This is the area from which the user reads the data output after a mea Data Output Area surement is performed You can set the area and address settings in the communications specifications of the Sensor Controller to assign the above three communications areas in the I O memory of the PLC Vision System FH FZ5 Series User s Manual Communicating with PLC Link for Communications Settings Z342 SOdIAQq eu19 x7 UM Buyeolunuiwoy pue Buosuuog 104 spoule 149 PLC master Sensor Controller slave Responds when a command is received 1 Command Area Commands The control commands that are written to the Command Area are executed J You write the following control commands for the Vision Sensor Control signals Command code Command parameters Command lt 2 Response Area response method Measurement results are written to the Response Area of the PLC The Vision Sensor writes the execution results to the PLC Responses Status signals Command code e Response code Response data Operations are 3 Data Output Area e Measurement Flow 4 K Read characters DE The Vision Sensor writes the output are written to the Execution of sii fw
387. mmunications Settings Z342 BKDSAVE The system scene group 0 data currently being used by the Sensor Controller is saved to a file lt Command format gt IBIKIDISIAIVIE e File name of system scene group data lt Response format gt When processing is performed normally O KISe When processing is not performed normally lt Parameters explanation gt Specifies the save destination and file name during saving with a definite path e g USBDisk abc bkd E abc bkd Save destinations include directories under the following systems Be sure to attach a BKD System scene group extension to the file name data File name Save destination FH FZ5 11 series FZ5 L35_ 6L1U series RAMDisk C Data RAMDisk RAMDISK USBDisk E FA GA HA USBDisk to USBDisk3 IMPORTANT Do not turn off power to the Sensor Controller until there is a response Example When the currently used system scene group 0 data is saved as LABEL1 BKD in the IMG01 folder in the USB memory to which the drive name USBDisk2 is assigned lt Command gt IBIKIDISJAIVJET USBDisk2 IMGO1 LABEL1 BKD lt Response gt OlKFe for Communications Settings Z342 ssolpueddy po 393 Vision System FH FZ5 Series User s Manual Command Control 394 BRUNCHSTART or BFU Branches to the flow head processing unit No 0 This command can only be executed when
388. mode Communication module select Serial Ethernet Serial RS 232C 422 Parallel Fieldbus Remote Operation Normal UDP Normal Standard Parallel O EtherNetiP altal tel ENEN ON Select one of the following Communications Modules based on the communications method that is used to connect with the Sensor Controller and the Unit to connect to then click Apply Communications Module Description Parallel Standard Parallel I O communications Select this Communications Module to perform parallel interface Click the Data save button in the Toolbar Data save On the Main Window select Function System restart Click OK in the System restart dialog box to restart the Sensor Controller When the Sensor Controller has restart operation will be performed for the default settings of the specified Communications Module Note You can save the Communications Module settings to a file Select Save to file from the Function menu and then select System data or System Scene group 0 data to save the settings data to a file Refer to gt Saving the Conditions That Are Related to Operation during Measurement in the Vision System FH FZ5 Series User s Manual Cat No Z340 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Parallel Communications s d eu19 x3 UM Bugeotunwwop pue Buosuuog
389. munications settings check the settings and the communications status Reference gt Testing Communications p 264 IMPORTANT The settings dialog box for the communications specifications will change depending on the Communications Module that you use Before you set the communications specifications select the Communications Module to use with the Sensor Controller in the startup settings Reference Communications Module Settings Startup Settings p 251 After you select the Communications Module save the settings to the Sensor Controller and restart the Sensor Controller If you do not restart the Sensor Controller the selected Communications Module will not be enabled e Use the same communications settings for the Sensor Controller and the external device e Do not input signals to Ethernet from an external device while setting the Ethernet system settings If the operation mode is set to Multi line Random trigger Mode the Controller address cannot be set for line 1 onward The same setting for line 0 is used Connecting via Ethernet 1 On the Main Window select Tool System Settings n the tree view on the left select System Settings Communication ernet Norma 2 Inthet i the left select System Settings C ication Eth tN l xyz xyz depends on the Communications Module The Ethernet View is displayed Non procedure Communications Vision System FH FZ5 Series User s
390. n 0 None 5 0000 0000 0000 0000 1 Only NG 2 All 380 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Response Sensor Controller to PLC First word in Command Bit ee Description Response Area code 12to15 8to11 4to7 0to3 2 4050 0100 0000 0101 0000 Command code 3 0050 0000 0000 0101 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 g 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Terminal Offset Setting Sets the DI terminal offset data The terminal offset is the set value added to the command parameter specified with DIO DI4 This is useful in the following cases Example This example is for creating a custom communications command for parallel communications that sets a numeric value with DIO to DI6 e Without an Offset You can set only values between the minimum value of 0 and the maximum value of 127 0111 1111 binary e With an Offset ssolpueddy po Adding an offset of 100 allows you to specify numeric values from a minimum value of 100 to a maximum value of 227 127 100 by specifying the same values as those used without offsets Command PLC to Sensor Controller First word in Command Bit T Description Command Area code 12to15 8to11 4to7 0to3 2 4060 0100 0000 0110 0000 Command co
391. n FZ4 or earlier model use 1000 to 1007 on the FH FZ5 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 267 Non procedure Communications Command Formats This section explains the formats of commands used in the non procedure normal method IMPORTANT Japanese characters cannot be used To load a scene or other data set the file name beforehand using characters other than Japanese Ethernet For Ethernet UDP connections delimiters are not required at the commands Also note that there are no delimiters for responses For Ethernet TCP connections delimiters are required at the commands Also note that there are delimiters for responses As with scene number acquisition commands when acquisition data and an OK response exist next to each other the acquisition data and the OK response are sent as separate packets Input Format Example When Using IMAGEDISPCOND To Get the Display Status Command Format T MIAIGIE D 1 S P C O N D Sk Response Format Display state Note The OK response for Normal Fxxx series method communications is compatible with the communications method for FOOD series Vision Sensors The timing of the OK response when the Sensor Controller receives a MEASURE command with the Normal Fxxx series method communications method Refer to p Communications Module Settings Startup Settings p 251 is the same as the timing for an FOO se
392. n System FH FZ5 Series User s Manual for Communications Settings Z342 Objects are provided for each line as shown below when more than one line is used Line 1 1A20 hex 1st transmit PDO mapping and 1A21 to 1A2F hex 2nd to 16th transmit PDO mapping Line 2 1A40 hex 1st transmit PDO mapping and 1A41 to 1A4F hex 2nd to 16th transmit PDO mapping Line 3 1A60 hex 1st transmit PDO mapping and 1A61 to 1A6F hex 2nd to 16th transmit PDO mapping Line 4 1A80 hex 1st transmit PDO mapping and 1A81 to 1A8F hex 2nd to 16th transmit PDO mapping Line 5 1AA0 hex 1st transmit PDO mapping and 1AA1 to 1AAF hex 2nd to 16th transmit PDO mapping Line 6 1ACO hex 1st transmit PDO mapping and 1AC1 to 1ACF hex 2nd to 16th transmit PDO mapping Line 7 1AE0 hex 1st transmit PDO mapping and 1AE1 to 1AEF hex 2nd to 16th transmit PDO mapping rian igo Senin SS aN 1BFFh 512th transmit PDO Mapping Sub index0 Number of objects in this PDO Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index1 1st Input Object to be mapped Range Unit Default 20020108 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for notification of errors that are detected in the Slave Unit e The mapping includes 2002 hex 01 hex Sysmac Error Status e When connected to an NJ series Machin
393. n an Output Unit The Output Unit is placed in the measurement flow in the same way as for other processing items Reference Output Data Settings Processing Item Registration p 259 If communications are not working properly check the communications setup from step 2 and perform a communications test to determine if the Sensor Controller can be detected on the network If that does not solve the problem refer to the troubleshooting section Reference Testing Communications p 264 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communications Module Settings Startup Settings The method to use for communications with the Sensor Controller is selected from the Communications Modules 1 2 5 6 Vision System FH FZ5 Series User s Manual On the Main Window select Tool System Settings Select System settings Startup Startup setting on the Multiview Explorer on the left and then click Communication System Settings B Communication Operation mode System Settings Startup Startup setting Camera Language Setting Basic Camera connection Communication module select Inter camera setting Output signal setting E Communication Parallel RS 232C4422 Normal Ethernet Normal UDP EtherNetAP Other Serial Ethernet Serial RS 232C 422 Parallel Fieldbus Remote Operation Normal UDP Normal Standard Para
394. n minimum value 08000000 hex General error 08000020 hex Data cannot be transferred or stored to the application 08000021 hex Data cannot be transferred or stored to the application because of local control 08000022 hex Data cannot be transferred or stored to the application because of the present device state 08000023 hex Failed to dynamically create the object dictionary or no object dictionary exists Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 s n d eu19 x3 UM Bugeoriunwwop pue Buosuuog JO spoule Communications between an EtherCAT Master and Slaves This section describes the communications modes between the master and slaves for EtherCAT communications and the communications modes for EtherCAT Slave Terminals Communications Modes for Communications between an EtherCAT Master and Slaves Free Run Mode In this mode the slave processes the I O i e refreshes the I O data asynchronous to the communications cycle of the master DC Mode In this mode the slave processes the I O i e refreshes the I O data in synchronization with the communications cycle of the master In this mode a mechanism called a distributed clock DC is used to synchronize EtherCAT communications The clock is shared by the master and the slaves In DC Mode the master and slaves are synchronized by sharing the same clock Interruptions
395. n specific values are written The specific value is elcl MSB Size 4 bytes U32 Access RW LSB l c l 6C hex 63 hex 6C hex 65 hex Writing values other than this is invalid EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 2002 hex Sysmac Error Sub index 0 Number of entries Range Unit Default 02 hex Attribute Size 1 byte U8 Sub index 1 Sysmac Error Status Access RO PDO map Not possible Range Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 2 Sysmac Error Status Clear Range Unit Default 00 hex Attribute A Size 1 byte U8 Access RW PDO map Not possible The mapping is used for Sysmac error status notification and to clear Sysmac error status e Sub index 1 Sysmac Error Status e This object is for notification of errors that are detected in the Slave Unit e When connected to an NJ series Machine Automation Controller map this object to a PDO e Sub index 2 Sysmac Error Status Clear e This object is used by the Controller a Sysmac device to reset errors that occur in Slave Units Note In the default Sysmac Studio settings sub index 1 Sysmac Error Status is automatically mapped to
396. n the GATE signal is output Sensor Controller External device 1 Measurement processing and results output DOO to DO15 2 GATE signal 1 Overall judgement OR output is output when measurement is completed regardless of when the Output Unit was executed 2 You can change the settings of when the GATE signal is turned ON after the measurement data is output and the length of time that the GATE signal will remain ON Reference gt Communications Specifications Settings p 280 Note The GATE signal will not be output if there is no data set for parallel judgement output and parallel data output If only the OR signal is output read the OR signal when the BUSY signal turns OFF e Handshaking Measurement results are output only after it is determined that the external device can receive data Handshaking is effective for sequentially outputting many measurement results and it is a reliable way to transfer data Reference Data Output Control with Handshaking p 27 e Synchronization Output The measurement results are output after the STEP signal has turned ON for the number of delays set in Number of delay The output timing of the measurement results from the Sensor can be offset according to the actual timing of processing on the line 280 Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Example Sequential Feed Line that Uses a Star
397. nal Specifications p 282 turned ON for each Camera Image Input processing unit for information on the Shutter individually Therefore use Output Signal settings Camera Switching processing items instead of Camera Image Input processing items in the middle of the measurement flow The signal turns ON when exe This signal tells when execu cution of a command that was Flow Flow Com tion of a command that was executed during execution of The signal turns OFF when the Command mand Com executed during execution of the fieldbus flow control has Flow Command Busy signal Completion pletion Bit the fieldbus flow control has been completed i e when turns OFF been completed Flow Command Busy turns OFF Flow Measure This signal tells when a com This signal is ON when a com The signal turns OFF when the ment Com mand that was input during mand that was input during Command Flow Command Busy signal mand Busy execution of the fieldbus flow execution of the fieldbus flow Busy A 5 F turns OFF Bit control is being executed control is being executed Flow Measure This signal tells when input of a This signal is ON when a com This signal is OFF when a Command ment Com command can be acknowl mand can be input during exe command cannot be input dur mand Wait edged during execution of the cution of the fieldbus flow ing execution of the fieldbus Wait Bit fieldbus flow control control flow control Vision
398. nal is turned OFF when execution of the command is completed When executing continuous measurement commands turn OFF DI7 when you want to stop continuous measurements IMPORTANT If the DI7 is still ON after execution of a command is completed the same command will be executed again Note From the PLC set signals DIO to DI6 and turn ON the DI7 signal only when the BUSY and DI7 signals are OFF The PLC user turns OFF the DI7 signal after checking that the BUSY signal has turned ON 304 Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Output Items Parallel Data Output Measurement Results for Which Output Is Possible Parallel Data Output You can use the processing items that are related to outputting results to output the following data You can also access measured values from the Calculation or other processing units Measured item Text string Description Judgement JG Judgement result Data 0 to 7 DOO to D07 Results of expressions set for output data 0 to 7 External Reference Tables Parallel Data Output Number Data name Set Get Data range 0 No judgement unmeasured 0 Judgement Get only 1 Judgement result OK 1 Judgement result NG BCD 999 to 999 5 to 12 Data 0 to Data 7 Get only Binary 32768 to 32767 128 Data type Set Get 0 Binary 1 BCD Parallel Judgement Output Measurement Results for Which O
399. ncorrect e When the range of the parameters is incorrect e When the content of parameters is incorrect e When operation cannot be ended normally with an operation command IMPORTANT Commands can be input and measurement results can be output only when the Main Window is displayed on top and the BUSY signal is OFF When using only serial commands non procedure you can use the Fxxx series method to recognize when execution of a command has been completed i e when the BUSY signal turns OFF Commands are not acknowledged while setting dialog boxes or the the Edit Flow Dialog Box is displayed excluding Serial Confirmation If data is being output after processing measurements on the Main Window data output will be continued to the end even if you change to the Edit Flow Dialog Box or other dialog boxes Commands are not acknowledged when windows other than the Main Window are displayed s d eu19 x3 UM Bugeoriunwwop pue Buosuuog JO spoule 269 Vision System FH FZ5 Series User s Manual Non procedure Communications for Communications Settings Z342 Command List This section explains the input format for each command used for serial non procedure normal communications Commands are input with ASCII text Both lowercase and uppercase letters can be used For command details refer to gt Non procedure Command Details p 391 Execution Commands Command Abbreviation BRUNCHSTART BFU Function Branches to the
400. nd Completion FLG signal i The FLG signal automatically turns OFF when the EXE signal turns OFF The FLG signal turns ON when execution of the control command is completed The command code and command parameters are set from the PLC No Next confirm that the BUSY signal and the Command Completion FLG signal have turned OFF and then turn ON the Command Request EXE signal again A request is sent to the Sensor Controller The Sensor Controller executes the command and turns ON the BUSY signal when the request is received When the Sensor Controller finishes execution of the command the command code response code and response data are set The Command Completion FLG signal is then turned ON The PLC user turns OFF the Command Request EXE signal when the Command Completion FLG signal turns ON N Oh A Q When the Sensor Controller detects that the Command Request EXE signal is OFF it automatically turns OFF the Command Completion FLG signal and the BUSY signal 4 A timeout error occurs and the Command Completion FLG signal and BUSY signal are forced OFF if the Command Request EXE signal is not turned OFF from the PLC user within the time set in the PLC Link settings Retry interval 0 to 999999 ms for Ethernet PLC Link or Timeout 1 to 120 s for RS 232C 422 PLC Link 186 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342
401. nd SHTOUT are not being output You have selected a different signal in the system settings Select the correct signal for the application in the Output signal selection of the output sig nal settings in the system settings Measurement is not exe cuted even when a STEP sig nal is input The STEP signal is chattering Check the contacts and input method used to prevent chattering Set the STEP signal filter to a period longer than the input period that results in chattering STEP signals are input at ran dom Unintended STEP signals are being input due to noise Perform noise prevention measures Set the STEP signal filter to a period longer than the input period that results in chattering The READY signal is always OFF The image mode is set to Through Mode on the Main Window Change the image mode to Freeze or Last NG Camera Image Input HDR is being used in the current measurement flow When using Camera Image Input HDR the READY signal will always be OFF More than one Camera Image Input is being used in the current measurement flow If you execute more than one Camera Image Input in a single measurement flow the READY signal will always be OFF There is a delay in the SHTOUT ON timing You are using more than one Camera in the current measurement flow When you use more than one Camera the SHTOUT signal turns ON only after the slow est Camera exposure is com
402. nd will be executed and the ACK signal will turn ON after execution of the command is completed Check that the ACK signal has turned ON then turn OFF DI7 When the DI7 signal is turned OFF the ACK signal will turn OFF 4 A timeout error will occur if the DI7 signal is not turned OFF within the set timeout interval from when the ACK signal is turned ON IMPORTANT A UNa If the DI7 is still ON after execution of a command is completed the same command will be executed again Write the PLC program so that the DI7 signal is turned OFF after the ACK signal turns OFF Note From the PLC set signals DIO to DI6 and turn ON the DI7 signal only when the BUSY ACK and DI7 signals are all OFF From the PLC you can check if a command was acknowledged by confirming that the BUSY signal turned ON From the PLC you can check if execution of a command was completed by confirming that the ACK signal turned ON After these conditions have all been met turn OFF the DI7 signal FZ5 Sensor control commands are input with the timing shown below using the DIO to DI7 signals Parallel DIO to DI6 e Parallel Di7 ON i ms OFF Parallel BUSY signal ON OFF Command Request Set the DIO to DI6 signals to ON or OFF based on the command to input After you have set the DIO to DI6 signals wait for at least 1 ms and then turn ON DI7 Then check that the BUSY signal has turned ON then turn OFF DI7 The BUSY sig
403. net network Use this to determine if the Sensor Controller s IP address has been set correctly and that the Sensor Controller is correctly connected to the Ethernet network Note The ping command uses the ICMP protocol to send a response request to a device connected through an Ethernet network and determines the time required to respond to that request If you properly receive a response from the destination device the network connection and network settings are correctly set 1 Connect the Sensor Controller and computer with an Ethernet cable Set the left three segments of IP address of the computer to the same values as the Controller and set the right segment to a different value IP Address Setting Example Device Setting example Sensor Controller 10 5 5 100 default Computer 10 5 5 101 2 Open the Windows command prompt on the computer and execute the ping command At the gt prompt type ping followed by a space and the IP address of the Controller and then press Enter Example C gt ping 10 5 5 100 3 After a few seconds if you see Reply from followed by the IP address of the Controller e g 10 5 5 100 you will know that the Controller is connected to the Ethernet network s d eu19 x3 UM Buyeolunuiwoy pue Buosuuog JO spoule Example Reply from 10 5 5 100 byte 32 time lt ims TTL 128 If Anything Other than Reply from Is Displayed This mea
404. ng Item Registration p 168 If communications are not working properly check the communications setup from step 2 and perform a communications test to determine if the Sensor Controller can be detected on the network If that does not solve the problem refer to the troubleshooting section Reference Testing Communications p 173 Communications Module Settings Startup Settings The method to use for communications with the Sensor Controller is selected from the Communications Modules 1 On the Main Window select Tool System Settings 2 Select System setting Startup Startup setting on the Multiview Explorer on the left and then click Communication System Settines E System Settings B Startup Startup setting E Camera Camera connection Inter camera setting Output signal setting E Communication Parallel RS 232C 422 PLC Link SYSMAC CS CJICP One Ethernet PLC Link SYSMAC CS CCP One Other Date time setting Fan control setting STEP setting Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Language Setting Basic Communication Operation mode Communication module select Serial Ethernet PLC Link SYSMAC CS CJ CP One x Serial RS 2320 422 Normal x Parallel Standard Parallel vO z Fieldbus JorF w Remote Operation ON s d eu19 x3 UM Bugeoriunwwop pue Buosuuog JO spoule N 151 Communicating with PLC Link
405. nications 2000 hex to 2FFF hex Manufacturer Specific area 1 Variables defined for all OMRON products 3000 hex to 5FFF hex Manufacturer Specific area 2 Variables defined for FH series EtherCAT Slave Units 6000 hex to 6FFF hex ___ Input Area Objects mapped to transmit PDOs 7000 hex to 7FFF hex Output Area Objects mapped to receive PDOs 8000 hex to 8FFF hex Configuration Area Objects for configurations and settings 9000 hex to 9FFF hex Information Area Not used Not supported A000 hex to AFFF hex Diagnosis Area Not used Not supported B000 hex to BFFF hex Send Service Area Not used Not supported C000 hex to EFFF hex Reserved area Area reserved for future use F000 hex to FFFFH hex Device Profile area Data Types This profile uses the following data types Parameters that belong to devices Data Types Code Size Range Boolean BOOL 1 bit true 1 false 0 Unsigned8 U8 1 byte 0 to 255 Unsigned16 U16 2 bytes 0 to 65535 Unsigned32 U32 4 bytes 0 to 4294967295 Integer8 INT8 1 byte 128 to 127 Integer16 INT16 2 bytes 32768 to 32767 Integer32 INT32 4 bytes 2147483648 to 2147483647 Visible string VS Double Double 8 bytes 1 79769313486231e 308 to 1 79769313486231e 308 102 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Object Description
