FH/FHV Series Vision System User's manual for Communication Settings

Z342-E1-14

Z342-E1-14 - Omron eData

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Vision Sensor FH/FHV Series
Vision System
User's manual for Communication Settings
FH-1���/FH-1���-�� FH-2���/FH-2���-�� FH-3���/FH-3���-�� FH-5���/FH-5���-�� FH-L���/FH-L���-�� FHV7�-�����-C FHV7�-�����-S��/FHV7�-�����-S��-�� FHV7�-�����-H��/FHV7�-�����-H��-��
Z342-E1-14

NOTE � All rights reserved. � No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any
form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON. � No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.
Trademarks � Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan
and other countries for OMRON factory automation products. � This software is based in part on the work of the Independent JPEG Group. � Microsoft, Windows, Windows Vista, Excel, and Visual Basic are either registered trademarks or
trademarks of Microsoft Corporation in the United States and other countries. � Intel, Core and Pentium are trademarks of Intel Corporation in the U.S. and/or other countries. � EtherCAT� is registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany. � ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA. � The SD, SDHC, microSD, and microSDHC logos are trademarks of SD-3C, LLC.
� QR Code is a registered trademark of DENSO WAVE INCORPORATED. � MELSEC is a registered trademarks of Mitsubishi Electric Corporation. Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.
Copyrights Microsoft product screen shots reprinted with permission from Microsoft Corporation.

Introduction
Introduction
Thank you for purchasing the FH/FHV Series. This manual contains information that is necessary to use the FH/FHV Series. Please read this manual and make sure you understand the functionality and performance of the FH/FHV Series before you attempt to use it in a control system. Keep this manual in a safe place where it will be available for reference during operation.
Intended Audience
This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent). � Personnel in charge of introducing FA systems. � Personnel in charge of designing FA systems. � Personnel in charge of installing and maintaining FA systems. � Personnel in charge of managing FA systems and facilities.
Applicable Products
This manual covers the following products. � FH-1��� � FH-1���-�� � FH-2��� � FH-2���-�� � FH-3��� � FH-3���-�� � FH-5��� � FH-5���-�� � FH-L��� � FH-L���-�� � FHV7�-���� Part of the specifications and restrictions are given in other manuals. Refer to Relevant Manuals on Relevant Manuals on page 2 and Related Manuals on page 17.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1

Relevant Manuals

The following table provides the relevant manuals for the FH/FHV Series. Read all of the manuals that are relevant to your system configuration and application before you use the FH/FHV Series.

Basic information

Manual

Purpose of use

FH/FHV Series Vision System Operation Manual for Sysmac Studio
FH/FHV Series Vision System User's Manual for Communications Settings
FH Series Vision System Macro Customize Functions Programming Manual FH/FHV Series Vision System Processing Item Function Reference Manual FHV Series Smart Camera Setup Manual
FH Series Vision System Hardware Setup Manual
FH/FHV Series Vision System User's Manual

Overview of FH series Overview of FHV7 series

l

Setup and Wiring

EtherCAT EtherNet/IP PROFINET Ethernet RS-232C

l

Parallel interface Setup the communication setting of Sensor Controller

EtherCAT EtherNet/IP PROFINET

l

Ethernet RS-232C Parallel interface Setup the Sensor Controller

EtherCAT

EtherNet/IP

PROFINET

l

Ethernet

RS-232C

Parallel interface

l l
l l

2

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Purpose of use

Relevant Manuals

Basic information

Manual

FH/FHV Series Vision System Operation Manual for Sysmac Studio
FH/FHV Series Vision System User's Manual for Communications Settings
FH Series Vision System Macro Customize Functions Programming Manual FH/FHV Series Vision System Processing Item Function Reference Manual FHV Series Smart Camera Setup Manual
FH Series Vision System Hardware Setup Manual
FH/FHV Series Vision System User's Manual

Create and Set the Scene l
EtherCAT

EtherNet/IP

PROFINET

l

Ethernet

RS-232C

Parallel interface

Optimizing the Scene Flow

EtherCAT

EtherNet/IP PROFINET

l

Ethernet

RS-232C

Parallel interface

Connecting the Controller l
EtherCAT

EtherNet/IP

PROFINET

l

Ethernet

RS-232C

Parallel interface

Using Helpful Functions l
EtherCAT

EtherNet/IP

PROFINET

l

Ethernet

RS-232C

Parallel interface

Troubleshooting and Problem Solving

l

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

3

Manual Structure
Manual Structure

Page Structure
The following page structure is used in this manual.