406. nit Default 00 hex Size 4 bytes U32 Sub index3 Module Ident of the Access RO module configured on position 3 PDO map Not possible Range Unit Default 00 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index4 Module Ident of the module configured on position 4 Range Unit Default 00 hex Size 4 bytes U32 Sub index5 Module Ident of the Access RO module configured on position 5 PDO map Not possible Range Unit Default 00 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index6 Module Ident of the module configured on position 6 Range Unit Default 00 hex Size 4 bytes U32 Sub index7 Module Ident of the Access RO module configured on position 7 PDO map Not possible Range Unit Default 00 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index8 Module Ident of the module configured on position 8 Range Unit Default 00 hex Size 4 bytes U32 EtherCAT Connections FH Only Access RO PDO map Not possible Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with PLC Link This section describes how to set up communications describes the communications spec
407. nit Attribute types Size 2 bytes U16 Access RW PDO map Not possible 1 Ifa receive PDO is not provided RO is used e It indicates the RxPDOs used by this sync manager 1013 hex Sync Manager 3 PDO Assignment Sub index 0 Number of assigned PDOs Range Unit Default 05 hex Attribute Size 1 byte U8 Access RW Sub index 1 5 1st 5th PDO Mapping Object Index of assigned PDO PDO map Not possible Range Unit Default Differ by Slave Unit types Attribute Size 2 bytes U16 Access RW PDO map Not possible 1 RO is set if there is no TxPDO e It indicates the TxPDOs used by this sync manager Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s n d eUJ9 Xy UM Buneoiunuiwoy pue Huosuuog JO spoule Manufacturer Specific Objects This section explains the CiA401 generic I O module device profile implemented in FH series EtherCAT Slave Units and the objects specially mounted in FH series EtherCAT Slave Units Common Objects for Sysmac Devices Manufacturer Specific area 1 2100 hex Error History Clear Range Unit Default 00000000 hex Attribute A PDO map Not possible e This object clears diagnosis history of 10F3 hex Diagnosis History e It clears the history only whe
408. nput Enabled ett Trigger Ready Signal When using multiple inputs the 3s ane OK next STEP signal is accepted only after this signal turns ON OR OK OK EA This signal gives the results of Overall SENS the overall judgement ne sa ne OK Judgment Output Signal These signals are used to DO DOO to Data Output output parallel data and parallel OK a D D015 Signals judgements through a parallel interface XFLG This signal tells when OK OK execution of a command that Flow Flow Command s i Completion Bit was executed during execution Command p of PLC Link or fieldbus flow ae i z OK Completion control has been completed XBUSY This signal tells when a OK OK Measurement command that was input during Flow Command Busy execution of PLC Link or Command Bit fieldbus flow control is being a Sa i OK Busy executed XWAIT This signal tells when input of a OK OK Measurement command can be Flow Command Wait acknowledged during Command Bit execution of PLC Link or _ E oK Wait fieldbus flow control TRIG Signal The FH FZ5 uses this signal to Trigger ACK Acknowledged acknowledge reception of a OK Bit TRIG signal Command R Command This signal tells when control Execution Ready OK Ready Bit command can be executed Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Control Methods Using an External Device 19 M IN AQO 20 z4
409. ns that the Controller is not connected to the network for some reason Check the following e Are the left three segments of the IP addresses of the computer and the Controller the same e Is the Ethernet cable connected 4 Use the ping command to also check the communications status of the PLC After you have confirmed the communications status as described above send an actual measurement command to the Controller and check to confirm that Sensor Controller communications are operating correctly 219 Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 220 Memory Allocation This section describes the assignments of the Command Area for the input connection to the Sensor and the Response Area and Output Area for the output connection to the PLC Input Connection to Sensor PLC Originator to Sensor Controller Target For input connections to Sensors specify control inputs command codes and command parameters that are parameters in the Command Area Command Area First word in Bit Command Name Area 15 14 13 12 11 10 8 7 Gi 6 4 3s 2 1 0 1 DSA 2 words 2 CMD CODE Command code 3 2 words 4 5 6 Command param ________ CMD PARAM eters 7 6 words max 8 9 Signal Signal name Function Executes a command EXE Command Request Bit Reference gt
410. nsor i received Controller You write the following control Commands The control commands that commands for the Vision Sensor are written to the Command 20 bytes i Control inputs Area are executed i Command code t Command parameters inputtagset Output tag set Input tags i Responds when i a command is fr 2 Response Area Measurement results are written to 1 received Responses the Response Area of the PLC i The Vision Sensor writes the PGontrolgutputs 116 bytes 1 Command code I 1 execution results to the PLC i dimi 1 e Response code 1 utpu i 1 connection to Response data i PLC U EE CPSP RaaAR ee Aaneteadate 3 Data Output Area Measurement flow PER i 1 wt gt ENEA performed by executing i The Vision Sensor writes the i Execution of i the measurement flow output data to the PLC l processing item 1 3 Cam 4 nications I External l Module 4 34 ytes i outputs l A l l Execution of processing i eee J item for the Output Unit 1 a i Data is written to the Communications Module i q The Vision Sensor writes the values measured by processing item 1 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 The Response Area 2 and Data Output Area 3 are assigned to continuous memory addresses or to variables Communicating with EtherNet IP s d eu19 x3 UM Bueolunuiwo9 pue Buosuuog JO
411. nsor Error Clear Clear Error Turn OFF this signal from the Controller when the Error Status signal goes OFF Data Output Request The user Controller turns ON this signal to request data output Result Set 1 Used only when output In response the Sensor Controller outputs data Request handshaking is The user Controller turns OFF this signal when the Result Notification signal from the Sensor Controller turns ON Command Code Command code This I O port stores the command code Command Parameter 0 to 3 Command parameters These I O ports store the command parameters Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s d eu19 x3 UM Bujeolunuiwo9 pue Buosuuog JO spoule 63 Response area I O port Vision Sensor Slave to Controller Master I O port name 8ignal name Function Vision Status Flag Status Signals Command Completion Command Completion This signal turns ON when the Vision Sensor completes execution of the control command This signal turns ON after the control command code response code and response data have been stored This signal automatically turns OFF when the Command Request signal from the Controller turns OFF BUSY Busy This signal is ON while the Vision Sensor cannot execute a control command This signal is OFF while the Vision Sensor can execute a control c
412. nt result Data 0 to 7 DOO to D07 Results of expressions set for output data 0 to 7 External Reference Table for the Data Output Processing Item Q a gt fe a Number Data name Set Get Data range 7 0 No judgement unmeasured Q 0 Judgement Get only 1 Judgement result OK 3 1 Judgement result NG T ae 0 Ethernet a 136 Communications method Set Get 1 RS 232C RS 422 D a 137 Output format Set Get 0 ASCII 1 Binary 9 138 Digits of integer Set Get 1 to 10 3 139 Digits of decimal Set Get 0 0 to 4 4 5 O 140 Minus Set Get 0 1 8 D a 141 Field separator Set Get Dore CON aa Tabar Epa lt 4 Delimiter i p m 142 Record separator Set Get i oo era aur eer rat 4 Delimiter 143 0 suppress Set Get 0 No 1 Yes D O Output IP Address 1 to 4 p O 144 to 147 P E mepe Set Get Destination IP addresses D selected for the commu nications method Output IP Address Set ting only when Ethernet ae 149 Set Get 0 Reference to system 1 Individual specification is selected for the com munications method 150 Output form decimal Set Get 0 Fixed point 1 Floating point 151 Offset Set Get 0 to 99999 152 AUTRET DEOMP Gates Se 8 to 256 items 1000 to 1007 Data 0 to Data 7 Get only e ASCII 99999999 9999 to 999999999 9999 Note e Binary 2147483 648 to 2147483 647 If you are using external reference numbers 5 to 12 on a
413. ntly logged in GROUP LAG ae aeons Reference p gt p 438 2 fe OPELOGCOND OLC Gets logging operation state Reference p gt p 443 2 k OUTPUTTRANS Gets the output status enabled disabled to external Q STATE OTS devic s Reference p gt p 445 9 PARAALLCOND PAC Retrieves terminal states except for DI in batches Reference p gt p 447 z O PARAPORTCOND PPC uoi ON OFF status of the specified parallel I O ter Reference p gt p 449 Ej SCENE S Gets the current scene No Reference p gt p 454 a Q SCNGROUP SG Gets the scene group No currently in use Reference p gt p 456 S 3 5 Commands to Set Status G Command Abbreviation Function Reference DOPORTCOND DPC Sets the ON OFF status for all DO terminals Reference p gt p 408 gt m Y IMAGEDISPCOND IDC Sets the image mode for the specified Image Display Reference p gt p 413 as Pane 3 v IMAGESUBNO ISN Sets the image to be displayed on the specified Image Reference p gt p 423 Display Pane T Sets the unit number to be displayed on the specified p IMAGEUNITNO IUN Reference p gt p 425 Image Display Pane INPUTTRANS Enables disables inputs to the Communications Mod i STATE ITS alee Reference p gt p 431 LAYOUTNO DLN Sets the layout number and changes the image Reference p gt p 434 Changes the user account used by the user currently LOGINACCOUNT LAI Reference p gt p 436 logging in OPE
414. ntroller First word in Command Bit re Description Command Area code 12t0o15 8to11 4to7 0to3 2 8020 1000 0000 0010 0000 Command code 3 0020 0000 0000 0010 0000 Response Sensor Controller to PLC First word in Command Bit a Description Response Area code 12to15 8to11 4to7 0 to 3 2 8020 1000 0000 0010 0000 Command code 3 0020 0000 0000 0010 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 g 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 Response data Terminal status ON 1 OFF 0 FH Bit 0 STEPn Bit 1 DSAn Bit 2 DILINEO Bit 3 DILINE1 7 0000 0000 0000 0000 Bit 4 DILINE2 n Number of line that received the command FZ5 Bit 0 STEPO Bit 1 STEP1 Bit 2 DSAO Bit 3 DSA1 IMPORTANT The supported signals and signal assignments for an FH series Sensor Controller depend on the number of lines used in Multi line Random trigger Mode Reference Multi line Random Trigger Mode Signal Specifications p 300 If you get the status of unused terminals the response code will be OK and the response data will always be 0 352 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Getting DI State at Once Gets all the DI terminal ON OFF states Command PLC to Sensor Controller
415. ntroller and continuous measurements are stopped Note Continuous measurements are not ended in the middle of a measurement When the End Continuous Measurements command is executed continuous measurements are ended after the measurement that is currently being executed is completed e Ending Continuous Measurements 11 12 13 14 The Sensor Controller sets the command code and response code when continuous measurement is stopped The Command Completion FLG signal is then turned ON The PLC user turns OFF the Command Request EXE signal when the Command Completion FLG signal turns ON When the Sensor Controller detects that the Command Request EXE signal is OFF it automatically turns OFF the Command Completion FLG signal and the BUSY signal IMPORTANT The measurements during continuous measurements are given priority Therefore display of the measurement results overall judgment images judgment for each processing unit in the flow display and detailed results may sometimes not be updated When continuous measurements are ended the measurement results from the last measurement will be displayed 188 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Data Output No Handshaking Data Output Data Output Unit execution Unit execution J Result Completion GATE signal ofr ON Data Output Area Output d
416. nues System You cannot output measurement results to an external device with parallel I O A parallel I O interface line is short cir Turn OFF the power supply and check Wire the parallel I O lines so that they cuited the parallel I O connections do not become short circuited None None Setting Data Load Error Event code 182D 0000 hex Loading the scene group data failed Error reset after resetting the error in the slave After turning ON EtherCAT Master Function Module slave power Minor fault System The Controller will start with the default scene group data If the data is saved to the Controller in this condition the previous scene group data will be overwritten Continues s n d Jeuse xy UM Bunjesiunuwoy pue Bunosuuog 104 SPON The data is corrupted because the Do not turn OFF the power supply dur power supply was turned OFF while Reset the scene to switch to ing save processing for the scene saving the previous scene data data As the result of changing the operation mode the required amount of memory Change the measurement flow to Change the measurement flow to increased resulting in insufficient reduce memory usage reduce memory usage memory None None Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only 3 for Communications Settings Z342 Change in Connected Camera
417. nuous Measurements command is executed continuous measurements are ended after the measurement that is currently being executed is completed e Ending Continuous Measurements 11 When the Vision Sensor receives the request it ends continuous measurements and automatically turns OFF the BUSY signal 12 When the Vision Sensor ends continuous measurements it sets the command code and response code and then it turns ON the Command Completion signal 13 The PLC user turns OFF the Command Request signal when the Command Completion signal turns ON 14 When the Vision Sensor detects that the Command Request signal is OFF it turns OFF the Command Completion signal IMPORTANT The measurements during continuous measurements are given priority Therefore display of the measurement results total judgment images judgment for each processing unit in the flow display and detailed results may sometimes not be updated e When continuous measurements are ended the measurement results from the last measurement will be displayed Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 s d eu19 x3 UM Bueolunuiwoy pue Huosuuog JO spoule Data Output No Handshaking Fieldbus Data Fieldbus Data Output Unit Output Unit execution execution 1 l 1 1 e i 2 ioi 1 r First data output Second data output ___
418. o tjojejR TS L Image logging folder name 128 characters max or eye Li mage logging folder name 128 characters max lt Response format gt When processing is performed normally OJK cRl When processing is not performed normally EIR er lt Parameters explanation gt Specify the name of the folder to save the logging image into with the absolute path e g USBDisk E Save destinations include directories under the following systems l L ing fold a ogging re Save destination FH FZ5 11 serires FZ5 L35_1 6 series RAMDisk C Data RAMDisk RAMDISK USBDisk E FA GA HA USBDisk to USBDisk3 Example When setting the image logging folder name to USBDisk lt Command gt TIILIF IMUSBDi sk f lt Response gt OlKFe 418 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 IMAGELOGHEADER or ILH Getting the prefix for the name of the file the image logging is saved to Gets the prefix for the name of the file the image logging is saved to The maximum length of the prefix character string is 32 characters lt Command format gt U Imja ejejtjofejH Efajo E R eR lt Response format gt When processing is performed normally Image logging prefix OIK When processing is not performed normally ER ssolpueddy po a lt Parameters explanation gt Image logging
419. objects that you can use with SDO communications Abort Codes The following table lists the abort codes for SDO communications errors Value Meaning 05030000 hex Toggle bit not changed 05040000 hex SDO protocol timeout 05040001 hex Client server command specifier not valid or unknown 05040005 hex Out of memory 06010000 hex Unsupported access to an object 06010001 hex Attempt to read a write only object 06010002 hex Attempt to write to a read only object 06020000 hex The object does not exist in the object directory 06040041 hex The object cannot be mapped to the PDO 06040042 hex Number length of mapped objects exceeds PDO length 06040043 hex General parameter incompatibility 06040047 hex General internal incompatibility in the device 06060000 hex Access failed due to a hardware error 06070010 hex Data type does not match length of service parameter does not match 06070012 hex Data type does not match service parameter is too long 06070013 hex Data type does not match service parameter is too short 06090011 hex Missing subindex 06090030 hex Value of parameter exceeded range only for write access 06090031 hex Value of parameter that was written is too high 06090032 hex Value of parameter that was written is too low 06090036 hex Maximum value is less tha
420. oenan Command Area code 12to15 8to11 4to7 0to3 2 A000 1010 0000 0000 0000 Command code 3 0020 0000 0000 0010 0000 Response Sensor Controller to PLC First word in Command Bit Description Response Area code 12to15 8to11 4to7 0to3 2 A000 1010 0000 0000 0000 Command code 3 0020 0000 0000 0010 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 Response data Operation log state gotten 7 5 0000 0000 0000 0000 0 OFF 1 ON Scene Switching Switches the scene to be used Command PLC to Sensor Controller First word in Command Bit Besenpnond Command Area code 412to15 8to11 4to7 Oto3 2 1000 0001 0000 0000 0000 Command code 3 0030 0000 0000 0011 0000 4 0000 0000 0000 0000 Scene No 5 0000 0000 0000 0000 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 ssolpueddy po 355 Command Control 356 Response Sensor Controller to PLC First word in Command Bit E Response Area code 12to 15 8 to 11 4to7 0to3 2 1000 0001 0000 0000 0000 Gommancieade 3 0030 0000 0000 0011 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000
421. of the Cameras that are Cameras that are assigned to Trigger Image Input Cameras that are assigned to f i assigned to Trigger signals i the Trigger signals can execute Ready Enabled the Trigger signals can execute cannot execute measure r measurements i e when a 3 Signal measurements ments i e when a Trigger sig Trigger signal can be input nal cannot be input EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Signal ON OFF timing Function name OFF to ON ON to OFF This signal tells when expo sure of the sensing elements has been completed If more than one Camera is connected the signal will remain ON for the Camera the longest 6xposure The signal operates according Vou cannotuse tne Shutter to the output signal settings After the completion of expo Output Signal when the image modeissetfora sure the signal turns ON after hi h ima e ifvoutave the time that is set for the Shut g ge y The signal is ON when the ter Output Signal elapses and Shutter Shutter Out registered more than one i Outout ut Signal Camera image Input sensing elements have com then turns OFF after the time 3 P 9 F ge P pleted exposure that is set for the Shutter Out processing unit in the i put Pulse Width elapses measurement flow the f S A Refer to gt Setting the Output SHTOUT signal will be A n Sig
422. ol Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Saving Scene Data Saves scene data Command PLC to Sensor Controller ssolpueddy po First word in Command Bit Denon Command Area code 12t0o15 8to11 4to7 Oto3 2 1000 0001 0000 0000 0000 Command code 3 0070 0000 0000 0111 0000 4 0000 0000 0000 0000 Number of scene to save 5 0000 0000 0000 0000 6 0000 0000 0000 0000 7 q 0000 0000 0000 0000 Absolute path of save destination and save file name 7 0000 0000 0000 0000 Up to 256 characters 135 0000 0000 0000 0000 Response Sensor Controller to PLC First word in Command Bit Doenan Response Area code 12 to 15 8to 11 4to7 0to3 2 1000 0001 0000 0000 0000 Command code 3 0070 0000 0000 0111 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Saving Scene Group Data Saves scene group data Command PLC to Sensor Controller First word in Command Bit Gescpaod Command Area code 12to15 8to11 4to7 Oto3 2 2000 0010 0000 0000 0000 Command code 3 0070 0000 0000 0111 0000 4 0000 0000 0000 0000 Number of scene group to save 5 0000 0000 0000 0000 6 0000 0000 0000 0000 Absolute path of save destination and save file 7 0000 0000 0000 0000 name
423. ommand Trigger Ready Trigger Ready The Sensor Controller turns OFF this signal when a mea surement trigger cannot be executed The Sensor Controller turns ON this signal when a mea surement trigger can be executed Total Judgment Overall Judgement Output This signal turns ON when the overall judgement is NG This signal turns OFF when the overall judgement is OK This signal is ON while the Vision Sensor is in Run Mode Run Mode Run Mode This signal is OFF while the Vision Sensor is not in Run Mode This signal turns ON when the Vision Sensor receives a Trigger signal Trigger Ack Trigger Acknowledged This signal automatically turns OFF when the Trigger signal turns OFF This signal turns ON when control command execution is ossible commend Command Ready Ready This signal turns OFF when control command execution is not possible This signal turns ON when the sensing elements have com pleted exposure Shutter Output Shutter Trigger Output This signal turns OFF after one output period of EtherCAT communications Flow Command Completion Flow Command Completion This signal turns ON when execution of a command that was executed during execution of the fieldbus flow control has been completed i e when Flow Command Busy turns OFF This signal turns OFF when the Flow Command Busy signal turns OFF Flow Command Busy Flow Command Busy This signal is ON
424. ommunications Settings Z342 Command Timing Charts Note For the function and operation of each signal refer to I O Signals p 296 Continuous Measurement Measurements are performed continuously while the DI7 signal is ON Continuous measurements are stopped when the DI7 signal is turned OFF When an Expressions Is Set in Parallel Data Output with No Output Control Continuous Measurement IMPORTANT The measurements during continuous measurements are given priority Therefore display of the measurement results overall judgement images judgement for each processing unit in the flow display and detailed results may sometimes not be updated When continuous measurements are ended the measurement results from the last measurement will be displayed e Time Chart DIO to DI6 are turned OFF DI7 signal BUSY signal OR signal DO signal GATE signal ON OFF ON Measurement Measurement l Measurement Measurement OFF o 1 i Continuous 1 i i End of continuous measurement started measurements ON O a OFF i ON while the measurement Turns ON when the overall judgement result is NG Output polarity ON for NG process is being executed OFF Gate ON dela ms Output time T i lt 1 Output period ON ACK signal FH only OFF e Input Signals Signal Function DIO to DI6 These signals are turned
425. ommunications protocols that you can use to communicate with the Sensor Controller are described Introduction Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Confirming the System Configuration The FH FZ5 are Vision Systems that perform measurement processing through a Sensor Controller on measurement objects that are imaged by a Camera A Vision System can be connected to a PLC computer or other external device and receive measurement commands from or output measurement results to the external device M IAJBAQ Basic Configuration for an FH FZ5 series Vision System External device e g PLC FH FZ5 The FH FZ5 is connected to an external device e g PLC with a ae ols Camera communications cable and performs communications through one of various communications protocols Methods for Connecting and rr rrr rrr rrr trscrne l Communicating with External Devices p 37 for information on the A Camera and LCD Monitor Box type Monitor different communications protocols only for operation and monitoring are connected in the FH FZ5 Vision System For details refer to the nstruction Manual that is provided with each Communications protocol Communications cable individual device Parallel Parallel I O cable PLC Link Ethernet cable RS 232C cable EtherNet IP Ethernet cable EtherCAT FH only Ethernet cable Non procedure Et
426. on Result 0 0000 The selected output data number is displayed under the list 215 Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 4 Click the button next to the expression box and set the expression H Specify the processing items measurement results and measurement data in the expression You can also perform arithmetic or function calculations on the measurement data before it is output 5 Click the button for the Comment box and enter an explanation of the expression The comment you enter will be displayed in the detailed results on the Main Window For example if you enter Test as the comment for expression 0 Test will be displayed in place of Expression 0 in the detailed results area on the Main Window 6 Repeat steps 4 and 5 to set expressions for all of the required output data numbers Note If you delete one of the expressions that is set for output data 0 through 7 the output numbers for all expressions after the deleted expression will stay the same However the actual data output will be output as though the list has been shifted forward for the number of expressions that have been deleted To prevent data from being written to the wrong locations use copy and paste to shift the expressions after the deleted number forward For details on the Data Output Area refer to B Memory Allocation
427. on Sensor detects an error measurement or clears the and Troubleshooting in the error ie turns ON the Error Vision System FH FZ5 Clear a nal SeriesUser s Manual Cat No gnai Z340 The signal is ON when the The signal is OFF when the Vision Sensor can execute Vision Sensor cannot execute This sianalteiis when the Sen measurements and the Run measurements and the Run Run Mode Run Mode g wie Mode Signal Output Check Mode Signal Output Check sor Controller is in Run Mode s Box is selected in the Layout Box is not selected in the Lay Setup on the Layout Window out Setup on the Layout Win The RUN indicator will light dow Total Overall This signal gives the results of The signal turns ON when the The signal turns OFF when the Judgment Judgement the overall judgement overall judgement is NG overall judgement is OK Tridd r Trigger The Vision Sensor uses this The signal turns ON when the The signal turns OFF when the ee Acknowl signal to acknowledge recep Vision Sensor receives a Trig user PLC turns OFF the Trig edge tion of a Trigger signal ger signal ger signal Command The signal turns ON when con The signal turns OFF when Command This signal tells when control ee pee Execution trol command execution is pos control command execution is Ready command can be executed Ready Bit sible not possible ore This signal is ON when the This signal is OFF wh n even Camera This signal tells when the one
428. on System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 s d eUI9 Xy UM Bugeorunwwop pue Buosuuog JO spoule EtherCAT Troubleshooting Cannot Communicate with Sensor Controller Problem Cause Action There is absolutely no data I O The node address is set incorrectly Check the node address setting switches to see if they are set correctly The devices are not connected correctly Make sure that the EtherCAT connectors input and output are connected correctly The Output Option is not selected in the Adjustment Window A Timeout Error Occurred Select the Output Option in the Adjustment Win dow Problem A handshaking timeout error occurred Note Cause The Result Set Request signal is being turned ON and OFF too slowly The following patterns are possible e The Result Set Request signal does not turn ON after a measurement is completed e The Result Set Request signal does not turn OFF after the Result Notification signal turns ON e The Result Set Request signal does not turn ON after the Result Notification signal turns OFF Action After the measurement command is executed turn the Result Set Request signal ON and OFF within the timeout time that is set in the Ether CAT communications settings Or increase the length of the timeout time that is set in the EtherCAT settings For Ethe
429. on the measurement result and the BUSY signal is turned OFF IMPORTANT Data Output Time and STEP Signal Input Interval Set the input interval for the STEP signal so that it is longer than the total output time If the STEP signal input interval is shorter than the total output time the data output buffer will eventually overflow and data will be lost Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Output Control Handshaking Example Three Data Items Set for Parallel Data Output UNa COND O A Ke ON The signal is turned OFF when STEP signal the BUSY signal turns ON OFF F 1 4 y ON while the measurement process is being executed ON ge BUSY signal OFF gt 4 Overall judgement Output when measurements OR signal have been completed regardless of the DSA signal Execution of the Parallel Data Output Unit 4 DOO to DO15 signals GATE signal A Gate ON delay ms ON o i DSA signal i OFF 1 a time 3 Timeout time 1 A timeout error will occur if more than one data A timeout error will occur if the DSA item is being output for one measurement and signal is not turned ON within the set the DSA signal does not turn ON within the timeout interval from when the output specified time after the GATE signal turns OFF data was output by the Output Unit in the measurement flow Timeout time 2 If the DSA signal
430. on to check the Sysmac error status Refer to the gt NJ series Troubleshooting Manual Cat No W503 for information on troubleshooting functions 1 Select Troubleshooting from the Tools Menu while online You can also click the Troubleshooting button in the toolbar The Troubleshooting Dialog Box is displayed 2 Click the Controller Errors tab A list of the current Sysmac error status and corresponding event codes will be displayed Clearing the Sysmac Error Status 1 Remove the cause of the error and then click the Reset All button on the Controller Errors tab page of the Troubleshooting pane Note Even if you reset the Sysmac error status the errors will remain on the Controller Event Log tab page EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Error Details This section provides details on errors Interpreting Error Descriptions The items that are used to describe individual errors events are described in the following copy of an error table Event name Gives the name of the error Event code Gives the code of the error Meaning Gives a short description of the error Gives details on Teliswnentha Source Gives the source of the error Source details the source of the Detection timing error error is detected Tells the level of Tells which log the Gives
431. ont hetmerGAT los IP procedure Saves the Scene data NA OK RST NA OK Saves the scene group data NA OK RST NA OK Saves system data NA OK RST NA OK Saves the image data NA OK RST NA OK Se ma f ox aseo m o Saves the last logging image NA OK RST NA OK Saves System Scene Group 0 data in a file NA OK RST NA OK Captures a screen NA OK RST NA OK 4 You cannot execute tag data link commands Execute the command with message communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 ssolpueddy po 331 Command Control 332 Command Details This section provides details on the communications commands Command Details for PLC Link EtherNet IP and EtherCAT Executing Measurement Executes measurement one time Command PLC to Sensor Controller First wordin Command Bit Ave Description Command Area code 412to15 8to11 4to7 Oto3 2 1010 0001 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 Response Sensor Controller to PLC First wordin Command Bit ae Description Response Area code 12t0o15 8to11 4to7 0to3 2 1010 0001 0000 0001 0000 Commandeade 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 i 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Starting Continuous Measurement Starts continuous
432. ontains the Sysmac error status at index 2001 hex and subindex 01 hex 45 Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 Assigning PDOs Scheme for Assigning PDOs to EtherCAT Slaves You can assign more than one PDO to an EtherCAT slave Here PDOs are assigned to index 1C12 hex for the RxPDO and 1C13 hex for the TxPDO The following example shows how PDOs are assigned A H Index aie Object Contents 1013 hex 1 1A00 hex 5 2 1A01 hex 5 8 3 1A03 hex Sync Manager entity Z PDOA PDOB PDO D 1A00 hex PDOA 5 1A01 hex PDOB S 1A02 hex PDOC S 1A03 hex PDO D 1A04 hex PDO E 7 1A05 hex PDO F 1A06 hex PDOG In this example three PDOs PDO A PDO B and PDO D are assigned to index 1C13 hex for the TxPDOs Similarly a PDO for the RxPDO is assigned to index 1C12 hex These assignments determine the PDOs to use for communications between the EtherCAT master and slave EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Service Data Objects SDOs Introduction EtherCAT Slave Terminals support SDO communications The EtherCAT master can read and write data from and to entries in the object dictionary with SDO communications to make parameter settings and monitor status Refer to gt Object Dictionary Area p 102 for the
433. ontrol through data sharing data output after measurement l 4 Testing communications Setting Procedures for Communications 2 Setting communications specifications The type of the Communications Module is selected to determine the communications method to use between the Sensor Controller and the external device For details refer to gt Communications Module Settings Startup Settings under Methods for Connecting and Communicating with External Devices for each communications protocol The communications specifications are set for the communications method of the Communications Module that was selected in step 1 Set the communications area assignments for exchanging data with the external device For details refer to gt Communications Specifications Settings under Methods for Connecting and Communicating with External Devices for each communications protocol 1 The settings including communications settings can be saved and loaded as system data ini file extension or system scene group 0 data bkd file extension files Refer to Saving Settings Data to the Controller RAM Disk or an External Memory Device in the Vision System FH FZ5 Series User s Manual Cat No Z340 The data to output to the Data Output Area is registered in the Output Unit The result output is placed in the processing flow in the same way as for other processing items If communications are not wo
434. ontroller and the external device Do not input signals to EtherCAT from an external device while setting the EtherCAT system settings Before you set the communications specifications set the Communications Module to EtherCAT Restart the system after you save the data to the Vision Sensor Reference gt Communications Module Settings Startup Settings p 55 1 On the Main Window select Tool System Settings 2 Select System Settings and then select Communications EtherCAT The tab page for the communications settings is displayed 3 Set up the following items Output control Output period ms Output time ms Timeout s LineOData output number Line1 Data output number Line2Data output number Line3Data output number Line4Data output number LineSData output number Line6Data output number Line Data output number EtherCAT Connections FH Only Resu Resu Resu Resu Resu Resu Resu Resu t Data Format 9 DINT 4 LREAL 6 t Data Format O DINT 8 t Data Format O DINT 8 t Data Format O DINT 8 t Data Format O DINT 8 t Data Format O DINT 8 t Data Format O DINT 8 t Data Format O DINT 8 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Set value Fale D BOE Setting item Factory default escription This setting is used to output the measurement None None results asyn
435. ontroller outputs the output data for the second Fieldbus Data Output Unit to the Data Output Area The data for the first Fieldbus Data Output Unit is overwritten at that time The Sensor Controller turns ON the Result Completion GATE signal and then turns it OFF after the output time that is set in the EtherNet IP settings has elapsed The Command Completion FLG signal is turned ON The Sensor Controller confirms that the Command Completion FLG signal is ON and automatically turns OFF the BUSY signal Vision System FH FZ5 Series User s Manual for Communications Settings Z342 12 The PLC user turns OFF the Command Request EXE signal when the Command Completion FLG signal turns ON 13 The Sensor Controller confirms that the Command Request EXE signal is OFF and automatically turns OFF the Command Completion FLG signal 1 A timeout error occurs and the Command Completion FLG signal is forced OFF if the Command Request EXE signal is not turned OFF from the PLC user within the timeout time that is set in the EtherNet IP settings Note Saving All of the Measurement Results If you output data from more than one Data Output Unit or for repeatedly measured output data e g for continuous measurements the same Data Output Area will be overwritten To save all of the output data adjust the output period and output time that are set in the EtherNet IP settings so that all of the output data is ou
436. ontroller to PLC First word in Command Bit Soh Description Response Area code 12to15 8to11 4to7 0to3 2 4040 0100 0000 0100 0000 Command anda 3 0040 0000 0000 0100 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 3 0000 0000 0000 0000 Response data 7 0000 0000 0000 0000 Image logging prefix character string Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Getting Data Logging Condition Gets the data logging conditions Command PLC to Sensor Controller First word in Command Bit ee Description Command Area code 142to15 8to11 4to7 Oto3 2 4050 0100 0000 0101 0000 Command code 3 0040 0000 0000 0100 0000 Response Sensor Controller to PLC First word in Command Bit i Description Response Area code 12to15 8to11 4to7 0 to 3 2 4050 0100 0000 0101 0000 Command code 3 0040 0000 0000 0100 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 Response data Data logging condition gotten 0 None 7 0000 0000 0000 0000 1 Only NG 2 All Vision System FH FZ5 Series User s Manual for Communications Settings Z342
437. orms a test measurement on the specified unit Command PLC to Sensor Controller First word in Command Bit wae Description Command Area code 12to15 8to11 4to7 Oto3 2 1040 0001 0000 0100 0000 Command code 3 0010 0000 0000 0001 0000 4 0000 0000 0000 0000 Unit No 5 0000 0000 0000 0000 333 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 IMPORTANT You cannot use the Unit Stand alone Test Measurement Execution command for the following Camera Image Input processing units Camera Image Input Camera Image Input GigE Camera Image Input FH Camera Image Input HDR and Camera Image Input HDR Lite Response Sensor Controller to PLC First wordin Command Bit ae Description Response Area code 12to15 8to11 4to7 0 to 3 2 1040 0001 0000 0100 0000 Command code 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Clearing Measurement Values Clears all measurement values Command PLC to Sensor Controller First word in Command Bit ne Description Command Area code 12t015 8to11 4to7 0to3 2 2010 0010 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 Response Sensor Cont
438. orrect the timeout time so that it is suitable for the program processing time Set the timeout time so that it is suit able for the program processing time There is a wiring mistake in the parallel I O DSA or GATE signal Turn OFF the power supply correctly wire the parallel I O DSA or GATE sig nal and restart the Unit Correctly wire the parallel I O DSA or GATE signal None This error occurs when measurement results are output on the parallel I O PLC Link or EtherNet IP For EtherCAT refer to the Output Control Timeout for EtherCAT event 96 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Event name Output Control Timeout for EtherCAT Event code 58220000 hex Meaning A timeout occurred in data output handshaking control for measurement results Source EtherCAT Master Function Module Source details Slave At measurement Detection timing result output Error reset after Error attributes Level Minor fault Recovery resetting the error Log category System in the slave Data is not output to the EtherCAT master and it is stored Effects User program Continues Operation in the Sensor When the Result Set Request signal turns ON the stored data is output to the EtherCAT master EtherCAT NET R
439. osuuog JO spoule N Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 EtherNet IP Communications You can use an EtherNet IP tag data link to communicate between the PLC and the Sensor Controller to control the Sensor Controller from the PLC with command response communications or to output data after measurements The Sensor Controller supports EtherNet IP conformance tests Tag data link settings are set using Support Software for tag data link settings To connect to OMRON Controllers and communicate through EtherNet IP you use the Network Configurator to set up tag data links i e tags tag sets and connection settings This section describes how to use the Network Configurator to set tag data link settings Refer to the following manuals for details on the tag data link settings that are made with the Network Configurator e Reference gt NJ series CPU Unit Built in EtherNet IP Port User s Manual Cat No W506 e Reference gt CS CJ series EtherNet IP Units Operation Manual Cat No W465 e Reference gt CJ series EtherNet IP Units Operation Manual for NJ series CPU Unit Cat No W495 IMPORTANT e Since a reasonable amount of measurement takt time is required to have stable communications in an operation under high load verify the operation under the conditions that are to be actually applied On a network to which many devices are connected performanc
440. otocol over EtherCAT CoE EtherCAT allows the use of multiple protocols for communications However the EtherCAT Slave Terminal uses the CAN application protocol over EtherCAT CoE as the device profile for the CAN application protocol The CoE is a communications interface that is designed to provide compatibility with EtherCAT devices The CAN application protocol is an open network standard The following figure shows how the CoE is structured for an FH series Vision Sensor FH Sensor Controller Application layer NX Unit application Object dictionary Transitions of SDO mailbox PDO mappings communications states PDO communications cyclic SyncManager ll FMMU ll EtherCAT data link layer EtherCAT physical layer The object dictionary for the CAN application protocol is broadly divided into PDOs process data objects and SDOs service data objects PDOs are contained in the object dictionary The PDOs can be mapped in the object dictionary The process data is defined by the PDO mappings PDOs are used in PDO communications for periodic exchange of process data s d eu19 x3 UM Bujeolunuiwo9 pue Buosuuog JO spoule N SDOs are the objects that can be read and written SDOs are used in non periodic SDO communications event driven message communications If you use the CoE interface to set the object dictionary for PDOs and SDOs you can provide EtherCAT devices with the same device profiles as the CAN applicat
441. owl edged Make sure this signal is OFF before you request a com mand 4 During continuous measurements the BUSY signal remains ON However the Vision Sensor will acknowledge the Command Request signal during execution of continuous measurements The execution of commands or other processing received through any other protocol cannot be detected Example This signal remains OFF during measurements for a parallel communications Trigger signal If you use more than one protocol and need to detect command execution use the parallel communications BUSY signal Just because this signal is ON does not necessarily mean that a command is being executed To check whether a command is being executed access the Command Completion signal ON OFF timing OFF to ON The Vision Sensor turns ON this signal when it receives a command from the user PLC The signal turns ON after the Command Request signal turns ON ON to OFF The signal turns OFF when command execution is com pleted Control Command Completion Signal Command Completion The Vision Sensor uses this signal to tell the user PLC that command execution has been completed Vision System FH FZ5 Series User s Manual for Communications Settings Z342 The signal turns ON when the Vision Sensor completes exe cution of a received command EtherCAT Connections FH Only The signal turns OFF when the user PL
442. p Not possible Range Unit Default 60060140 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index4 4th Input Object to be mapped Range Unit Default 60060240 hex Size 4 bytes U32 Sub index5 5th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060340 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions e 6005 hex Image Processing Results Integer Data e 6006 hex Image Processing Results Real Data 128 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 1A0D hex 14th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 10 hex Size 1 byte U8 Sub index1 1st Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050120 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 2nd Input Object to be mapped Range Unit Default 60050220 hex Size 4 bytes U32 Sub index3 3rd Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050320 hex Size 4 bytes U32 Access RO PDO map No
443. p 296 Output Control None Example Three Data Items Set for Parallel Data Output Time Chart ON The signal is turned OFF when STEP signal the BUSY signal turns ON OFF f ON y BUSY signal a OFF ON while the measurement process is being executed OR signal Turns ON when the overall judgement 19 result is NG Output polarity ON for NG O aA A WBN GATE signal ai Output period The total output time is as follows Output Unit executed Output period x Number of output data items Turn ON the STEP signal while the BUSY signal is OFF Measurement begins and the BUSY signal is turned ON during the measurement process Measurement data is output when a Parallel Data Output Unit in the measurement flow is executed After the data output processing the GATE signal is turned ON after the time set for the Gate ON delay in the parallel communications settings has elapsed After the GATE signal is turned ON the GATE signal is turned OFF after the time set for the Output time in the parallel communications settings has elapsed If the processing for the next data item is completed the next GATE signal is turned ON after the time set for the Output period has elapsed from the end of processing in step 5 above 1 Set the GATE ON delay and output time for the GATE signal so that the total time does not exceed the output period After measurement is completed the OR signal is output based
444. pecifies the terminal number 0 to 15 When the terminal types are RUN ERR and BUSY 0 When the terminal type is OR 0 ORO 1 OR1 When the terminal type is GATE Terminal number 0 GATEO 1 GATE1 When the terminal type is READY 0 READYO 1 READY1 When the terminal type is DO 0 DOO to 15 DO15 0 OFF Terminal state 1 ON Example Setting READYO to ON lt Command gt eje Je Jo 1 450 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 lt Response gt O K Fre ssolpueddy po 451 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 452 REGIMAGE or RID Registers specified image data as registered image Registers the data of a specified image as a registered image The status after the command is executed is the same as after the operation is executed for the Register Button in the Registered Image Manager If the source to register is 0 the last measured image command argument 3 can be omitted lt Command format gt Logging image number File name 256 characters max Source to register 1 digit Registered image number 3 digits max or REO ISIT H L L L Logging image number File name 256 characters max Source to register 1 digit Registered image number 3 digits max lt Response format gt When processing is performed norma
445. perational state state where a DC mode is confirmed e If the first interrupt signal SYNCO is not input at all within this setting time a synchronization error occurs e The setting range is from 0000 hex to 0258 hex 600s and operation is performed at 120s when 0000 hex is set e Rewriting value is possible at operation in the DC mode but the operation is performed with the value set when shifting from the pre operational state to safe operational state Note that at this point the rewritten value is read Vision Sensor Specific Objects Manufacturer Specific area 2 6000 hex Status Flag Sub index0 Number of entries Range Unit Default 00 hex Size 1 byte U8 Access RO PDO map Not possible Sub index1 Command Completion Bit Range True 1 or False 0 Unit Size 1 bit BOOL Access RO Sub index2 BUSY Bit Default False 0 PDO map Possible Range True 1 or False 0 Unit Default Differ by the status when starting Size 1 bit BOOL Access RO PDO map Possible Sub index3 Trigger Ready Bit Range True 1 or False 0 Unit Size 1 bit BOOL Access RO Sub index4 Total Judgment Bit Default Differ by the status when starting PDO map Possible Range True 1 or False 0 Unit Size 1 bit BOOL Access RO Sub index5 RUN Mode Bit Default False 0 PDO map Possible Range True
446. performed normally ONKISe When processing is not performed normally EIR cri Example When displaying the RUN window lt Command gt DILIN Jo 1f lt Response gt O KFFe Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Control ssolpueddy po 435 436 LOGINACCOUNT or LAI Acquires the user name for the currently logged in user account Gets the user ID for the currently logged in account lt Command format gt LIO G TINJAICICIOJUIN T fe Acquisition target 1 digit or LIAT e TEA Acquisition target 1 digit lt Response format gt When processing is performed normally User ID fkl OIK cr When processing is not performed normally ERE lt Parameters explanation gt 0 Local 1 Remote User ID Returns the user ID in the user account used by the user currently logging in Example Getting the name of the user abc that is currently logged in local Acquisition target lt Command gt LIA I Ofk lt Response gt Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Switching the currently logged in account Switches the currently logged in account lt Command format gt User ID 32 characters max Password 32 characters max Setting target 1 digit or YALE TE TCT L j Password 32 characters max User ID 32 charac