4 Installation and Wiring

Level 2 heading Level 3 heading
A step in a procedure
Indicates a procedure.

4-3 Mounting Units

4-3-1 Connecting Controller Components

The Units that make up an NJ-series Controller can be connected simply by pressing the Units together and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the same way to the Unit on the far right side of the Controller.
1 Join the Units so that the connectors fit exactly.

Hook

Hook holes

Connector

Level 1 heading Level 2 heading Level 3 heading
Gives the current headings.

4-3 Mounting Units

Special information
Icons indicate precautions, additional information, or reference information.

4
2 The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders
toward the back of the Units as shown below until they click into place. Move the sliders toward the back until they lock into place.
Lock Release
Slider
Precautions for Correct Use The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O Units, and CPU Bus Units must be completely locked (until they click into place) after connecting the adjacent Unit connectors.

4-3-1 Connecting Controller Components

Page tab
Gives the number of the main section.

Manual name

NJ-series CPU Unit Hardware User's Manual (W500)

4-9

Note This illustration is provided only as a sample. It may not literally appear in this manual.

4

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Manual Structure

Special Information
Special information in this manual is classified as follows:

Precautions for Safe Use Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information
Additional information to read as required. This information is provided to increase understanding or make operation easier.

Conventions Used in This Manual
Use of Quotation Marks and Brackets In this manual, menus and other items are indicated as follows.

Bold Italic

Menu

Indicates the menu names or processing items shown in the menu bar.

Item name Indicates the item names displayed on the screen.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

5

Manual Structure

6

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Sections in This Manual

1
2
1 Overview
A
2 Methods for Connecting and Communicating with External Devices I
A Appendices
I Index

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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CONTENTS

Introduction .............................................................................................................. 1
Intended Audience...........................................................................................................................................1 Applicable Products .........................................................................................................................................1
Relevant Manuals..................................................................................................... 2
Manual Structure...................................................................................................... 4
Page Structure.................................................................................................................................................4 Special Information ..........................................................................................................................................5 Conventions Used in This Manual ...................................................................................................................5
Terms and Conditions Agreement........................................................................ 11
Safety Precautions................................................................................................. 13
Precautions for Safe Use ...................................................................................... 14
Precautions for Correct Use ................................................................................. 15
Regulations and Standards .................................................................................. 16
Related Manuals..................................................................................................... 17
Revision History..................................................................................................... 19
Sections in This Manual .......................................................................................... 7

Section 1 Overview

1-1 Introduction ............................................................................................................................1-2

1-2 Confirming the System Configuration .................................................................................1-3

1-2-1

System Configuration ..................................................................................................................1-3

1-3 Communicating with an External Device.............................................................................1-4

1-3-1

Basic Control Operations of the Sensor Controller .....................................................................1-4

1-3-2

Communications between the Sensor Controller and an External Device..................................1-5

1-3-3

Control Methods for the Sensor Controller..................................................................................1-7

1-3-4

Communication Protocols for Communicating with the Sensor Controller..................................1-9

1-3-5

Saving Sensor Controller Data to an External Device .............................................................. 1-11

1-4 Control Methods Using an External Device ......................................................................1-13

1-4-1

Control with Control Signals and Status Signals .......................................................................1-13

1-4-2

Command/Response Method ...................................................................................................1-16

1-4-3

Data Output after Measurements ..............................................................................................1-17

1-5 Setting Procedures for Communications ..........................................................................1-28

1-5-1

Communications Setup Procedures..........................................................................................1-28

1-5-2

Communications Protocols and Communications Modules ......................................................1-29

1-6 Differences in Specifications Based on the Communications Protocol ........................1-31

1-6-1

List of Supported Signals by Communications Protocol ...........................................................1-31

1-6-2

Restrictions when Using Different Communication Protocols Simultaneously..........................1-33