447. phn oh 8 Confirming the System Configuration ccc ccccceeeeeece eee eenee eee eeeeeeeeeeeeeaeeeeeeeeaaaeeeeeeeaaaeeeeeeeaaeeeseeeiieeeeeeeaes 9 Basic Configuration for an FH FZ5 series Vision System cceeeecceeeeeeneeeeeeeeneeeeeseeencaeeeeeeenaeeeeeeeaes 9 Communicating with an External Device ssseseisssesrrissttttttttttt eater eee teaaeeeeeeeaaeeeeeesieeeeeeesnaeeeeeeenaaes 10 Basic Control Operations of the Sensor Controller cccccccceceeeeeeeeeeeeeceecaeceeeeeeeeseesenesensaaeeeeees 10 Communications between the FH FZ5 and an External Device o oo ceeeeeeeteeeeeeeeenteeeeeeettteeeeeeeea 12 Controlling thes FEFA ssc coccsce ek soe ah ae tad ences acne teas A ektaad atcd cata gene suaksasadl Seadasetez dads ibedasaaes 13 Communications Protocols for Communicating with the FH FZ5 oo ceeeeeteeeeeeeeeteeeeeeetaeeeeeeeeee 15 Saving FH FZ5 Data to an External Device oo eee ee eenne ee eee entne eee ee tense ee taaeeeeeesaeeeeeesiaeeeeeeeea 16 Control Methods Using an External Device o oo eee eeecneee teeter eee ee tates eee taaaeeeeeeeaeeeeeeeaeeeeeeeenaaeeeneaaes 17 Control with Control Signals and Status Signals 20 ceeeeeeeeeeeeee eee eeneeee eee eeneeeeeeetiieeeeeeeeneeeeeenaa 17 Command Response Method ccccceceeceeceeceeeceeeeeeee eee eeceaeaaaaaeceeeeeeeeeeesccecaacaeceeeeeeeeeeeeseeseenisaneees 21 Data Output after Measurements ccccccecceceeeeeeesecceeeecaeeeeeeeeeeeeeceecaaaaae
448. pleted Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Appendices eo Appendices Command Control Parameter Notation Examples for Command Control This section provides examples of binary inputs of parameters and other arguments for command control Note The storage order depends on the manufacturer of the connected PLC as follows OMRON and Yaskawa Electric PLCs Upper byte followed by lower byte e Mitsubishi Electric PLCs Lower byte followed by upper byte Four byte Data The following example shows the input to change the scene to scene number 5 with the Switch Scene command First word in Command Area Description 2 and 3 words Command code 1000 0030 hex 4 and 5 words Scenes number 5 0000 0005 hex e OMRON or Yaskawa Electric PLCs Command PLC to Sensor Controller First word in Hexadeci Bit er mal Description Command Area tation 12t015 8to11 4to7 0to3 2 1000 0001 0000 0000 0000 Command code 3 0030 0000 0000 0011 0000 4 0005 0000 0000 0000 0101 Scene No 5 0000 0000 0000 0000 0000 e Mitsubishi Electric PLCs Command PLC to Sensor Controller First word in Hexadeci pit EE mal Description Command Area tation 12t015 8to11 4to7 Oto3 2 1000 0001 0000 0000 0000 Command code 3 0030 0000 0000 0011 0000 4 0500 0000 0101 0000 0000 Scene No 5 0000 0000
449. polling from the FH FZ5 to the external device e g PLC 1 If this value is set polling will not be performed during nor mal operation This setting prevents communications polling from affecting the measurement processing time during normal operation Commands cannot be executed but data output and flow con trol can be performed Communicating with PLC Link s d eu19 x3 UM Buyeolunuiwo9 pue Buosuuog 104 spoule N 159 Communicating with a Mitsubishi Electric PLC When PLC Link MELSEC QnU Q QnAS is selected for the Communications Module Setting item Set value Factory default Description Command area Data register 0 Area e File register Set the Command Area e Link register Address oie adaa Set the first word address in the Command Area Response area e Data register Area e File register Set the Response Area e Link register Address is Set the first word address in the Response Area Data output area Data register Area e File register Set the Data Output Area e Link register Address al Set the first word address in the Data Output Area Set whether to provide an interlock with the PLC when performing data out e None put Output control Handshaking None Data is output regardless of the status of signals from the g PLC GATE is always OFF Handshaking Data is output after confirming DSA from the PLC Selected Meas
450. prefix Responds with the prefix for the name of the file the image logging is saved to Example When the prefix for the name of the file the image logging is saved to is set to abc lt Command gt lt Response gt bjeff O KfR 419 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 Setting the prefix for the name of the file the image logging is saved to Sets the prefix for the name of the file the image logging is saved to The maximum length of the prefix character string is 32 characters lt Command format gt H imfatefeltjojejHjejajofejR ld ii Image logging prefix 32 characters max or ofe fo L mage logging prefix 32 characters max lt Response format gt When processing is performed normally OJK cRl When processing is not performed normally IRIS lt Parameters explanation gt Sets the prefix for the name of the file the image logging is saved to with a maximum of 32 Image logging prefix characters The set character string is added at the beginning of the name of the save file Example When setting abc as the prefix for the name of the file the image logging is saved to lt Command gt T LJH Ja b cfSr lt Response gt OlKFe 420 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 IMAGESCROLL or EIS The image display window whose number is specified is moved the
451. processing is completed Continuous measurements are started when the Start Continuous Measurements command is executed and ended when the End Continuous Measurements command is executed Command Area O P Command Start Continuous Measurements command End Continuous code OFF Measurements command Command parameters Command Request signal Response Area Command echo 1 X 1 ON j i BUSY signal 7 Measurement Measurement Measurement 1 OFF j zi TE 1 1 1 i 1 1 i 1 1 1 1 1 1 ON ae po a Trigger ACK signal OFF 7 i 3 code OFF F 1 I The Command Completion i i signal automatically turns OFF re i 1 L I 1 1 1 f E f i 1 Command ON when the Command Request i ae Completion signal signal is turned OFF i iA OFF r B i 1 a t f 1 rao i boi ON Total Judgement Preparations to execute continuous i j measurements are started 1 oi signal OFF N i rat 1 Moai i itd 4 2 3 9 10 11X12 The Command Completion signal turns ON when execution of the Continuous measurements Continuous measurements control command is completed are started are ended 1 The user PLC turns OFF the Command Request signal when the Command Completion signal turns ON 2 The Command Completion signal and BUSY signal are forced OFF if the Command Request signal is not turned OFF within the retry interval after the Command Completion signal turns ON EtherCAT Connections FH Only
452. put Phase A signal This signal is only used OK 7 ee _ Phase B or when you use an encoder Phase Z trigger Output Signals Sensor Controller to PLC Signals for each communications protocol Signal Signal name Function Parallel PLC Link EtherNet IP EtherCAT This signal tells when new commands and other external inputs cannot be acknowledged during processing of other external inputs BUSY Busy Signal Just because this signal is ON OK OK OK OK does not necessarily mean that a command is being executed To check whether a command is being executed access the Command Completion FLG signal FLG Control The FH FZ5 uses this signal to OK OK Command tell the user PLC that Command Completion command execution has been o E ie OK Completion Signal completed GATE This signal tells the user PLC OK oK OK Data Output when to read the measurement Result Completion results Notification Signal Data output is enabled when va R te OK this signal is ON 2 Control Methods Using an External Device Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Signals for each communications protocol Signal Signal name Function Parallel PLC Link EtherNet IP EtherCAT READY This signal tells when the OK Camera Image STEP Aleasoroment Trigger signal can be input I
453. r First word in Command Bit Par Description Command Area code 12to15 8to11 4to7 0to3 2 4010 0100 0000 0001 0000 Command code 3 0040 0000 0000 0100 0000 Response Sensor Controller to PLC First wordin Command Bit es Description Response Area code 12to15 8to11 4to7 0 to 3 2 4010 0011 0000 0000 0000 Command code 3 0040 0000 0000 0111 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 Response data a 9999 pond 0900 9000 Folder name absolute path 0000 0000 0000 0000 370 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Getting Data Logging Folder Name Gets the data logging folder name Command PLC to Sensor Controller First word in Command Bit Doenan Command Area code 12t0o15 8to11 4to7 0to3 2 4020 0100 0000 0010 0000 Command code 3 0040 0000 0000 0100 0000 Response Sensor Controller to PLC First word in Command Bit Description Response Area code 12to15 8to11 4to7 0 to 3 2 4020 0100 0000 0010 0000 Command code 3 0040 0000 0000 0100 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000
454. rCAT Connections FH Only for Communications Settings Z342 s d eu19 x3 UM Bujeolunuiwoy pue Buosuuog 104 spoule Setting the Output Data Set expressions for the data to output Expressions are set for both 4 byte data DINT and 8 byte data LREAL Note The Fieldbus Data Output setting item changes according to the EtherCAT communications settings Set the total output data si ze 256 bytes max and the number of data items to output 64 max in the EtherCAT communications settings in advance 7 8 Click the Fieldbus Data Output Icon amp in the measurement unit list flow The Fieldbus Data Output Window is displayed The following tabs are displayed DINT Setting and LREAL Setting The output data numbers are displayed according to the EtherCAT communications settings Click the DINT Setting or LREAL Setting tab The DINT Setting or LREAL Setting tab page is displayed according to the EtherCAT communications settings In the list select the output data number for the expression to set 1 Fieldbus Data Output DINT Setting LREAL Setting Output data No Comment Expression A a ej x No 0 F Comment view Comment Expression Result 0 0000 The selected output data number is displayed under the list Click the button next to the expression box and set the expression h Specify the process
455. rCAT connections errors that occur in the EtherCAT system including Sensor errors are displayed in the Sysmac error status in the Sysmac Studio Standard Edition Refer to the Sysmac Error Status p 87 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Sysmac Error Status The Sysmac Studio Standard Version displays errors that occur in the EtherCAT system including Sensor errors as Sysmac error status Sysmac Error Status Table This section provides a table of Sysmac error status that is related to the Sensor and describes the event codes Refer to the gt NJ series Troubleshooting Manual Cat No W503 for details on event codes Levels Maj Major fault level Par Partial fault level Min Minor fault level Obs Observation Info Information Level Event code Event name Meaning Assumed cause Reference Maj Prt Min Obs Infor e A foreign object is interfering with fan operation 08210000 hex Fan Power Sup An error occurred in the gt A suitable power supply N Reference ply Error fan or power supply voltage is not being used gt p 92 resulting in an overvoltage or undervoltage e There is a short circuit Camera Overcur An overcurrent flowed inside the Camera cable Reference 992 0009hex rent Detected to the Camera or in a circuit inside the 4 gt p 92 Controller An overcurrent 08230000 hex Parallel I O Over occurre
456. rameters for the Select Scene command are set from the PLC N Next confirm that the BUSY signal and the Command Completion FLG signal have turned OFF and then turn ON the Command Request EXE signal again A request is sent to the Sensor Controller The Sensor Controller changes the scene and turns ON the BUSY signal when the request is received The Command Completion FLG signal is turned ON The PLC user turns OFF the Command Request EXE signal when the Command Completion FLG signal turns ON When the Sensor Controller detects that the Command Request EXE signal is OFF it automatically turns OFF the Command Completion FLG signal and the BUSY signal The measurement command code and command parameters are set from the PLC ON O AR Q The Command Request EXE signal is turned ON to execute the measurement command Note To execute a measurement trigger after changing the scene first confirm that the Command Completion FLG signal and the BUSY signal that turned ON for execution of the Select Scene command have turned OFF Also if the BUSY signal is ON for too little time and the external device cannot read it increase the time that the BUSY signal is ON for changing scenes so that the external device can read the ON state To do this change the Add time setting for the Scene switch time Refer to gt Setting the Conditions That Are Related to Operation during Measurement in the Vision Syste
457. rd in Command Bit Pe Description Response Area code 12to15 8to11 4to7 0to3 2 8020 1000 0000 0010 0000 Gormiand eode 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Echo Returns as is any character string sent by an external device Command argument 1 is alphanumerics only Responds in the response areas 6 7 with the data that was set in command areas 4 5 Command PLC to Sensor Controller First wordin Command Bit ADE Description Command Area code 412to15 8to11 4to7 Oto3 2 9010 1001 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 4 0000 0000 0000 0000 Any data 2 words 5 0000 0000 0000 0000 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 341 Command Control Response Sensor Controller to PLC First word in Command Bit tee Description Response Area code 12to15 8to11 4to7 0to3 2 9010 1001 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 7 0000 0000 0000 0000 Any data 2 words User Account Setting Adds a user account to the specified group ID If the group ID the account of the
458. revents parameter values from being accidentally overwritten e The specific value is load MSB LSB d a o 64 hex 61 hex 6F hex 6C hex The ABORT code is displayed if a value other than the specific is written e A value 0000 0001 hex command valid is indicated when reading The FH series Vision Sensors do not support this parameter 1018 hex Identity Object Sub index 0 Number of entries Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Vendor ID Range Unit Default 00000083 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 Product Code Range Unit at Pitepby slave Unit Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 Revision Number Range Unit ae Differ by clave Unit Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 4 Serial Number Range Unit Default Each Unit Attribute Size 4 bytes U32 e Indicates the device information e Sub index 1 Vendor ID gives the manufacturer identifier e Sub index 2 Product Code gives the value assigned to each Slave Unit type e Sub index 3 Revision Number gives the Unit revision number e Bits 0 to 15 Minor revision number of
459. ries User s Manual Command Control for Communications Settings Z342 Image Display State Setting Sets the image mode for the specified Image Display window Command PLC to Sensor Controller First word in Command Bit oe Description Command Area code 12to15 8to11 4to7 O0to3 2 5030 0101 0000 0011 0000 Command code 3 0030 0000 0000 0011 0000 4 0000 0000 0000 0000 Display image window number FH Image display window number 0 to 23 FZ5 Displaying 1 image 1 5 p 0000 0000 0000 0000 Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails O to 4 6 0000 0000 0000 0000 Image mode 0 Through 7 z 0000 0000 0000 0000 1 Freeze or Freeze and Last NG together 2 Last NG Response Sensor Controller to PLC First wordin Command Bit err Description Response Area code 12to15 8to11 4to7 0to3 2 5030 0101 0000 0011 0000 Command code 3 0030 0000 0000 0011 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 360 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communication Input State Setting Permits prohibits input to communication modules Any communication module whose input state is set to Prohibit 0 accepts no communications whatsoever However
460. ries Vision Sensor Non procedure Communications Command MEASURE gt Response Non procedure Communications Fxxx series Method Command Command received Command MEASURE gt acknowledged Measurement processed Measurement processed I Measurement completion Command Completion Measurement results lt An OK response is returned when the Controller receives the command Measurement Measurement results lt Response An OK response is returned when execution of the command is completed completion Command Completion e With serial data output when Ethernet output is set up to 128 processing units can be registered However not all data may be received depending on the network environment being used computer performance and the software for receiving data 268 Non procedure Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Serial Interface RS 232C 422 Connection Example of Input Format SCENE Command Scene number 3 digits max Enter a delimiter at the end of commands In this manual delimiters are expressed with Cp Separate parameters with spaces Not required before delimiters In the following cases an error occurs When an error occurs an error end is returned as the return value e When non existing commands are specified e When the number of parameters is i
461. rking properly check the communications setup from step 2 and perform a communications test to determine if the Sensor Controller can be detected on the network If that does not solve the problem refer to the troubleshooting section Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communications Protocols and Communications Modules A Communications Module is used to communicate between the Sensor Controller and an external device The appropriate Communications Module must be set for the communications protocol that is used to communicate between the Sensor Controller and the external device Communications Module Settings The Communications Module to use for communications is selected in the startup settings M NA 1 On the Main Window select Tool System Settings to open the system settings 2 Select System setting Startup Startup setting on the Multiview Explorer on the left and then click the Communication tab For detailed setting procedures refer to gt Communications Module Settings for each communications protocol After you select the Communications Module to use save the settings to the Sensor Controller and restart the Sensor Controller The selected Communications Module will be enabled after the Sensor Controller restarts You can then set up the communications Selecting a Communications Module Select a Communications Module based on the communications
462. rmal communications method Reference Command Formats p 268 Click the Data save button in the Toolbar Data save On the Main Window select Function System restart Click OK in the System restart dialog box to restart the Sensor Controller When the Sensor Controller has restart operation will be performed for the default settings of the specified Communications Module Set the IP address and other settings for the PLC or other external device for Communications Settings Z342 SOdIAQq eu19 x3 UM Bugeoiunwwop pue Buosuuog JO spoule 251 Non procedure Communications 252 IMPORTANT After you set the Communications Module always click Data save and then restart the Sensor Controller If the settings are not saved and the Sensor Controller is not restarted the new Communications Module settings will not be enabled Note You can save the Communications Module settings to a file Select Save to file from the Function menu and then select System data or System Scene group 0 data to save the settings data to a file Refer to Saving Settings Data to the Controller RAM Disk or an External Memory Device in the Vision System FH FZ5 Series User s Manual Cat No Z340 Communications Specifications Settings The communications settings must be set separately for Ethernet and RS 232C communications If communications cannot be performed even after setting these com
463. rns OFF the Command Request EXE signal when the Command Completion FLG signal turns ON So N OG A OQ The Sensor Controller confirms that the Command Request EXE signal is OFF and automatically turns OFF the Command Completion FLG signal 1 A timeout error occurs and the Command Completion FLG signal and BUSY signal are forced OFF if the Command Request EXE signal is not turned OFF from the PLC user within the time set in the EtherNet IP settings Retry interval for Ethernet EtherNet IP or Timeout for RS 232C 422 EtherNet IP Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 Continuous Measurement Command without Handshaking Continuous execution is used to repeatedly execute measurements by starting the next measurement operation image input and measurement processing as soon as one measurement operation image input and measurement processing is completed Continuous measurements are started when the Start Continuous Measurements command is executed and ended when the End Continuous Measurements command is executed ON Command code i Start Continuous Measurements command eS mani OFF Command Command Area parameters Command Request EXE signal Command code BUSY signal Control command execution 1 Response Area Response code Command Completion FLG signal i 1 Overall Judgement Preparations to execute continuo OR signal 1 Measurements
464. rns an entered text string without chang Reference ing it gt p 341 Branches to the start of the measurement Reference 0010 B010 Return to Start of Flow flow processing unit gt p 344 0010 F010 Reset Resets the Sensor Controller a Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s n d eu19 x3 UM Bugeovtunwwop pue Buosuuog JO SPoyN N 74 Commands to Get Status Command coaer Command name Function Reference Command Area hex 0020 1000 Get Scene Number Acquires the current scene number Reference gt p 345 0020 2000 Get Scene Group Number Gets the scene group number Reference gt p 345 Gets the number of the layout that is currently Reference 0020 4000 Get Layout Number displayed gt p 346 Gets the number of the Unit that is currently Reference 0020 5010 Get Display Image Unit Number displayed in the specified image display win gt 347 dow P Gets the subimage number for the specified Reference 0020 5020 Get Display Subimage Number image display window gt p 347 i Gets the image mode for the specified image Reference 0020 5030 Get Image Display Status display window gt p 348 a Gets the input status enabled disabled for Reference 0020 7010 Get Communications Input Status ih C rmmu ni ations Modul s gt p 349 0020 7020 Get Communi
465. rocedure Communications Troubleshooting Cannot Input to the Sensor Controller RS 232C 422 Only Problem Cause Action No response is received after sending serial commands There is a problem with the wiring Check the wiring Check the cable connections There is a problem with the RS 232C settings Make sure that the settings are correct Responses are no longer received after sending serial commands but communications were working previ ously You are attempting to send commands while the BUSY signal is still ON Send commands only when the BUSY signal is OFF A cable has been disconnected Check the cable connections A connecter has been disconnected Check the connector connections The Vision Sensor is in Edit Mode Change to RUN or ADJUST Mode No Data Is Output from the Sensor Controller Problem Cause Action Ethernet The output IP address is incorrect Set the output IP address correctly There is absolutely no data output RS 232C 422 There is a problem with the wiring or a cable has been disconnected Check the wiring Check the cable connections A connecter has been disconnected Check the connector connections You have not added any Data Output processing items in the measurement flow You have not added any Data Output processing items in the measurement flow The Output option is not selected in
466. rol Set the IP address of the bottom Ethernet port on the Sensor lers with four or eight Camera inputs only Controller e Obtain an IP address automatically Use the following IP address a b c d a 1 to 223 b 0 to 255 c 0 to 255 d 0 to 255 10 5 6 100 0 0 0 0 to Subnet mask 255 255 255 255 255 255 255 0 a b c d a 1 to 223 b 0 to 255 c 0 to 255 d 0 to 255 10 5 6 100 a b c d a 1 to 223 b 0 to 255 c 0 to 255 d 0 to 255 10 5 6 100 IP address Same as Address setting Default gateway DNS server s d eu19 x3 UM Bugeorunwwop pue Huosuuog JO spoule 255 Vision System FH FZ5 Series User s Manual Non procedure Communications for Communications Settings Z342 256 Set value Setting item Factory default Description Input Output setting Input mode Normal This item cannot be changed Input form ASCII This item cannot be changed a b c d a 0 to 255 Output IP b 0 to 255 EER Bane c 0 to 255 Input the output destination IP address d 0 to 255 0 0 0 0 UDP r i Input port 0 to 65535 S the port No to use for data input with the Sensor Control No 9600 Set the same number as on the host side Output i i Set the port No to use for data output with the Sensor Control F ler port No thes using the same Set the same number as on the host side port as the input port Input port 0 to 65535 Set the port No to use
467. rol and for line 0 in the Multi line Random Trigger Mode 2 02 hex For line 1 in the Multi line Random Trigger Mode 3 03 hex For line 2 in the Multi line Random Trigger Mode Vision Sensor 4 04 hex For line 3 in the Multi line Random Trigger Mode 100 64 hex Object 5 05 hex For line 4 in the Multi line Random Trigger Mode 6 06 hex For line 5 in the Multi line Random Trigger Mode 7 07 hex For line 6 in the Multi line Random Trigger Mode 8 08 hex For line 7 in the Multi line Random Trigger Mode TCP IP Interface 245 F5 hex 1 01 hex Object EtherNet Link Object 246 F6 hex 1 01 hex 244 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Data Types The data types are preset as follows in the EtherNet IP specifications Data type Description cane Minimum value Maximum value BOOL Boolean 0 FALSE 1 TRUE SINT Short integer 128 127 INT Integer 32768 32767 DINT Double precision integer 231 2311 USINT Unsigned short integer 0 255 UINT Unsigned integer 0 65535 UDINT Unsigned double precision integer 0 232_4 BYTE Bit string 8 bits WORD Bit string 16 bits DWORD Bit string 32 bits REAL Floating point real Single precision floating point range Note All values are stored in little endian order Class ID 4 Assembly Object This object is used when comm
468. roller to PLC First word in Command Bit ae Description Response Area code 12to15 8to11 4to7 0to3 2 2010 0010 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 334 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Clear Data Output Buffer Clears the data output buffer Command PLC to Sensor Controller First word in Command Bit hee Description Command Area code 12to15 8to11 4to7 0to3 2 2020 0010 0000 0010 0000 Command code 3 0010 0000 0000 0001 0000 Response Sensor Controller to PLC First word in Command Bit oe Description Response Areal code 12t015 8to11 4to7 0to3 ER 2 2020 0010 0000 0010 0000 Command eons 3 0010 0000 0000 0001 0000 Response target command codes Tw 4 0000 0000 0000 0000 Response code 2 Command execution result 2 5 z 0000 0000 0000 0000 OK 0 0000 0000 p NG Not 0 0000 0000 Saving in Sensor Controller Stores the current system data and scene group data in the Sensor Controller Command PLC to Sensor Controller First word in Command Bit ae Description Command Area code 412t0o15 8to11 4to7 Oto3 2 3010 0011 0000 0001 0000 Command code 3 0010
469. ror reset after resetting the error in the slave rupted until there is buffer Correct the program so that the period for performing measurements is slower than the time that is required for data output handshaking controls At measurement result output System The most recent measurement results data will be cor space available in the data output Write the program so that the period for performing measurements is slower than the time that is required for data output handshaking controls None The EtherCAT measurement result data buffer is 4 KB If the size for one field bus data output processing unit is 32 bytes eight DINT data items the buffer can store data for up to 127 measurements EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 PLC Link Communications Error A PLC Link cannot be established EtherCAT Master Function Module Minor fault Continues There is a mistake in the PLC or Vision Sensor communications settings 88080000 hex Error reset after resetting the error in the slave Correct the communications settings in the PLC or Vision Sensor Always at startup System You cannot control the Vision Sensor with the PLC Link Correct the communications settings in the PLC or Vision Sensor The Ethernet or RS 232C cable is damaged
470. rowser Ethernet FTP client RAM disk Image files Access via FTP Images files moved to the computer This enables you to move logged images off of the Sensor Controller s RAM disk before it becomes full e Remote Operation over a Network Refer to B Remotely Operating the Controller Remote Operation in the Vision System FH FZ5 Series User s Manual Cat No Z340 If more than one FH Sensor is connected together via Ethernet a computer i e the FH FZ5 Tool connected to that same Ethernet network can be used to operate and monitor all of the connected FH Sensors Computer FH FZ5 software L You can adjust images and perform Z monitoring for all Sensors connected on the network Sensor Controller Sensor Controller 16 Communicating with an External Device Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Control Methods Using an External Device This section describes the methods that you can use to control the Sensor Controller from a PLC or other external device Control with Control Signals and Status Signals Control and status confirmation for the Sensor Controller is performed with the ON OFF status of the control and status signals You can send operation triggers e g to start a measurement as control signals from the PLC The operating status of the Sensor judgement results and other status information can be confirmed through statu
471. s Z 342 EtherCAT Connections FH Only s d eu19 x3 UM Buneoiunuiwo9 pue Huosuuog JO spoule 130 1A0E hex 15th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 20 hex Size 1 byte U8 Sub index1 1st Input Object to be mapped Access RO Range Unit Default 60050120 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 2nd Input Object to be mapped Range Unit Default 60050220 hex Size 4 bytes U32 Sub index3 3rd Input Object to be mapped Access RO Range Unit Default 60050320 hex Size 4 bytes U32 Access RO Sub index4 4th Input Object to be mapped Range Unit Default 60050420 hex Size 4 bytes U32 Sub index5 5th Input Object to be mapped Access RO Range Unit Default 60050520 hex Size 4 bytes U32 Access RO Sub index6 6th Input Object to be mapped Range Unit Default 60050620 hex Size 4 bytes U32 Sub index7 7th Input Object to be mapped Access RO Range Unit Default 60050720 hex Size 4 bytes U32 Access RO Sub index8 8th Input Object to be mapped Range Unit Default 60050820 hex Size 4 bytes U32 Sub
472. s Z342 EtherCAT Connections FH Only s d eu19 x3 UM Bugeorunwwop pue Buosuuog JO spoule N Types of EtherCAT Communications The following 2 types of communications are available with EtherCAT PDO communications are executed in each EtherCAT communications cycle to refresh data continuously SDO communications are executed between PDO communications Process Data Communications PDO Communications PDO communications transfers process data cyclically and in realtime The EtherCAT master maps the logical process data space to the nodes to achieve cyclic communications between the EtherCAT master and slaves EtherCAT master Slave Slave Slave Slave doo M T U Ethernet frame z J m Ethernet pner 1st EtherCAT 2nd EtherCAT 3rd EtherCAT header telegram telegram telegram CRC ae Logical process data Data a Data b Data c Mailbox Communications SDO Communications SDO communications is used to perform message communications Whenever necessary the EtherCAT master sends a command to a slave and then the slave returns a response to the EtherCAT master The following data communications can be performed e Reading and writing process data e Setting slaves e Monitoring slave status EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Structure of CAN Application Pr
473. s cannot be used e Handshaking output cannot be used the GATE signal and DSA signal cannot be used e An encoder cannot be used Number of controlled lines Differences from when only a single line is used i e when the operation mode is not set to Multi line Random trigger Mode 2 lines e The RUN signal cannot be used The same ERR signal is used for all lines e DO signals are divided as follows Line 0 DOO to DO7 Line 1 DO8 to DO15 3 to 8 lines The FZ5 does not support using 3 to 8 lines operation will not be dependable Communications Setup Procedures The following settings are required to use parallel communications er The type of the Communications Module is selected to determine the communi 1 Communications Module settings _ A startup settings cations method to use between the Vision Sensor and the external device P 9 Reference Communications Module Settings Startup Settings p 279 2 Communications specifications set The following communications specifications are set for the communications tings method of the Communications Module that was selected in step 1 e Output control type selection e Output signal operation settings Reference Communications Specifications Settings p 280 4 3 Output data settings processing ___ Set the data to output and register it in an Output Unit item registration The Output Unit is placed in the measurement f
474. s updated Target data When the setting value is expressed in binary if the 3rd bit is 1 the detection position is updated Example e When only re registering the model 1x 1 2x0 4x0 1 setting value e When only updating the reference position 1x0 2x 1 4 x 0 2 setting value e When updating or re registering everything 1x 1 2x1 4x 1 7 setting value Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 ssolpueddy po 471 Example The following sample command reregisters a model with unit number 3 model number 0 and target data 1 lt Command gt lt Response gt OlKFe 472 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 USERACCOUNT or UAD Adds user account to specified user group Adds the user account to the specified affiliated group ID If the user account for the set image is already registered that setting is overwritten lt Command format gt u sje Rjajejejojuljr Tt tT I Fl Password UGO 32 characters max User name UGO 32 characters max Password 32 characters max User ID 32 characters max Affiliated group ID 1 digit Password UGO 32 characters max User name UGO 32 characters max Password 32 characters max User ID 32 characters max Affiliated group ID 1 digit ssolpueddy po
475. s use more than one Output Unit However the data is output to the same destination so if you do not control the output the output data that was output first will be overwritten by the output data that is output after it Use the following method to read each set of output data If handshaking is used to control data output the timing of outputting the data is con trolled by I O signals Each time that data is output read the output data and move it to a different part of I O memory in the PLC Refer to gt Data Output Control with Handshaking p 27 for details on handshaking Controlling Data Output with Handshaking e Data is output in the order that data output is registered in the measurement flow i e the timing is different for each data output processing item Data output is executed in the order that it is executed in the measurement flow Reference gt Reference Outputting the Output Data p 23 Registering the Items To Output Set expressions for the data to output Up to 8 expressions from 0 to 7 can be set in each unit 1 Click the Fieldbus Data Output icon in the measurement unit list flow 2 in the Item Tab Area click Setting 3 In the list select the output data number for the expression to set 2 Fieldbus Data Output Setting Output format Expression s d eu19 x3 UM Bugeortunwwop pue Buosuuog JO spoule e x o 0 N I Comment view Comment Expressi
476. s Data Output Fieldbus Data Output Unit execution Unit execution The PLC turns ON the Result Set Request signal at the same time as data e the Trigger or Command Request signal and waits for the first output The PLC reads the data when the Result Notification signal turns ON Wait for the first Wait for the second and it turns OFF the Result Set Request signal The Trigger signal output data output data is turned ON at the same time The PLC turns ON the Result Set Request again when the Result Notification signal turns OFF and waits for the second data output Result Set ON Request signal Result ON tN ot L i Notification i signal OFF i 7 ON i Output data First data output Second data output OFF 1 8 6 6 The Vision Sensor automatically turns OFF the Result Notification signal when it detects that the Result Set Request signal has turned OFF A timeout error will occur if any of the following states continues for longer than the timeout time that is set in the EtherCAT settings If the Result Set Request signal is not turned ON after a certain time elapses from when the Output Unit is executed Turn ON the Result Set Request at the same time as the measurement trigger command If the Result Set Request signal is not turned OFF after a certain time elapses from when the Result Notification signal turned ON If the Result Set Request signal is not turned ON after a certain time e
477. s ON the Result Set Request DSA signal at i the same time as the STEP or Command Request EXE signal and waits for the first output data The EXE signal is turned i 1 a z 5 The PLC reads the data when the Result Completion ON at th time ASM SANS ee i Wait tor ese GATE signal turns ON and it turns OFF the Result Set 1 w 1 Request DSA signal The PLC turns ON the Result Set Request again when the Data Output Result Completion GATE signal turns OFF and waits for Request i the second data output DSA signal oy At The Sensor Controller automatically turns OFF the Result Completion GATE signal when it detects that the Result Result i Set Request DSA signal has turned OFF c I ompletion Li e GATE signal rato i oa i ON 1 Output data f First data output Second data output p p OFF 000 4 A timeout error will occur if the following states persist longer than the time set in the PLC Link settings Retry interval for Ethernet PLC Link or Timeout for RS 232C 422 PLC Link Ifthe DSA signal is not turned ON after a certain time elapses from when measurement is finished Turn ON the DSA signal at the same time as the measurement trigger command Ifthe DSA signal is not turned OFF after a certain time elapses from when the GATE signal turns ON Ifthe DSA signal is not turned ON after a certain time elapses from when the GATE signal turns OFF 1 The PLC user turns ON t
478. s User s Manual Parallel Communications for Communications Settings Z342 294 Output Parameters Parallel Judgement Output 1 Click the Parallel Judgement Output icon 8 in the measurement unit list flow 2 Click Output parameter in the Item Tab Area 3 For Reflect to overall judgement select whether the judgement result of this processing unit is reflected in the overall judgement for the scene Reflect to overall judgement ON OFF Setting value Factory are default Description ON Enables choosing whether the judgment results of this processing unit is reflected in the OFF scene overall judgment Testing Communications Use the following procedure to check the communications status with the external devices connected with a parallel interface You can check whether wiring and communications settings have been performed correctly 1 On the Main Window select Tool System Settings Communication 2 Select System Settings Communication Parallel from the tree view on the left The Parallel View is displayed 3 Click Confirmation to check the I O status Input state DI oji fef a 5 e 7 DI LINE View Description STEPO to STEP7 DSAO DSA1 The input status of each signal from the external device to the Controller Input state is displayed DIO to DI7 When a signal is input the background color changes to red DI LINEO to DI LINE2
479. s only one Ethernet port In this case the IP address of the Ethernet port is set in Address setting 2 ae Set value ee Setting item Factory default Description Address setting Set the IP address of the top Ethernet port on the Sensor Con troller Set the IP address of the Sensor Controller When Obtain an IP address automatically is selected the IP e Obtain an IP address automatically address of the Sensor Controller will be automatically Use the following IP address obtained When Use the following IP address is selected set the IP address subnet mask and the default gateway address a b c d a 1 to 223 IP address D7910 299 Input the IP address of the Sensor Controller c 0 to 255 d 2 to 254 10 5 5 100 0 0 0 0 to Subnet mask 255 255 255 255 Input the subnet mask address 255 255 255 0 a b c d a 1 to 223 b O to 255 Default gateway c 0 to 255 Input the default gateway address d 0 to 255 10 5 5 110 a b c d a 1 to 223 b 0 to 255 DNS server c 0 to 255 Input the DNS server address d 0 to 255 10 5 5 1 208 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Setting item Address setting 2 for an FH series Sensor Control Set value Factory default lers with four or eight Camera inputs only Description Set the IP address of the bottom Ethernet port on the Sensor Controller e Obtain
480. s signals sent from the Sensor Controller M N Trigger sensor i Sensor Controller z External device Control signals Status signals ed 7 afi 2 Command received BUSY signal turned ON n 3 Judgement results are output OR signal turned ON 1 Input a measurement trigger STEP signal turned ON 1 The external device turns ON the STEP signal to input a measurement trigger 2 When the Sensor Controller confirms that the STEP signal is ON it outputs the BUSY signal to the external device and begins a measurement 3 When the Sensor Controller finishes the measurement it outputs the judgement results on the OR signal Control Signals and Status Signals The signals that the Sensor Controller can input and output as control signals and status signals are described in the following tables You can see which signals are available for each communications protocol by looking down the individual protocol columns under the Signals for each communications protocol column in the tables These tables do not indicate whether signals can be used simultaneously by different communications protocols For details on the restrictions on which communications protocols can be used simultaneously refer to gt Restrictions on Using Different Communications Modules Simultaneously p 33 Input Signals PLC to Sensor Controller Signals for each
481. saatec cuddled sche bland ipeas dad cleoid Ladinetics tases laced facdinges delvlnees 218 Memon AllOCatION Steier AA tek Nadicues teens eeltpeactoth Md celatenca te toda cited thats 220 O SiIQGnallS 2 vised avi netity haces ren sede dae aeeteia eres O a newer ieee aie es 227 OQutp t tems aac Ss eee e eee ace va ace vee Sac aaa ae aes Aaa Aa Ee saa tee alu dana ot date det nde gE 230 Command List d c nL aici Linea acne alee vee ie ea el a 231 Command Response Processing ceecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeceneeeeeeseceeeeeeeseeeeeaeeeseeeaeeeesenenaeenes 235 Data Wh 0 19 01 A ee rr arse errr pe er eRe rep eee Pride irre eee ere ee Pemrrre re 238 MIMO Chans sonnerie can aaedscedscadaneeid sadaalh a a EREE 240 Communicating with the Sensor Controller with EtherNet IP Message Communications 244 Command Setting Example 0 2 0 cccccseceedecesecceteeteeseneeededecadeeveeeaeadeneesennegedesecaunneeeeeenedeedeesenededenes 247 EtherNet IP Troubleshooting sussie akies aaa nR AAAA AEEA ATAA ST AE 247 Non procedure COMMUNICATIONS 00 0 2 cece cece eee eeeecee cee ee eee ee eee ee caaeaaeaeeeeeeeeeeeeeesecacecaeeeeeeeeeeeeeetetenniaeeess 249 Communications Processing FIOW ressaire krian a E A E A 249 Communications Setup Procedures ccceccecceeceeeeeeeeeeeeeeaaeaeceeeeeeeeeeeesecaccnaeeeeeeeeeeeeeseeteeesenaeees 250 Communications Module Settings Startup Settings 2 0 eeeeeeeeeeeeeeeeeeeeeeeeeeeeesenea
482. scription Response Area code 12to 15 8to11 4to7 0 to 3 2 9000 1001 0000 0000 0000 Gommancieade 3 0020 0000 0000 0010 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 7 0000 0000 0000 0000 Acquired user name Acquiring the Login Account Group ID Acquires the group ID for the currently logged in account Command PLC to Sensor Controller First word in Command Bit ae Description Command Area code 42to15 8to11 4to7 Oto3 2 9010 1001 0000 0001 0000 Command code 3 0020 0000 0000 0010 0000 4 0000 0000 0000 0000 Item to acquire 0 Local 5 0000 0000 joooo 0000 1 Rance Response Sensor Controller to PLC First word in Command Bit ee Description Response Area code 12to15 8to11 4to7 0to3 2 9010 1001 0000 0001 0000 Comm nd e de 3 0020 0000 0000 0010 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 7 y 0000 0000 0000 0000 Acquired affiliated group ID Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Getting Operation Log State Gets the logging operation state Command PLC to Sensor Controller First word in Command Bit D
483. signal is sent from the external device PLC to the Sensor DSA i Signal Controller to request data output Data Output Completion This signal is sent by the Sensor Controller to the external device PLC GATE p P to tell the PLC when to receive the output data This signal is sent only Signal while the DSA signal is ON If handshaking is not enabled for output control the GATE signal will also be turned ON when data is output from the Sensor Controller However if handshaking is disabled for output control during PLC Link communications the GATE signal is not even output Sensor Controller External device cealg DSA signa al Mji J i 2 GATE signal 3 Measurement results output J 1 The PLC turns ON the DSA signal and waits for the output data 2 The Sensor Controller turns ON the GATE signal when the DSA signal is ON and it is ready to output the measurement results 1 3 The Sensor Controller turns ON the GATE signal and outputs the output data 1 This is when an Output Unit in the measurement flow is executed DSA Signal ON Timing Turn ON the DSA signal when you want to receive data The Sensor Controller will output data when an Output Unit has been executed there is data waiting to be output and it detects that the DSA signal is ON Measurement flow DSA data output request signal status Start measurement OFF Process
484. specified distance in parallel The setting range for the movement distance is not restricted Also because the scale for movement is independent of the display zoom ratio the movement is not affected by change in the zoom ratio Before scrolling After scrolling lt Command format gt Cc R L Movement amount Y Movement amount X Image display window number 2 digits max ssolpueddy po or C R Movement amount Y Movement amount X Image display window number 2 digits max lt Response format gt When processing is performed normally O K lt a When processing is not performed normally EIR cr lt Parameters explanation gt Number of the image display window to return the display position and display magnification to their default values FH Image display window number 0 to 23 FZ5 Displaying 1 image 1 Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails O to 4 Image display window number Movement amount X Sets the X direction movement distance camera coordinate system Movement amount Y Sets the Y direction movement distance camera coordinate system 421 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 Example When moving the image display window 1 image in parallel 20 in the X direction and 10 in the Y direction lt Command g
485. spond to the control signals command response data and measurement data These variables are then used as tags to input and output data through tag data links to exchange data between the PLC and the Sensor Controller OK EtherCAT FH only This is an open communications protocol PDO process data object communications are used to communicate with the Sensor Controller I O ports that correspond to the control signals command response data and measurement data are prepared in advance and the variables assigned to those I O ports are used to input and output data via PDO communications to exchange data between the PLC and the Sensor Controller OK Frame transmission Non procedure Command frames are sent to the Sensor Controller and response frames are received from the Sensor Controller without the use of any specific protocol Data can be exchanged between the PLC computer or other external device and the Sensor Controller by sending and receiving ASCII or binary format data 1 When connected to a CJ series PLC specify the areas in the I O memory Vision System FH FZ5 Series User s Manual for Communications Settings Z342 OK OK 15 Communicating with an External Device Saving FH FZ5 Data to an External Device In addition to sending and receiving data through communications protocols the FH FZ5 can also exchange data with an external device using the method that is
486. st 4 Click the button next to the expression box and set the expression g Specify the processing items measurement results and measurement data in the expression You can also perform arithmetic or function calculations on the measurement data before it is output 5 Click the button for the Comment box and enter an explanation of the expression The comment you enter will be displayed in the detailed results on the Main Window For example if you enter Test as the comment for expression 0 Test will be displayed in place of Expression 0 in the detailed results area on the Main Window 6 Repeat steps 4 and 5 to set expressions for all of the required output data numbers 260 Non procedure Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Output Format Data Output 1 Click the Data Output icon in the measurement unit list flow 2 in the Item Tab Area click Output format 3 In the Output Setting Area select the communications method Output Setting Communication method C Ethernet Format setting Output form ASCII Binary Set value Factory default Description RS 232C RS 422 Communications are performed via a RS 232C RS 422 connection Ethernet Communications are performed via the Ethernet 4 Select the output format in Format setting Output Setting Communication method CR C