1-6-3

Restrictions in Communication Protocols by Operation Mode ..................................................1-33

1-6-4

Models being Compatible with Communication Protocol ..........................................................1-34

8

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

CONTENTS

Section 2 Methods for Connecting and Communicating with External Devices

2-1 EtherCAT Connections..........................................................................................................2-4

2-1-1

Introduction to EtherCAT .............................................................................................................2-4

2-1-2

Structure of CAN Application Protocol over EtherCAT (CoE) .....................................................2-7

2-1-3

EtherCAT Slave Information Files (ESI Files) .............................................................................2-8

2-1-4

Transitions of Communications States........................................................................................2-9

2-1-5

Process Data Objects (PDOs) ..................................................................................................2-10

2-1-6

Service Data Objects (SDOs) ...................................................................................................2-13

2-1-7

Communications between Master and Slaves for EtherCAT ...................................................2-14

2-1-8

Communication Method of FH Sensor Controller Connected by EtherCAT..............................2-15

2-1-9

Communications Settings .........................................................................................................2-20

2-1-10 Communications Module Settings (Startup Settings)................................................................2-22

2-1-11 Communication Specifications Settings ....................................................................................2-23

2-1-12 Output Data Settings (Processing Item Registration) ...............................................................2-28

2-1-13 Setting Output Data (Numerical Values/Character Strings) ......................................................2-31

2-1-14 EtherCAT Network Configuration Settings ................................................................................2-37

2-1-15 Communication Test..................................................................................................................2-38

2-1-16 I/O Ports by Area (PDO Mapping) and Memory Allocation .......................................................2-39

2-1-17 I/O Signals.................................................................................................................................2-45

2-1-18 Measurement Results for which Output is Possible (Fieldbus Data Output) ............................2-49

2-1-19 Command List ...........................................................................................................................2-51

2-1-20 Measurement Trigger Input .......................................................................................................2-54

2-1-21 Command Response Processing..............................................................................................2-55

2-1-22 Data Output ...............................................................................................................................2-57

2-1-23 Timing Chart..............................................................................................................................2-60

2-1-24 EtherCAT Troubleshooting ........................................................................................................2-64

2-1-25 Sysmac Error Status .................................................................................................................2-66

2-1-26 Sysmac Device Features ..........................................................................................................2-84

2-1-27 Object Dictionary .......................................................................................................................2-87

2-2 Communicating by PLC Link ............................................................................................2-126

2-2-1

Communications Processing Flow ..........................................................................................2-126

2-2-2

Communications Settings .......................................................................................................2-128

2-2-3

Communications Module Settings (Startup Settings)..............................................................2-129

2-2-4

Communication Specifications Settings ..................................................................................2-131

2-2-5

Output Data Settings (Processing Item Registration) .............................................................2-152

2-2-6

Setting Output Data (Numerical Values and Character Strings) .............................................2-157

2-2-7

Testing Communications .........................................................................................................2-163

2-2-8

Memory Allocation...................................................................................................................2-167

2-2-9

I/O Signals...............................................................................................................................2-171

2-2-10 Output Items............................................................................................................................2-174

2-2-11 Command List .........................................................................................................................2-175

2-2-12 Command Response Processing............................................................................................2-179

2-2-13 Data Output .............................................................................................................................2-182

2-2-14 Timing Chart............................................................................................................................2-184

2-2-15 PLC Link Troubleshooting .......................................................................................................2-187

2-3 Communicating by EtherNet/IP ........................................................................................2-190

2-3-1

Introduction to EtherNet/IP ......................................................................................................2-190

2-3-2

Data Exchange with EtherNet/IP.............................................................................................2-191

2-3-3

EtherNet/IP Communications ..................................................................................................2-194

2-3-4

Communications Processing Flow ..........................................................................................2-195

2-3-5

Communications Settings .......................................................................................................2-197

2-3-6

Communications Module Settings (Startup Settings)..............................................................2-198

2-3-7

Communication Specifications Settings ..................................................................................2-199

2-3-8

Setting Tag Data Link ..............................................................................................................2-206

2-3-9

Output Data Settings (Processing Item Registration) ............................................................. 2-211