487. st Signal mand to the Sensor Con q troller execution based on the command code and com mand parameters Command Completion FLG signal DSA Used only for handshaking output control Data Output Request Signal Use this signal from the PLC during handshaking to request from the Sensor Controller the external out put of the data output results from the execution of the measurement flow If this signal is ON when an Output Unit Data Output Unit in the measurement flow is executed the Sen sor Controller will output the data from the process ing item e Turn ON the signal from the PLC to externally output the data that results from measurement Turn ON the DSA signal at the same time as the Trigger STEP and Command Request EXE signals If more than one Output Unit is used to output data turn ON the DSA signal again after the GATE signals turns OFF Reference Time Charts p 192 Turn OFF the signal from the PLC when the Sensor Controller turns ON the Result Completion GATE signal 2 XEXE Flow Command Request Bit Turn ON this signal to exe cute a command during execution of PLC Link flow control Turn ON the signal to request execution of a command that was input during execution of the PLC Link flow control Turn OFF the signal when the Flow Command Com pletion XFLG signal turns ON 4 A timeout error will occur and the Command Comple
488. st word in Command Area Description 2 and 3 words Command code 1000 0050 hex 4 and 5 words Unit number 1 0000 0001 hex 6 and 7 words External reference number 137 8900 0000 hex 8 and 9 words Command Control hex Lower limit of measurement coordinate X 123 4 x 1 000 123400 0001 E208 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 OMRON or Yaskawa Electric PLCs Command PLC to Sensor Controller ssolpueddy po A p Hexadeci Bit First word in E CO Aaa mal Description notation 12to15 8to11 4to7 0to3 2 1000 0001 0000 0000 0000 Command code 3 0050 0000 0000 0101 0000 4 0100 0000 0001 0000 0000 Unit No 5 0000 0000 0000 0000 0000 6 8900 1000 1001 0000 0000 External reference number 7 0000 0000 0000 0000 0000 8 E208 1110 0010 0000 1000 Lower limit value of measurement 9 0001 0000 0000 0000 0001 coordinate X Mitsubishi Electric PLCs Command PLC to Sensor Controller First word in poxedee pit a mal Description Command Area tation 12t015 8to11 4to7 Oto3 2 1000 0001 0000 0000 0000 Command code 3 0050 0000 0000 0101 0000 4 0001 0000 0000 0000 0001 Unit No 5 0000 0000 0000 0000 0000 6 0089 0000 0000 1000 1001 External reference number 7 0000 0000 0000 0000 0000 8 08E2 0000 1000 1110 0010 Lower limit value of measurement 9 0100 0000 000
489. start of the measurement flow pro cessing unit 0 Reference Reference p gt p 394 Clears all of the measurement values of the current CLRMEAS None Reference p gt p 394 scenes CPYSCENE CSD Copies the scene data Reference p gt p 395 DATASAVE None Saves System Scene group data in the Sensor Con Reference p p 400 troller s memory DELSCENE DSD Deletes the scene data Reference gt p 403 Returns an arbitrary string as it is to the external device ECHO EEC which has sent the string Reference p gt p 409 IMAGEFIT EIF Returns the display position and display magnification Reference p gt p 415 to their default values IMAGESCROLL EIS Shifts the image display position by the specified amount Reference p gt p 421 Zooms the image display in or out by the specified fac IMAGEZOOM EIZ ior Reference p p 427 Performs one measurement Reference p gt p 439 MEASURE M Starts continuous measurement Reference p gt p 439 Completes continuous measurement MEASUREUNIT MTU Executes a test measurement for the specified unit Reference p p 441 Reference p p 440 MOVSCENE MSD Moves the scene data Reference p gt p 442 Registers the specified image data as a registered image REGIMAGE RID Reference p gt p 452 Loads the specified registered data as a measurement image RESET None Restarts the Sensor Controller
490. start the Sensor Controller If the settings are not saved and the Sensor Controller is not restarted the new Communications Module settings will not be enabled You can save the Communications Module settings to a file Select Save to file from the Function menu and then select System data or System Scene group 0 data to save the settings data to a file Refer to Saving Settings Data to the Controller RAM Disk or an External Memory Device in the Vision System FH FZ5 Series User s Manual Cat No Z340 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communications Specifications Settings Communications specifications such as the link areas baud rate and data length are set The communications settings must be set separately for Ethernet and RS 232C communications If communications cannot be performed even after setting these communications settings check the settings and the communications status Reference gt Testing Communications p 173 IMPORTANT The settings dialog box for the communications specifications will change depending on the Communications Module that you use Before you set the communications specifications select the Communications Module to use with the Sensor Controller in the startup settings Reference gt Communications Module Settings Startup Settings p 55 After you select the Communications Module sa
491. stem Ethernet C The following IP address Output IP address Pa Fe Set value Factory default Description The settings of the Ethernet View are applied One of the following Ethernet Views is used to make the settings PLC Link Communications Settings Reference Communications Specifications Settings p 153 Ethernet Non procedure Communications Settings Reference Communications Specifications Settings p 252 Refer System Ethernet The following IP address s d eu19 x3 UM Bujeolunuiwo9 pue Buosuuog JO spoule N Output IP addresses Enter the output IP address 263 Vision System FH FZ5 Series User s Manual Non procedure Communications for Communications Settings Z342 Testing Communications You can check whether the EtherNet IP communications settings are correct If communications cannot be performed even after set up the communications use the following procedure to check the settings and the communications status Ethernet Communications Before Performing a Communications Test This example assumes that Normal UDP is selected as the Communications Module Stop the program on the PLC when you check the communications settings Checking the Communications Settings Use the following procedure to check if the communications settings are correct Address setting C Obtain an IP address automatically Use the following IP address IP address Subn
492. stem FH FZ5 Series User s Manual for Communications Settings Z342 Note To execute a measurement trigger after changing the scene first confirm that the Command Completion FLG signal and the BUSY signal that turned ON for execution of the Select Scene command have turned OFF Also if the BUSY signal is ON for too little time and the external device cannot read it increase the time that the BUSY signal is ON for changing scenes so that the external device can read the ON state To do this change the Add time setting for the Scene switch time Refer to Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH FZ5 Series User s Manual Cat No Z340 9 The Sensor Controller executes measurement processing and turns ON the BUSY signal when the request is received 10 The Command Completion FLG signal is turned ON 11 The PLC user turns OFF the Command Request EXE signal when the Command Completion FLG signal turns ON 12 When the Sensor Controller detects that the Command Request EXE signal is OFF it automatically turns OFF the Command Completion FLG signal and the BUSY signal 1 A timeout error occurs and the Command Completion FLG signal and BUSY signal are forced OFF if the Command Request EXE signal is not turned OFF from the PLC user within the time set in the PLC Link settings Retry interval for Ethernet PLC Link or Timeout for RS 232C 422 PLC
493. surement ends lt Command format gt MIEJAISIUIRIE TEs lt Response format gt When processing is performed normally O K Ice When processing is not performed normally E IRIS Measurement is continuously executed Measurement result Note To output measurement results insert a Data Output processing unit in the scene When the scene does not have a Data Output processing unit only a command response is output Reference Output Format p 274 Reference Output Data Settings Processing Item Registration p 168 p 259 440 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 MEASUREUNIT or MTU Performs a test measurement on the specified unit lt Command format gt MIEJAISIUIRIEJUIN T T l Unit No or MTU l Unit No lt Response format gt When processing is performed normally O KISe When processing is not performed normally EIR ssolpueddy poo lt Parameters explanation gt Unit No Specifies the unit number to run a test with 0 to the uppermost unit model number in the unit Example The following sample command runs a test on unit number 5 lt Command gt M T U 5 k lt Response gt OlKFe Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 442 MOVSCENE or MSD Copies the data for the scene with the number specified w
494. surements are given priority Therefore display of the measurement results overall judgment images judgment for each processing unit in the flow display and detailed results may sometimes not be updated e When continuous measurements are ended the measurement results from the last measurement will be displayed Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 s d eUJ9 XW UM BuyeolunuiwoyD pue Bunosuuog JO spoule 238 Data Output No Handshaking Fieldbus Data Output Fieldbus Data Output Unit execution Unit execution 1 lt Second l 1 data output data output i 1 Response AIGA Result Completion ON 1 P GATE signal i Ea I 1 11 First Do Output data 0 to 7 on The data is overwritten by the second data output Data Output Area DATAO to DATA7 1 2 Data is output at the set output period and for the set output time 2 After the data is output the GATE signal is turned ON and the data is held for the data output time 1 The Sensor Controller outputs data when execution of the Fieldbus Data Output Unit is started 2 Data is output every time the Fieldbus Data Output Unit or another Fieldbus Data Output Unit is executed The previously output data is overwritten To receive all output data enable handshaking for the output control and then output the data Reference gt Output Format Fieldbus Data Output p 217
495. t lt Response gt O K Fe 422 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 IMAGESUBNO or ISN Getting the number of the currently displayed sub image Gets the number of the sub image currently displayed in the specified image display window lt Command format gt L Imjale ejs ujsjn o m Image display window number 2 digits max or SIN K Image display window number 2 digits max lt Response format gt When processing is performed normally Sub image number OJK eR When processing is not performed normally ERI lt Parameters explanation gt FH Image display window number 0 to 23 FZ5 Image display window number Displaying 1 image 1 Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails 0 to 4 Number of the image display window for which to get the image mode Sub image number Responds with the number of the sub image displayed in the current image display window Example When getting the number of the sub image being displayed in image display window 1 lt Command gt TISIN _ 1 k lt Response gt Pa OlKFe Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Control ssolpueddy po 423 Setting the number of the currently displayed sub image Sets the number of the sub image displayed in the specified image display window
496. t 16 hex Size 1 byte U8 Sub index1 1st Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060140 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 2nd Input Object to be mapped Range Unit Default 60060240 hex Size 4 bytes U32 Sub index3 3rd Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060340 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index4 4th Input Object to be mapped Range Unit Default 60060440 hex Size 4 bytes U32 Sub index5 5th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060540 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index6 6th Input Object to be mapped Range Unit Default 60060640 hex Size 4 bytes U32 Sub index7 7th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060740 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index8 8th Input Object to be mapped Range Unit Default 60060840 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for
497. t 0 0000 0000 Fit Returns the display position and display zoom ratio for the image display window to their default values Command PLC to Sensor Controller First word in Command Bit MANS Description Command Area code 12t0o15 8to11 4to7 Oto3 2 5030 0101 0000 0011 0000 Command code 3 0010 0000 0000 0001 0000 4 0000 0000 0000 0000 Display image window number FH Image display window number 0 to 23 FZ5 Displaying 1 image 1 5 F 0000 0000 0000 0000 Displaying 2 images 1 and 2 Displaying 4 images 1 to 4 Displaying thumbnails O to 4 338 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Response Sensor Controller to PLC First word in Command Bit ee Description Response Area code 12to15 8to11 4to7 0to3 2 5030 0101 0000 0011 0000 Command code 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 g 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Scene Data Copy Copies the data for the scene with the number specified with command argument 1 to the scene with the number specified with command argument 2 If there is already data at the copy destination the copied data is written over that data Command PLC to Sensor Controller ssolpueddy po
498. t 1 NG NG OR signal ON If there is even one NG judgement the overall judgement will be NG Processing unitn OK and the output will be turned ON Vision System FH FZ5 Series User s Manual Parallel Communications for Communications Settings Z342 s d eu19 x3 UM Bugeotunwwop pue Buosuuog JO spoule 287 288 Parallel Data Output The measured values of processing items or the calculation results of expressions are output Data items can be set from data 0 to data 7 Each item is output using the 16 bits from DOO to DO15 The data output specifications are as follows e Only integers are output Decimals are rounded off e The range of values that can be output is as follows Binary format 32768 to 32767 BCD format 999 to 999 If the measurement value is out of range the actual measurement value is not output and the minimum or maximum value of the range is output instead Measurement value that is below the Measurement value that is above the Data type A possible output range possible output range Binary A value of 32768 is output A value of 32767 is output BCD A value of 999 is output A value of 999 is output Note When the operation mode is set to Multi line Random trigger Mode the parallel data output range is between 127 and 127 for binary data and 9 and 9 for BCD data Parallel Judgement Output The measured values of the processing i
499. t polarity setting The signal turns ON You can set the one shot determines whether this signal based on the judgement output settings so that the OR Overall Judge turns ON when the judgement results when measure OR signal turns OFF ment signal result is OK or NG Reference ment is completed i e automatically after a set gt Setting the Output Signal when the BUSY signal time Specifications p 282 turns OFF You can also turn OFF 2 The OR signal is output only the OR signal by execut when the Output option is ing the Clear Parallel selected in the Adjustment OR D6 command Window These signals output the results DOO to Data Output for expressions set for a Parallel DO15 signals Judgement Output or Parallel Data Output Output Unit Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Parallel Communications s d eu19 x3 UM Bugeorunwwop pue Buoauuog JO spoule 297 ON OFF timing Signal Signal name Function OFF to ON ON to OFF e No Handshaking The signal turns ON after the FH FZ5 executes the Output Unit Parallel Data Output Unit or Parallel Judgement Output Unit in the measurement flow and preparations for data output have been completed e Handshaking This signal tells th PLC The signal turns ON ipsignal tells the user PLC after the FH FZ5 when to read the measurement executes the Output results e No Handshaking gt Unit Parallel Dat
500. t possible Sub index4 4th Input Object to be mapped Range Unit Default 60050420 hex Size 4 bytes U32 Sub index5 5th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060140 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index6 6th Input Object to be mapped Range Unit Default 60060240 hex Size 4 bytes U32 Sub index7 7th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060340 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index8 8th Input Object to be mapped Range Unit Default 60060440 hex Size 4 bytes U32 Sub index9 9th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060540 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index10 10th Input Object to be mapped Range Unit Default 60060640 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions e 6005 hex Image Processing Results Integer Data e 6006 hex Image Processing Results Real Data Vision System FH FZ5 Series User s Manual for Communications Setting
501. t possible Sub index15 15th Input Object to be mapped Range Unit Default 6 0060F40 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index16 16th Input Object to be mapped Range Unit Default 60061040 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions e 6006 hex Image Processing Results Real Data 124 EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 1A0B hex 12th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 64 hex Size 1 byte U8 Sub index1 1st Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060140 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 2nd Input Object to be mapped Range Unit Default 60060240 hex Size 4 bytes U32 Sub index3 3rd Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60060340 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index4 4th Input Object to be mapped Range Unit Default 60060440 hex Size 4 bytes U32 Sub index5 5th Input Object to be mapped Access RO PDO map Not possible
502. t support tag data link communications or when using functions such as character string output that are not supported in tag data link communications Message communications can be performed either by exchanging the same data as for tag data link communications using assembly objects or by sending and receiving commands equivalent to non procedure commands using Sensor Controller specific Vision System objects This document mainly describes the assembly objects and Sensor Controller specific Vision System objects For information on the procedures for sending messages refer to the manuals for the PLC you are using Object Configuration The Sensor Controller s EtherNet IP function supports the following objects These objects can be accessed using message communications mee Class ID Instance ID object name Identity Object 1 01 hex 1 01 hex Message 2 02 hex 1 01 hex Router Object 100 64 hex Output connection for normal control and for line 0 in the Multi line Ran dom Trigger Mode Assembly 101 65 hex Input connection for line 1 in the Multi line Random Trigger Mode 4 04 hex Object 102 66 hex Output connection for normal control and for line O in the Multi line Ran dom Trigger Mode 103 67 hex Input connection for line 1 in the Multi line Random Trigger Mode Connection Manager 6 06 hex 1 01 hex Object 1 01 hex For normal cont
503. ta 0 2 DATA1 Output data 1 3 4 DATA2 Output data 2 5 6 DATA3 Output data 3 7 8 DATA4 Output data 4 9 10 DATA5 Output data 5 11 12 DATA6 Output data 6 13 14 DATA7 Output data 7 Signal name Function The data set in the output processing items is output When there are DATAO 7 Output data 0 to 7 multiple processing items data is overwritten to this area while hand shaking is performed 4 PLC Link allows up to 256 data items to be output at one time Set the number of output data items for each Data Output processing item By changing the default value for the number of output data items in the Data Output processing item from 8 to the maximum of 256 you can output up to DATA255 Data storage in the PLC I O memory depends on the connected PLC Refer to gt Memory Display Image on PLC I O in the Vision System FH FZ5 Series User s Manual Cat No Z340 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 I O Signals The following tables describes the signals that are used to control I O for PLC Link communications Input Signals ON OFF timing Signal Signal name Function OFF to ON ON to OFF Turn ON the signal from Tum ON this signal from the PLC to send a com Turn OFF the signal from mand to the Sensor Con the PLC when the Sensor EXE command DE PEG ie Send acom troller and request Controller turns ON the Reque
504. taLoggingDirectory data logging folder name folder_name single byte alphanumeric characters 2 Specifying the name of a folder to save to The method for specifying the name of the folder to save to depends on the model e FH FZ5 11 RAM disk C Data RAMDisk USB memory E F e FZ5 L35L1 FZ5 L6 RAM disk RAMDisk USB memory USBDisk USBDisk2 e For the FH FZ5 11L1L do not save to a non volatile area on the C drive such as C ProgramFiles FZ This would reduce the storage area for scene data and other data and make correct operation impossible 369 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 Response Sensor Controller to PLC First word in Command Bit ie Description Response Area code 12to15 8to11 4to7 0 to 3 2 4000 0100 0000 0000 0000 Command code 3 0040 0000 0000 0100 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 7 0000 0000 0000 0000 8 0000 0000 0000 0000 Response data 9 A 0000 0000 0000 0000 Setting values related to image logging 0000 0000 0000 0000 0000 0000 0000 0000 Getting Image Logging Folder Name Gets the image logging folder name Command PLC to Sensor Controlle
505. tates of terminals 0 to 15 Oth bit STEPO Terminal state e 1st bit DSAO e 2nd bit STEP1 e 3rd bit DSA1 Example The following sample command returns the state of enabled STEPO and DSA1 lt Command gt OlKFe The response of 1001 binary is given as 9 decimal Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Command Control ssolpueddy po Sets terminal states except for DO in batches Sets the states of terminals except for DO in batches Active or Inactive lt Command format gt IPIAIRIAJAILILIC O N D _ l o Terminal state or Pjajc S Terminal state lt Response format gt When processing is performed normally O KISe When processing is not performed normally EIR lt Parameters explanation gt Sets the following terminal states 0 to 15 Oth bit RUN 1st bit ERR 2nd bit BUSY 3rd bit ORO Terminal state 4th bit OR1 5th bit GATEO 6th bit GATE1 7th bit READYO 8th bit READY1 1 ON 0 OFF Example The following sample command activates RUN lt Command gt PIANC 1 k lt Response gt OlKFe 448 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 PARAPORTCOND or PPC Gets the state of specified parallel I O terminal Gets the state of the specified parallel I O terminal Active or Inactive lt Command format gt PIAIRIAIPIONRITICIO NID f
506. tems or calculation results are judged and the judgement results are output Judgement results can be set from judgement 0 to judgement 15 Each result is output with 16 bits from DOO to DO15 Setting Up Parallel Data Output The measured values of processing items or the calculation results of expressions are output Registering Parallel Output Units Register the processing items for parallel data output in the measurement flow 1 Click Edit flow in Toolbar 2 Select the Parallel Data Output processing item from the processing item tree B Fy Output result Gil Data Output WHE Parallel Data Output Parallel Judgement Output j Fieldbus Data Output Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 3 gt Click Append The Parallel Data Output processing item is appended at the bottom of the unit list flow gl 0 Camera Image Input 1 Search g 2 Parallel Data Output Data is output in the order that data output is registered in the measurement flow i e the timing is different for each data output processing unit Data output is executed in the order that it is executed in the measurement flow s d eu19 x3 UM Bugeorunwwop pue Buosuuog 104 spoule N 289 Vision System FH FZ5 Series User s Manual Parallel Communications for Communications Settings Z342 Set the items to output In an expression set the data to output i e
507. ters max Setting target 1 digit lt Response format gt When processing is performed normally O KISe When processing is not performed normally E IRI ssolpueddy po lt Parameters explanation gt 0 Local Settable Objects i Remote User ID Specify the ID for the user to switch 32 characters maximum Password Specify the password for the user to switch 32 characters maximum Example When switching to user ID abc with password efg lt Command gt lt Response gt OlKFe 437 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 LOGINACCOUNTGROUP or LAG Gets the group ID in the user account used by the user currently logging in lt Command format gt LIO G TINJAICIC OJUIN TIGIRIOJU P ex p Acquisition target 1 digit or LIAIG fex Acquisition target 1 digit lt Response format gt When processing is performed normally Group ID_ fkl O KISe When processing is not performed normally ERIS lt Parameters explanation gt 0 Local Acquisition target Remote Group ID Returns the group ID in the user account used by the user currently logging in Example The following sample command returns user group ID UG1 in the user account used by the user currently logging in lt Command gt LIAG O s lt Response gt KPa 438 Command Control Vision System FH FZ5 Series User s