2-3-10 Setting Output Data (Numerical Values and Character Strings) .............................................2-216

2-3-11 Testing Communications .........................................................................................................2-222

2-3-12 Memory Allocation...................................................................................................................2-224

2-3-13 I/O Signals...............................................................................................................................2-234

2-3-14 Output Items............................................................................................................................2-238

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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CONTENTS

2-3-15 2-3-16 2-3-17 2-3-18 2-3-19 2-3-20 2-3-21

Command List .........................................................................................................................2-239 Command Response Processing............................................................................................2-243 Data Output .............................................................................................................................2-247 Timing Chart............................................................................................................................2-249 Communicating with the Sensor Controller using EtherNet/IP Message Communications ....2-252 Example for Command Settings .............................................................................................2-255 EtherNet/IP Troubleshooting ...................................................................................................2-256

2-4 Communicating by PROFINET .........................................................................................2-259

2-4-1

Overview of PROFINET ..........................................................................................................2-259

2-4-2

PROFINET Communications ..................................................................................................2-262

2-4-3

Communications Processing Flow ..........................................................................................2-263

2-4-4

Communications Settings .......................................................................................................2-265

2-4-5

Communications Module Settings (Startup Settings)..............................................................2-266

2-4-6

Communication Specifications Settings ..................................................................................2-267

2-4-7

IO Data Communication Settings ............................................................................................2-273

2-4-8

Output Data Settings (Processing Item Registration) .............................................................2-275

2-4-9

Setting Output Data (Numerical Values and Character Strings) .............................................2-279

2-4-10 Testing Communications .........................................................................................................2-285

2-4-11 Memory Allocation...................................................................................................................2-288

2-4-12 I/O Signals...............................................................................................................................2-294

2-4-13 Output Items............................................................................................................................2-298

2-4-14 Command List .........................................................................................................................2-299

2-4-15 Command Response Processing............................................................................................2-302

2-4-16 Data Output .............................................................................................................................2-305

2-4-17 Timing Chart............................................................................................................................2-307

2-4-18 PROFINET Troubleshooting ...................................................................................................2-310

2-5 Non-procedure Communications .....................................................................................2-313

2-5-1

Communications Processing Flow ..........................................................................................2-313

2-5-2

Communications Setup Procedures .......................................................................................2-314

2-5-3

Communications Module Settings (Startup Settings)..............................................................2-314

2-5-4

Communications Specifications Settings ................................................................................2-316

2-5-5

Output Data Settings (Processing Item Registration) ............................................................2-321

2-5-6

Output Data Settings (Numerical Values/Character Strings) ..................................................2-327

2-5-7

Testing Communications .........................................................................................................2-335

2-5-8

Output Items............................................................................................................................2-338

2-5-9

Command Formats .................................................................................................................2-340

2-5-10 Command List .........................................................................................................................2-342

2-5-11 Output Format .........................................................................................................................2-346

2-5-12 Non-procedure Communications Troubleshooting..................................................................2-348

2-6 Parallel Communications ..................................................................................................2-351

2-6-1

Communications Processing Flow .........................................................................................2-351

2-6-2

Communications Setup Procedures .......................................................................................2-353

2-6-3

Communications Module Settings (Startup Settings)..............................................................2-354

2-6-4

Communications Specifications Settings ...............................................................................2-355

2-6-5

Output Data Settings (Processing Item Registration) .............................................................2-364

2-6-6

Output Data Settings (Numerical value/Judgment) ................................................................2-370

2-6-7

Testing Communications .........................................................................................................2-376

2-6-8

I/O Signals...............................................................................................................................2-378

2-6-9

Output Items............................................................................................................................2-389

2-6-10 Command Formats .................................................................................................................2-391

2-6-11 Time Charts.............................................................................................................................2-395

2-6-12 Parallel Troubleshooting..........................................................................................................2-409

Appendices
A-1 Command Control................................................................................................................. A-2 A-1-1 Parameter Notation Examples for Command Control ................................................................ A-2 A-1-2 Details of Commands Used in EtherCAT Communications ....................................................... A-6 A-1-3 Command List ............................................................................................................................ A-7 A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET ............................... A-15 A-1-5 Non-procedure Command Details............................................................................................ A-85