508. terwards A Timeout Error Occurred Use handshaking to control the data output or use an offset to prevent this from happen ing Problem Cause Action A handshaking timeout error occurred 196 The DSA signal is being turned ON and OFF too slowly The following patterns are possi ble e The DSA signal does not turn ON after a measurement is completed e The DSA signal does not turn OFF after the GATE signal turns ON e The DSA signal does not turn ON after the GATE signal turns OFF Turn the DSA signal ON or OFF within the time interval set for the timeout time The DSA signal is not being output or the Sensor Controller is slow in recognizing that the DSA signal has turned ON Communicating with PLC Link Check the timing of the DSA signal output in the PLC program The signal may not be received correctly due to noise Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Slow Operation Problem It takes around 10 seconds to execute any PLC Link commands Cause Communications are timing out Action Set the PLC cycle time to the shortest inter val possible Response and data output is slow You are performing communications with incompatible protocols e g PLC Link and EtherNet IP A PLC Link Error Occurred Do not use incompatible protocols for com munications Problem The message PLC Link Error is d
509. th Input Object to be mapped Range Unit Default 60061D40 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index30 30th Input Object to be mapped Range Unit Default 60061E40 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index31 31st Input Object to be mapped Range Unit Default 60061F40 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index32 32nd Input Object to be mapped Range Unit Default 60062040 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions e 6006 hex Image Processing Results Real Data s d eu19 x3 UM Bugeotunwwop pue Hunosuuog JO spoule Vision System FH FZ5 Series User s Manual EtherCAT Connections FH Only for Communications Settings Z342 1A0C hex 13th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 5 hex Size 1 byte U8 Sub index1 1st Input Object to be mapped Access RO PDO map Not possible Range Unit Default 60050120 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index2 2nd Input Object to be mapped Range Unit Default 60050220 hex Size 4 bytes U32 Sub index3 3rd Input Object to be mapped Access RO PDO ma
510. the ACK DI7 signal signal is turned ON ON 1 BUSY signal E OFF r ON 7 READY signal DE OFF ot h The signal turns OFF when ON 1 DI7 turns OFF ACK signal OFF FZ5 DIO to DI6 signals Oo gt lt 1000000 The signal is turned OFF when the BUSY signal turns ON 1 1 OFF r Alowatleast ms and then turn ON IN7 ON BUSY signal OFF ON READY signal OFF ON DI7 signal 316 Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 e Output Signals Signal Function Turns OFF when the command to clear the measurement value is being executed Turns OFF as long READY as the BUSY signal is ON BUSY Turns ON when the measurement value is being cleared The amount of time during which the BUSY signal is turned ON is approximately 1 ms ACK FH only Turn ON when execution of the DI command is completed e Input Signals Signal Function DIO to DI4 Turn OFF DI5 Turn OFF DI6 Turn ON This is the trigger signal to clear a measurement value After DIO to DI6 are set turn ON DI7 after an interval over 1 ms The BUSY signal is ON during command execution After checking that the BUSY signal has turned DI7 ON turn DI7 OFF and then turn DIO to DI6 OFF Note however that the amount of time during which the BUSY signal is turned ON is approximately 1 ms If it cannot be recognized whether the BUSY sig nal is turned
511. the Sensor l I l I I i i Controller 1 l l 30 ms i 30 ms l l l l Sensor Controller The PLC cannot detect some of the output signals from the Sensor Controller 200 Communicating with EtherNet IP Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Example 2 Duration of Change in Sensor Controller Signal gt RPI RPI 10 ms Output period 50 ms Sensor Controller Output time 30 ms ON 30 ms OFF 20 ms Output control None EtherNet IP Ct E aero ee ee eee Carer Con ere Communications ___ The packet interval RPI is correct transmission path _ gt _ gt Output signal from the Sensor 1 I 1 1 I 1 1 l 1 fl i 1 I I 1 l Controller 1 1 i 30 ms i 30 ms l l l l l l l I I I be it i SEE i 50 ms i 50 ms l Sensor Controller The RPI is shorter than the shortest signal time GATE OFF 20 ms so the PLC can detect all output signals from the Sensor Controller Note Set the communications settings as follows e Sensor Controller communications settings Set Output period and Output time in the EtherNet IP settings Reference Set the EtherNet IP Output Specifications p 209 e RPI setting Set the RPI using Support Software that can set tag data link settings e g Network Configurator Reference Tag Data Link Setting Methods p 211 s d eUI9 Xy UM Bugeorunwwop pue Bu
512. the corresponding flow control processing item is used lt Command format gt BIRJUIN c H s T A R T fa or F UI lt Response format gt When processing is performed normally O KI e When processing is not performed normally CLRMEAS Clears all of the measurement values of the current scene lt Command format gt CILIRIMIEJAIS Cr lt Response format gt When processing is performed normally ONKISe When processing is not performed normally Window display status after clearing Judgement result Unmeasured 0 Value 0 Character string Null character Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 CPYSCENE or CSD Copies the data for the scene with the number specified with command argument 1 to the scene with the number specified with command argument 2 If there is already data at the copy destination the copied data is written over that data lt Command format gt cjPly sicfepnfel TTT ttt Fe L L Copy destination scene No 3 digits max Copy source scene No 3 digits max L copy destination scene No 3 digits max Copy source scene No 3 digits max lt Response format gt When processing is performed normally O KISe When processing is not performed normally EIR cr lt Parameters explanation gt Copy destination scene No Specifies the scene No to copy from 0
513. the deleted expression will stay the same However the actual data output will be output as though the list has been shifted forward for the number of expressions that have been deleted To prevent data from being written to the wrong locations use copy and paste to manually shift the expressions after the deleted number forward Example If the Expression for Output 1 Is Deleted Output Item Settings Data Output Destination Data Output Area awodd beeen Bit ee Expression First word 15 to 0 0 Reference 5X U1 5X 1 Reference SY U1 SY y _ 10 DATA1 Reference SX z 2 Reference an U1 ST 11 3 12 DATA2 Reference SY o 13 ok 14 DATA3 Reference angle ST a JL Output 1 is deleted 15 9 Q Output Item Settings Data Output Destination Data Output Area a aaa eead 2 es 5 No comment Expression ee jie to 0 0 __ReferenceSx U1SK 10 DATA1 Reference SX fe ee eR FP ome O S d 3 2 Reference an U1 ST 2 3 12 DATAS Reference angle ST 5 A 13 S 14 a 15 gt The output numbers assigned to the m expressions remain the same but the data output location is shifted forward for data 3 T O S O D n Vision System FH FZ5 Series User s Manual Communicating with PLC Link for Communications Settings Z342 Output Format Data Output 1 Click the Output format icon in the measurement unit list flow 2 in the Item Tab Area click Output format
514. the device e Bits 16 to 31 Major revision number of the device e Sub index 4 Serial Number gives a serial number for each product Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Access RO PDO map Not possible EtherCAT Connections FH Only s n d eUJE XW UM Bugeorunwwop pue Huosuuog JO SPON 4 The table below shows the identity object values by Slave Unit types Model Product Code hex Revision Number hex FH 1050 000000A0 00010000 FH 1050 10 000000A1 00010000 FH 1050 20 000000A2 00010000 FH 3050 000000A3 00010000 FH 3050 10 000000A4 00010000 FH 3050 20 000000A5 00010000 10F3 hex Diagnosis History Sub index 0 Number of entries Range Unit Default OD hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Maximum Messages Range Unit Z Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 2 Newest Message Range Unit Default Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 5 Flags Range Unit Default 0000 hex Attribute Size 2 bytes U16 Access RW PDO map Not possible Sub index 6 to 13 Diagnosis Message 1 8 Range Unit Default Attribute Size 23 bytes VS Access RO PDO map Not possible e This obje
515. the measured value of a processing item or the calculation results of an expression Up to 8 expressions from 0 to 7 can be set in each unit Click the Parallel Data Output icon 2 Inthe Item Tab Area click Setting 3 In the list select the output data number for the expression to set Output data Expression Ni I Comment view Comment Expression Result 0 0000 The selected output data number is displayed under the list 4 Click the button next to the expression box and set the expression ad Specify the processing items measurement results and measurement data in the expression You can also perform arithmetic or function calculations on the measurement data before it is output 5 Click the button for the Comment box and enter an explanation of the expression The comment you enter will be displayed in the detailed results on the Main Window For example if you enter Test as the comment for expression 0 Test will be displayed in place of Expression 0 in the detailed results area on the Main Window 6 Repeat steps 4 and 5 to set expressions for all of the required output data numbers 290 Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Note Output When Multiple Items Are Set The items that are set for output data numbers 0 through 7 are output to the PLC reception buffer in ascending or
516. thout an Offset You can set only values between the minimum value of 0 and the maximum value of 127 0111 1111 binary e With an Offset Adding an offset of 100 allows you to specify numeric values from a minimum value of 100 to a maximum value of 227 127 100 by specifying the same values as those used without offsets Getting the DI terminal offset data Acquires the DI terminal offset data Once the terminal offset setting command has been executed the acquisition command is enabled lt Command format gt D O FIFIS E TI or D 1O fs lt Response format gt When processing is performed normally Terminal offset data OJK eR When processing is not performed normally R mj Fa lt Parameters explanation gt DI terminal offset data This is the set value for the DI terminal offset 0 9999 Example When the DI terminal offset data is 10 Note If you set the DI terminal offset data to a value of 10 the Switch Scene parallel command will change the scene to scene 10 instead of scene 0 when you specify 0 in the target scene parameter lt Command gt Cc R Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 lt Response gt ssolpueddy po 405 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 Setting the DI terminal offset data Sets the DI terminal offset data lt Command format gt
517. tically turns OFF the Result Completion GATE signal when it detects that the Result Set Request DSA signal has turned OFF 5 if there is more than one Field Data Output Unit in the measurement flow the PLC user turns ON the Result Set Request DSA signal when the Result Completion GATE signal turns OFF and then waits for execution of the next Field Data Output Unit 6 When the next Fieldbus Data Output Unit is executed the GATE signal turns ON and the data is output Receive the second output data and then repeat steps 3 to 5 above Repeat steps 3 to 5 for any other data outputs 239 Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 Time Charts Example 1 Inputting a Measurement Trigger after Changing a Scene without Handshaking ON Select Scene command Measurement command OFF Command Area parameters OFF cene No Command code Command Request ON Select Scene i Measurement i EXE signal ofr command execution i l command execution Y Oone IRO NO i BUSY signal ON E CE Lid 1 1 O zZ Command Response Area Completion FLG signal OFF Result Completion GATE signal O zZ O S Se A OINA ENAIT CEREAN EERTE OEA A Output data 0 to 7 Data Output Area ee to DATA7 peen O zZ gt OEE E E e E ses ce 4 b Fieldbus Data Output Unit execution The command code and command pa
518. time Turns OFF Parallel Communications Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Outputting the STGOUT and SHTOUT Signals These functions are supported by the FH series Sensor Controllers only With parallel communications the STGOUT signal strobe trigger output and SHTOUT signal shutter output cannot be output at the same time Select which signal to output based on your needs 1 On the Main Window select System Settings Camera Output Signal Setting from the Tool menu The output signal settings dialog box is displayed Common setting Output signal stcour x 2 Select the signal to output in the Common area D Setting value Be Setting item Factory default Description STGOUT Uses the STGOUT signal line as the STGOUT signal When STGOUT is selected the SHTOUT signal cannot be used Output signal SHTOUT Uses the STGOUT signal line as the SHTOUT signal When SHTOUT is selected the STGOUT signal cannot be used Note e In Multi line Random trigger Mode this output signal selection can be used to set the output signal for line 0 only The setting for line O will be used for all other lines The STGOUT signal output settings must be set in the Electronic flash setting for each Camera Image Input processing item IMPORTANT SHTOUT signals output through EtherCAT communications are not affected by this setting s d eu
519. tion FLG signal and BUSY signal will be forced OFF if the EXE signal does not turn OFF within the time that is set in the PLC Link settings Retry interval for Ethernet PLC Link or Timeout for RS 232C 422 PLC Link after the Command Completion FLG signal turns OFF 2 A timeout error will occur and measurement data readied for output will be discarded if the DSA signal does not turn OFF within the time that is set in the PLC Link settings Retry interval for Ethernet PLC Link or Timeout for RS 232C 422 PLC Link after the Result Completion GATE signal turns OFF Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with PLC Link s n d eu19 x3 UM Bugeortunwwop pue Huosuuog JO spoule 179 180 Output Signals Signal Signal name Function ON OFF timing OFF to ON ON to OFF This signal tells when com BUSY Busy Signal mands and other external inputs cannot be acknowl edged Make sure this signal is OFF before you request a command Note e The execution of commands or other processing received through any other protocol cannot be detected Example This signal remains OFF during measurements for a parallel communications STEP signal If you use more than one protocol and need to detect command execution use the parallel communications BUSY signal Just because this signal is ON does not necessarily mean that a command is bein
520. tion result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 7 0000 0000 0000 0000 Acquired scene group No Getting Layout Number Gets the number of the currently displayed layout Command PLC to Sensor Controller First word in Command Bit PAN Description Command Area code 12t0o15 8to11 4to7 0to3 2 4000 0100 0000 0000 0000 Command code 3 0020 0000 0000 0010 0000 4 0000 0000 0000 0000 Item to acquire 0 Local 5 0000 0000 joooo 0000 1 Remote IMPORTANT e For non remote operation only 0 Local can be specified For remote operation only 1 Remote can be specified If any combination other than the above combinations is used unexpected operation may occur when the command is executed Response Sensor Controller to PLC First word in Command Bit oar Description Response Area code 12to15 8to11 4to7 0to3 2 4000 0100 0000 0000 0000 Command code 3 0020 0000 0000 0010 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 6 0000 0000 0000 0000 Response data FH Current layout number 7 7 0000 0000 0000 0000 FZ5 0 adjustment window 1 monitor window Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Getting Display Image Unit Nnumber Gets the number of the unit currently displayed
521. to 10 lt Command gt UINI 1 T DIAL TAT 5 111214 J110 lt Response gt OlKie Example When Verification string external reference table value 139 in Character Inspection set as the 7th processing unit processing unit number 6 is changed to ABC lt Command gt UJN IT TI DJA TIA 6 11319 AJB C R lt Response gt O KISe Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 UPDATEMODEL or UMD Reregisters a model using the current model lt Command format gt or ump iI l upp joja ejmjojojejL L L J L L Target data 1 digit Model No Processing unit No C R Target data 1 digit Model No lt Response format gt Processing unit No When processing is performed normally OIK cr When processing is not performed normally lt Parameters explanation gt i Specifies the processing unit number of a model to reregister 0 to the number of unit data minus Processing unit No one Specifies the model number to register a model 0 to the uppermost unit model number in the Model No unit Specifying a nonexistent model number causes an error Specifies the target data When the setting value is expressed in binary if the 1st bit is 1 the model is re registered When the setting value is expressed in binary if the 2nd bit is 1 the reference position i
522. to be mapped Range Unit Default 60051A20 hex Size 4 bytes U32 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Access RO PDO map Not possible EtherCAT Connections FH Only s n d eUIE XW UM Bugeorunwwop pue Huosuuog JO SPON Sub index27 27th Input Object to be mapped Range Unit Default 60051B20 hex Size 4 bytes U32 Access RO Sub index28 28th Input Object to be mapped Range Unit Default 60051C20 hex Size 4 bytes U32 Sub index29 29th Input Object to be mapped Access RO Range Unit Default 60051D20 hex Size 4 bytes U32 Access RO Sub index30 30th Input Object to be mapped Range Unit Default 60051E20 hex Size 4 bytes U32 Sub index31 31st Input Object to be mapped Access RO Range Unit Default 60051F20 hex Size 4 bytes U32 PDO map Not possible PDO map Not possible PDO map Not possible PDO map Not possible Access RO PDO map Not possible Sub index32 32nd Input Object to be mapped Range Unit Default 60052020 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index33 33rd Input Object to be mapped 118 Range Unit Default 60052120 hex
523. to be mapped Access RO PDO map Not possible Range Unit Default 60060480 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index17 17th Input Object to be mapped Range Unit Default 60060490 hex Size 4 bytes U32 Sub index18 18th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 6 00604A0 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index19 19th Input Object to be mapped Range Unit Default 6 00604B0 hex Size 4 bytes U32 Sub index20 20th Input Object to be mapped Access RO PDO map Not possible Range Unit Default 600604C0 hex Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an application that uses vision sensor functions 6005 hex Image Processing Results Integer Data 6006 hex Image Processing Results Real Data Vision System FH FZ5 Series User s Manual for Communications Settings Z342 EtherCAT Connections FH Only s d eu19 x3 YM Buyeolunuiwo9D pue BuljoeuUOD JO spoule 132 1AOF hex 16th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 40 hex Size 1 byte U8 Sub index1 1st Input Object to be mapped A
524. to synchronize timing are generated in the slaves at precise intervals based on this clock Interruptions SyncO are generated in the slaves at precise intervals based on this clock Each slave executes I O processing at this precise time Communications Modes for EtherCAT Slave Terminals The FH series Vision Sensors support DC Mode They do not support Free Run Mode Communications Cycle The communications cycle is determined by the setting for it in the EtherCAT master Refer to the p NJ series CPU Unit Built in EtherCAT Port User s Manual Cat No W505 for the communications cycles that are supported by the built in EtherCAT ports on NJ series CPU Units EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 FH series Vision Sensor Communications Method When Connected to EtherCAT You can use EtherCAT communications between an EtherCAT master and Vision Sensors to control the Vision Sensors from the master with commands and responses and to output the data that results from measurements You use Sysmac Studio Standard Edition version 1 07 or higher to connect FH series Vision Sensors to an NJ series CPU Unit through EtherCAT The Sysmac Studio is used to register the Vision Sensors in the EtherCAT slave configuration on the Edit Network Configuration tab page Refer to gt Section 5 Controller Configurations and Setup in the Sysmac Studio Version 1 Operation Manual Cat No W
525. to the number of scenes in the scene group 1 Copy destination scene No Specifies the scene No to copy to 0 to the number of scenes in the scene group minus 1 Example Copying the scene data for Scene 2 to Scene 10 lt Command gt icjs o 2 1 Ol s lt Response gt OlKFe Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 ssolpueddy po 395 DATALOGCOND or DLC Getting the data logging condition Gets the data logging condition for system data Gets the data logging condition on the logging setting screen lt Command format gt DIAITIAILJO G C O N D Fe or ID L C R lt Response format gt When processing is performed normally O KICR When processing is not performed normally lt Parameters explanation gt 0 None Data logging condition 1 Only NG 2 All Example When data logging condition is set to None lt Command gt DILI Chea lt Response gt Ofk O KfR 396 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Setting the data logging condition Sets the data logging conditions for system data Sets the Data logging condition on the Logging Setting window lt Command format gt DIAITIAILIO G CJO N D fe Data logging condition or DiL c e gza Data logging condition lt Response format gt When processing is performed normally OIK cr W
526. to3 2 4020 0100 0000 0010 0000 Command code 3 0050 0000 0000 0101 0000 4 E 0000 0000 0000 0000 Name of the data logging folder with the absolute 5 0000 0000 0000 0000 path F 0000 0000 0000 0000 Up to 247 characters 378 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Response Sensor Controller to PLC ssolpueddy po First word in Command Bit ee Description Response Area code 12to 15 8to11 4to7 0to3 2 4020 0100 0000 0010 0000 Gommancieade 3 0050 0000 0000 0101 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 0000 0000 0000 0000 OK 0 0000 0000 NG Not 0 0000 0000 Screen Capture Folder Name Setting Sets the screen capture folder name Command PLC to Sensor Controller First word in Command Bit Raye Description Command Area code 12to15 8to11 4to7 Oto3 2 4030 0100 0000 0011 0000 Command code 3 0050 0000 0000 0101 0000 ta 0090 0000 0000 0000 Name of the image capture folder with the 5 0000 0000 0000 0000 absolute path T 0000 0000 0000 0000 Up to 227 characters Response Sensor Controller to PLC First word in Command Bit ae Description Response Area code 12to15 8to11 4to7 0to3 2 4030 0100 0000 0011 0000 Caraniandande 3 0050 0000 0000 0101 0000 Response target command cod
527. tput and either receive all of the output data by using the Result Completion GATE signal or use handshaking control Handshaking lets you control data output by using the GATE signal turning ON as a trigger for the data output timing and turning ON the DSA to read the output data This is necessary from the second output data item onward Each time that data is output read the output data and move it to a different part of I O memory in the PLC Refer to gt Data Output Control with Handshaking p 27 for details on handshaking You can compare the received number of output data and the number of measurements for continuous measurements to check if all of the measurement results have been received Use the following method to check the number of measurements that was actually executed e Application Example Set a calculation to count the number of measurements that are executed in the measurement flow If you set something like DO 1 each time a measurement is executed each time the measurement flow is executed 1 will be added to DO so the present value of DO will give you the actual number of measurements Vision System FH FZ5 Series User s Manual Communicating with EtherNet IP for Communications Settings Z342 s d eu19 x3 UM Buyeolunuiwo9 pue Buosuuog JO spoule Communicating with the Sensor Controller with EtherNet IP Message Communications Message communications are used when communicating with a PLC that does no
528. ts Set the settings for the two Ethernet ports as follows e Communications Module Settings Use the same setting for both ports IP Address Setting Set a different IP address for each Ethernet port The IP address for the top Ethernet port is set in Address setting and the IP address for the bottom Ethernet port is set in Address setting 2 By using both Ethernet ports simultaneously you can use one for PLC Link non procedure Ethernet or IP communications with a PLC and the other for FTP or remote operation communications with an external device The FZ5 or an FH series Sensor Controller with two Camera inputs has only one Ethernet port In this case the IP address of the Ethernet port is set in Address setting 2 154 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Setting item Set value Factory default Description Address setting Set the IP address of the top Ethernet port on the Sensor Controller e Obtain an IP address automatically Use the following IP address Use the following IP address When Obtain an IP address automatically is selected the IP address of the Sensor Controller will be automatically obtained When Use the following IP address is selected set the IP address subnet mask and the default gate way address IP address a b c d a 1 to 223 b 0 to 255 c 0 to 255 d 2 to 255 10 5 5 100 Input th
529. ttings Select System Settings and then select Communication RS 232C 422 PLC Link SYSMAC CS CJ CP One or RS 232C 422 PLC Link MELSEC QnU Q QnAS The serial interface window is displayed 2 In the communications setting area set the following items Interface RS 232C Baud rate bps so sti Data length bit 7 gt Parity Even Stop bit bit 2 Flow control None Timeout s 5 eal TE Set value ave Setting item Factory default Description RS 232C Adjust to the PLC communications specifications Interface RS 422 3 If you connect to an OMRON PLC set the PLC to Host Link communications e 2400 e 4800 9600 Baud rate bps e 19200 Adjust to the PLC communications specifications e 38400 e 57600 e 115200 Data length bit 2 None Parity Odd Adjust to the PLC communications specifications e Even 1 Stop bit bits 2 4 Ifa baud rate of 38400 bps or higher is selected effective communications may not be possible depending on the cable length because speeds of over 20 Kbps are not defined in RS 232C standards In this case set the baud rate to 19200 bps or lower 2 With the RS 232C MELSEC Q Series set the data length to 8 3 RS 422 cannot be used with the MELSEC Q Series 162 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 ee Set value are Setting
530. tudio If you use Multi line Random trigger Mode for multiple lines set the Commu nications Module for each line Refer to EtherCAT Network Configuration Settings p 61 If communications are performed normally the ECAT RUN indicator on the Vision Sensor will light green If communications are not performed normally check the communications specifications settings that were made in step 2 Also error events are registered in the troubleshooting function of the Sys mac Studio if normal communications are not possible Use them to trouble shoot the problem Refer to gt Communications Test p 63 EtherCAT Connections FH Only s d eUI9 Xy UM BujeolunuiwoD pue Buosuuog JO SPON Communications are set up as shown below when you use the multi line random trigger mode Settings on Communications Communications Output data the window Module setting specifications settings designation for line 0 Set Fieldbus to EtherCAT e The communications settings e g communications cycle are the same for all lines Output data size You can set a separate value for each line Settings on Communications Output data the window Module setting designation for line 1 Set Fieldbus to EtherCAT The output data is designated according to the output data size that was set on the window for line 0 Settings on Communications Output data the window Module setting designation for line 7 i The output data is designated
531. ult 00 hex Size 4 bytes U32 Access RO PDO map Not possible EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Sub index7 Profile information of the module on position 7 Range Unit Default 00 hex Size 4 bytes U32 Access RO PDO map Not possible Sub index Profile information of the module on position 8 Range Unit Default 00 hex Size 4 bytes U32 Access RO PDO map Not possible F030 hex Configured Module Ident List1 Sub index0 Number of notice Range Unit Default 08 hex Size 1 byte U8 Access RO PDO map Not possible Sub index1 Module Ident of the module configured on position 1 Range Unit Default 00 hex Size 4 bytes U32 Sub index2 Module Ident of the Access RW module configured on position 2 PDO map Not possible Range Unit Default 00 hex Size 4 bytes U32 Access RW PDO map Not possible Sub index3 Module Ident of the module configured on position 3 Range Unit Default 00 hex Size 4 bytes U32 Sub index4 Module Ident of the Access RW module configured on position 4 PDO map Not possible Range Unit Default 00 hex Size 4 bytes U32
532. unction Reference ALLIMAGESAVE AIS Saves all the image data in the image buffer specified Reference p gt p 391 with main unit logging image BKDSAVE None Saves System Scene Group 0 data in a file Reference p gt p 393 IMAGECAPTURE_ EIC Captures the screen Reference p gt p 410 IMGSAVE None Saves the image data Reference p gt p 429 LASTIMAGESAVE LIS Save the last image input Reference p gt p 433 SCNSAVE None Saves the scene data Reference p gt p 459 2 SGRSAVE None Saves the scene group data Reference p gt p 461 SYSSAVE None Saves system data Reference p gt p 467 a a a a n So Q Q a a Q 3 3 Cc 2 D a gt m xX 5 v O lt O D n 273 Vision System FH FZ5 Series User s Manual Non procedure Communications for Communications Settings Z342 Output Format If the processing unit Data Output is set in a scene measurement results are sequentially output starting from the smallest data No set in Setting of Data Output You can also place more than one Data Output Unit in the measurement flow You can then use record separators to identify the data for individual Data Output Units Reference gt Output Format Data Output p 261 Outputting ASCII Data Set the output format as ASCII in Output form of the Data Output processing item The default setting is ASCII Output Format Data measurement value Data 1
533. unicating with a PLC that does not support tag data link communications Settings for Data Received by the Sensor Controller Instance Setting item Set value Description 100 For normal control and for line 0 in the Multi line Random Trigger Mode 102 For line 1 in the Multi line Random Trigger Mode 104 For line 2 in the Multi line Random Trigger Mode 106 For line 3 in the Multi line Random Trigger Mode Instance 108 For line 4 in the Multi line Random Trigger Mode 110 For line 5 in the Multi line Random Trigger Mode 112 For line 6 in the Multi line Random Trigger Mode 114 For line 7 in the Multi line Random Trigger Mode Attribute AttributelD Access Name Data type Description The command that was received by the Sensor Controller is set in this attribute The format is 0x03 Set Data BYTE array the same as for an output connection in tag data link communications Reference Output Connection to PLC Sen sor Controller Originator to PLC Target p 221 0x04 Get Size UNIT Number of bytes 20 Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with EtherNet IP s d eu19 x3 UM Bugeovrunwwop pue Buosuuog JO SPON N 246 Service Service code Name Description 14 OE hex GetAttributeSingle Gets the attribute value Sets a value for the attribute Whether an 16 10 hex SetAttributeSingle attribute can be set depends on the access attri
534. unications are not possible Use them to troubleshoot the problem Refer to gt Sysmac Error Status Table p 87 I O Ports by Area PDO Mapping and Memory Assignments This section describes the I O ports in the Command Response Data Output and Sysmac Error Status Areas Refer to the following section for the sizes data types default values and other information on the I O ports Reference p Vision Sensor Specific Objects p 140 Command Area I O Ports Controller Master to Vision Sensor Slave I O port name Signal name Function Control Flag Control Signals Turn ON this signal from the Sensor Controller to send a control com mand for the Vision Sensor to execute Command Set the control command code and parameters before you turn ON this Command Request ianal Request signal Turn OFF this signal from the Sensor Controller when the Command Completed signal from the Vision Sensor turns ON Turn ON this signal from the Controller to send a command to execute a measurement Trigger Measurement Trigger This signal returns to OFF when the Trigger Acknowledged signal goes ON Flow Command Flow Command Request Turn ON this signal to request execution of a command that was input during execution of the fieldbus flow control enabled Request Turn OFF the signal when the Flow Command Request signal turns ON Turn ON this signal to turn OFF the Error Status signal from the Vision Se
535. urement processing and data output processing are per Asynchro nous out put Selected Not selected formed in parallel The data output processing does not affect the processing time of the measurement flow Measurement processing and data output processing are synchronized so that all data output processing is finished when measurements are finished This increases the overall processing time of the measurement flow Not selected This is the same as the PLC Link operation of the FZ4 Vision Sensor Reference Asynchronous Output p 167 Retry interval ms 0 to 999999 10000 Set the time in which a timeout error will occur After a timeout error occurs communications with the destination device will be attempted at the interval time that is set as the retry interval Reference Data Output Control with Handshaking p 27 4 If handshaking is enabled a timeout error will also occur if any of the following operations are not performed during the Retry interval If the DSA signal is not turned ON after a certain time elapses from when measurements are finished If the DSA signal is not turned OFF after a certain time elapses from when the GATE signal turns ON If the DSA signal is not turned ON after a certain time elapses from when the GATE signal turns OFF Polling cycle ms 1 to 999999 0 Set the interval to perform polling from the FH FZ5 to the external device
536. user currently logging in belongs is not zero 0 a command error occurs If the user account to be set has already existed it will be overwritten with the new account Command PLC to Sensor Controller First wordin Command Bit IA Description Command Area code 412to15 8to11 4to7 Oto3 2 A010 1010 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 4 z 0000 0000 0000 0000 ID of group to which to add the user account 5 F 0000 0000 0000 0000 0 to7 6 J 0000 0000 0000 0000 User name of user account to add 0000 0000 0000 0000 Single byte alphanumeric characters 2 to 20 21 z 0000 0000 0000 0000 characters 22 0000 0000 0000 0000 0000 0000 0000 0000 Password of user account to add 37 0000 0000 0000 0000 38 0000 0000 0000 0000 0000 0000 0000 0000 User name of user account UGO that has the right to add user accounts 53 0000 0000 0000 0000 54 0000 0000 0000 0000 0000 0000 0000 0000 Password UGO 70 0000 0000 0000 0000 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Response Sensor Controller to PLC First word in Command Bit ee Description Response Area code 12to15 8to11 4to7 0to3 2 A010 1010 0000 0001 0000 Command code 3 0010 0000 0000 0001 0000 Response target command codes 4 0000 0000 0000 0000 Response code Command execution result 5 g 0
537. ut IP address Input the output destination IP address Input port No IMPORTANT If the operation mode is set to Multi line Random trigger Mode set a different I O port number for each line e Change the IP address and subnet mask for Address setting and Address setting 2 as required so that each designate a different network address If the same network address is specified communications may not be performed correctly 3 gt Click PLC link The PLC Link Setting View is displayed 156 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342 4 Set the following items Some setting items will change depending on the selected Communications Module Command area Area Address Response area Area Address Data Output area Area Address Output control Retry interval ms Polling cycle clo Area ClO C m cio Area Clo gt 100 J Asynchronous output h E G Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Communicating with PLC Link s d eu19 x3 UM Bugeorunwwop pue Buosuuog JO spoule N 157 e Communicating with an OMRON PLC When PLC Link Sysmac CS CJ CP One is selected for the Communications Module Setting item Set value Factory default Description Command area Area CIO Area CIO e Work Area WR e Holdin
538. ut data ON A First DATA 0 to 7 i ia output data Second output data OFF 3 1 2 3 4 5 6 ae 1 1 y Data Output Request ON DSA signal 1 OFF et 7 I 1 When the first data is received the user PLC turns ON the measurement trigger and the DSA signal 2 The Sensor Controller turns ON the GATE signal when the DSA signal is turned ON and outputs the first data 3 The user PLC turns OFF the DSA signal again when the GATE signal turns ON Then the user PLC confirms the output data received in the PLC Data Output Area and moves the received data to another area in PLC I O memory 4 The Sensor Controller confirms that the DSA signal is OFF and automatically turns OFF the GATE signal 5 The user PLC then turns ON the DSA signal again after the output data is received and the GATE signal is turned OFF and waits for the second data 6 When the second data is output the second data output is received when the GATE signal is turned ON and steps 3 and 5 above are repeated Steps 3 through 5 above are repeated for all subsequent data output items 29 Vision System FH FZ5 Series User s Manual Control Methods Using an External Device for Communications Settings Z342 Setting Procedures for Communications Communications Setup Procedures Perform the following settings 1 Setting the Communications Module Startup settings L L 3 Setting output data 1 When performing c
539. ut settings for processing items that read output characters such as Character Inspection The character output operation is executed by the above processing items In this case it is not necessary to set an Output Unit in the measurement flow Refer to the descriptions for individual processing items for details on the settings required for character output Character Inspection Refer to Character Inspection in the Vision System FH FZ5 Series Processing Items Reference Manual Cat No Z341 Barcode Refer to gt Barcode in the Vision System FH FZ5 Series Processing Items Reference Manual Cat No Z341 2DCode Refer to gt 2DCode in the Vision System FH FZ5 Series Processing Items Reference Manual Cat No Z341 Outputting Multiple Measurement Data Items Using Multiple Output Units for Data Output You can register more than one Output Unit in the measurement flow If you want to output different types of data during measurement flow processing or if you want to output more than nine different data items you must register multiple Output Units in the measurement flow Data output is executed for each Output Unit set in the measurement flow but the output destination for that 25 Vision System FH FZ5 Series User s Manual Control Methods Using an External Device for Communications Settings Z342 data is the same PLC I O memory area the Data Output Area In this case the output data that is output first will be overwritt
540. uter with an Ethernet cable Set the left segments of IP address of the computer to the same values as the Controller and set only the right segment to a different value IP Address Setting Example Device Setting example Sensor Controller 10 5 5 100 default Computer 10 5 5 101 2 Open the Windows command prompt on the computer and execute the ping command At the gt prompt type ping followed by a space and the IP address of the Controller and then press Enter Example C gt ping 10 5 5 100 3 After a few seconds if you see Reply from followed by the IP address of the Controller e g 10 5 5 100 you will know that the Controller is connected to the Ethernet network Example Reply from 10 5 5 100 byte 32 time lt ims TTL 128 If Anything Other than Reply from Is Displayed This means that the Controller is not connected to the network for some reason Check the following e Are the left three segments of the IP addresses of the computer and the Controller the same e Is the Ethernet cable connected 4 Use the ping command to also check the communications status of the PLC After you have confirmed the communications status as described above send an actual measurement command to the Controller and check to confirm that Vision Sensor communications are operating correctly 174 Communicating with PLC Link Vision System FH FZ5 Series User s Manual for Communications Settings Z342
541. utput Is Possible Parallel Judgement Output You can use the processing items that are related to outputting results to output the following data You can also access measured values from the Calculation or other processing units Measured item Text string Description Judgement JG Judgement result Data 0 to 15 D00 to D15 Results of expressions set for output judgement data 0 to 15 Judge 0 to 15 J00 to JO7 Results of judgement on expressions set for output judgement data 0 to 15 External Reference Tables Parallel Judgement Output Number Data name Set Get Data range 0 No judgement unmeasured 0 Judgement Get only 1 Judgement result OK 1 Judgement result NG 5 to 20 Data 0 to Data 15 Get only 999999999 9999 to 999999999 9999 21 to 36 Judge 0 to Judge 15 Get only 1 OK 1 NG 0 Unmeasured 103 Reflect to the overall judgement Set Get 0 ON 1 OFF 136 Upper limit 0 for judgement Set Get 999999999 9999 to 999999999 9999 137 Lower limit 0 for judgement Set Get 999999999 9999 to 999999999 9999 138 Upper limit 1 for judgement Set Get 999999999 9999 to 999999999 9999 139 Lower limit 1 for judgement Set Get 999999999 9999 to 999999999 9999 140 Upper limit 2 for judgement Set Get 999999999 9999 to 999999999 9999 141 Lower limit 2 for judgement Set Get 999999999 9999 to 999999999 9999 Vision System FH FZ5 Series User s Manual for Communications Settings Z342
542. ve the settings to the Sensor Controller and restart the Sensor Controller If you do not restart the Sensor Controller the selected Communications Module will not be enabled e Use the same communications settings for the Sensor Controller and the external device Do not input signals to Ethernet from an external device while setting the Ethernet system settings Connecting via Ethernet 1 On the Main Window select Tool System Settings Select System Settings and then select Communication Ethernet PLC Link SYSMAC CS CJ CP One Ethernet PLC Link MELSEC QnU Q QnAS or Ethernet PLC Link JEPMC MP The Ethernet View is displayed 2 In the communications setting areas set the following items Address setting C Obtain an IP address automatica Use the following IP address IP address Subnetmask Default gateway DNS server Address setting 2 C Obtain an IP address automatica Use the following IP address IP address Subnetmask Default gateway DNS server Input Output setting Output IP address Input port No for Communications Settings Z342 s d eu19 x3 UM Bugeortunwwop pue Bunosuuog JO spoule N 153 Vision System FH FZ5 Series User s Manual Communicating with PLC Link Note e An FH series Sensor Controller with four or eight Camera inputs has two Ethernet por
543. with external devices Reference Using Handshaking p 239 2 0 to 5000 0 ms Output period 10 0 ms Valid only when Output control is set to None Set the cycle by which measurement results are output Set the cycle so that the interval is longer than the output time but less than the measurement interval e Adjust this value based on the RPI packet interval communications cycle in the EtherNet IP connection settings of the PLC you want to connect to Reference EtherNet IP Communications Cycle RPI p 200 e 1 0 to 1000 0 ms Output time 5 0 ms Valid only when Output control is set to None Set the GATE signal ON time Set the time required for external devices to acquire measurement results Adjust this value based on the RPI packet interval communications cycle in the EtherNet IP connection settings of the PLC you want to connect to Reference EtherNet IP Communications Cycle RPI p 200 e 0 5 to 120 0 s Timeout s 10 0 s 4 Click Apply to apply the settings Valid only when Output control is set to Handshaking A tim eout error occurs when no response from external devices is received within the time that has been set A timeout error occurs when no response from external devices is received within the time that has been set Also a timeout error occurs if the status of each signal does not change within the speci fied time in the following situat
544. writes the data in the area that is allocated to it in the frame in a few nanoseconds The Ethernet frames that are transmitted by the EtherCAT master pass through all EtherCAT slaves without stopping The last slave returns all of the frames which again pass through all of the slaves before returning to the EtherCAT master This mechanism ensures high speed and realtime data transmission EtherCAT master Slave Slave Slave e The slave reads output data addressed to it e The slave writes input data Ethernet frames EtherCAT Connections FH Only Vision System FH FZ5 Series User s Manual for Communications Settings Z342 The data exchanges that are cyclically performed between the EtherCAT master and EtherCAT slaves use EtherCAT telegrams that are stored directly in the Ethernet frames Each EtherCAT telegram consists of a telegram header including the data length and one or more slave addresses data and a working counter i e check bits If you think of an Ethernet frame as a train the EtherCAT telegrams would be the cars of the train Ethernet frame Pune Ethernet data 1 498 bytes max CRC header vV A EtherCAT 1st to nth EtherCAT telegrams EtherCAT frame header 1st EtherCAT 2nd EtherCAT nth EtherCAT telegram telegram Telegram header Data WKC WKC Working counter Vision System FH FZ5 Series User s Manual for Communications Setting
545. x for image logging file name one byte Prefix for image logging file name imageLoggingHeader alphanumeric characters 0 None Data Logging dataLogging 1 Only NG 2 All Name of destination folder for saving data logging Save destination folder name one byte a aes alphanumeric character IMPORTANT Specifying the name of a folder to save to e The method for specifying the name of the folder to save to depends on the model e FH FZ5 11 RAM disk C Data RAMDisk USB memory E F e FZ5 L35_ FZ5 L6 e RAM disk RAMDisk USB memory USBDisk USBDisk2 e For the FH FZ5 11LL do not save to a non volatile area on the C drive such as C ProgramFiles FZ This would reduce the storage area for scene data and other data and make correct operation impossible 464 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 Example 1 When creating settings so that data logging is only performed during NG errors lt Command gt S sfolalTja elojafalitnjo alaj tjalt ojolo i njo 1l lt Response gt O K Ice Example 2 When the RAMDisk is set as the image logging save destination lt Command gt For FZ5 L35_ FZ5 6 SIY S DJA TIA L o g g ijnig ijmjajgje LjJo g g i jn g D i rje c tjojrfy IRJAIMID i s k For FH FZ5 11 SIY S DJA TIA L ofg g ijnig ijmf
546. y EIR c ssolpueddy po lt Parameters explanation gt Specify the name of the data logging folder with the absolute path e g USBDisk E Save destinations include directories under the following systems Data logging folder Save destination FH FZ5 11 series FZ5 L35_ 6_IL series er RAMDisk C Data RAMDisk RAMDISK USBDisk E FA GA HA USBDisk to USBDisk3 Example When setting the data logging folder name to USBDisk lt Command gt IDILIF IMUSBDi sk amp lt Response gt OlKFe 399 Vision System FH FZ5 Series User s Manual Command Control for Communications Settings Z342 DATASAVE Saves system data and scene group data to the internal flash memory in the Sensor Controller lt Command format gt DIAITIAISIAIVIE Ss lt Response format gt When processing is performed normally O K lt a When processing is not performed normally EIR Note If DATASAVE command is executed when using scene groups 1 to 31 system data is saved on the Sensor Controller s flash memory and scene group data is saved to the USB memory If there is no USB memory plugged in ER is returned Do not turn off power to the Sensor Controller until there is a response 400 Command Control Vision System FH FZ5 Series User s Manual for Communications Settings Z342 DATE Acquiring date and time Acquires the date and time from t
547. y are described in this section For details on each control method refer to their corresponding section Control Methods Method Overview Trigger type or area Signals or area used M NA Control signals and status signals Operation is controlled by the ON OFF status of the Measurement Trigger Signal STEP and Command Request Bit EXE ON OFF status of the control signals and status signals Control signals and status signals Control with commands and responses Control is performed by sending control commands The execution results of the command can be confirmed in the response from the Sensor Controller The control command code is stored in the I O memory of the PLC and then the Request Bit is turned ON PLC I O memory Command Area and Response Area Data output after measurements After a measurement is performed the previously specified measurement data is output automatically Not required Output is performed automatically after measurement PLC I O memory Data Output Area 1 Control with Control Signals and Status Signals Refer to Control with Control Signals and Status Signals p 17 Control and status confirmation for the Sensor Controller is performed with the ON OFF status of the control and status signals This method is best suited for basic operations such as measurement triggers or to check the operating status of the Sensor Controller

Vision System FH/FZ5 Series User`s Manual for Communications

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