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Terms and Conditions Agreement

Warranty, Limitations of Liability
� Warranties Exclusive Warranty: Omron's exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied. Limitations: OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT NONINFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right. Buyer Remedy: Omron's sole obligation hereunder shall be, at Omron's election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products unless Omron's analysis confirms that the Products were properly handled, stored, installed and maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
� Limitation on Liability; Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted.
Application Considerations Warranties � Suitablity of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer's application or use of the Product. At Buyer's request, Omron will provide applicable third party certification documents identifying ratings

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

11

Terms and Conditions Agreement
and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer's application, product or system. Buyer shall take application responsibility in all cases. NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM. � Programmable Products Omron Companies shall not be responsible for the user's programming of a programmable Product, or any consequence thereof.
Disclaimers � Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron's test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron's Warranty and Limitations of Liability. � Change in Specifications Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron's representative at any time to confirm actual specifications of purchased Product. � Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

12

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Safety Precautions
Safety Precautions
For details of Safety Precautions, refer to Safety Precautions in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

13

Precautions for Safe Use
Precautions for Safe Use
For details of Precautions for Safe Use, refer to Precautions for Safe Use in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

14

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Precautions for Correct Use
Precautions for Correct Use
For details of Precautions for Correct Use, refer to Precautions for Correct Use in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

15

Regulations and Standards
Regulations and Standards
For details of Regulations and Standards, refer to Regulations and Standards in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

16

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Related Manuals

The followings are the manuals related to this manual. Use these manuals for reference.

Name of Manual
Vision System FH Instruction Sheet

Cat. No.. 9608337-2

Vision System FH Instruction Sheet

3102269-4

Vision System FH-L Instruction Sheet

9606631-1

Smart Camera FHV Instruction Sheet

3129404-0

Smart Camera Lighting Module FHV-LTM Instruction Sheet

3129276-4

Smart Camera Lens Module FHV-LEM-S Instruction Sheet

3128622-5

Smart Camera High-Speed Lens Module FHV-LEM-H Instruction Sheet

3129408-2

FHV Series Smart Camera Setup Manual

Z408

Model FH-1��� FH-1���-�� FH-3��� FH-3���-�� FH-2��� FH-2���-�� FH-5��� FH-5���-�� FH-L��� FH-L���-��
FHV7�-�����-C
FHV-LTM��
FHV-LEM-S��
FHV-LEM-H��
FHV7�-�����-C FHV7�-�����-S�� FHV7�-�����-S��-� � FHV7�-�����-H�� FHV7�-�����-H��-� �

Purpose
To confirm the safety and usage precautions of the Vision System FH series Sensor Controller.
To confirm the safety and usage precautions of the Vision System FH series Sensor Controller.
To confirm the safety and usage precautions of the Vision System FH-Lite series Sensor Controller.
To confirm the safety and usage precautions of the Smart Camera FHV7 series.
To confirm the safety and usage precautions of the Smart camera lighting module FHV-LTM.
To confirm the safety and usage precautions of the Smart camera lens module FHV-LEM-S.
To confirm the safety and usage precautions of the Smart camera high-speed lens module FHVLEM-H.
When User want to know about the hardware specifications or to setup the Smart camera FHV series.

Contents Describes the definitions of basic terms, meaning of signal words, and precautions for correct use of FH series in the manual.
To confirm the safety and usage precautions of the Vision System FH series Sensor Controller.
Describes the definitions of basic terms, meaning of signal words, and precautions for correct use of FH-L series in the manual.
Describes the definitions of basic terms, the meaning of signal words, and precautions for correct use of FHV7 series in the manual.
Describes the definitions of basic terms, the meaning of signal words, and precautions for correct use of the lighting module FHV-LTM in the manual. Describes the definitions of basic terms, the meaning of signal words, and precautions for correct use of the lens module FHV-LEM-S.
Describes the definitions of basic terms, the meaning of signal words, and precautions for correct use of the high-speed lens module FHVLEM-H.
Describes FHV series specifications, dimensions, part names, I/O information, installation information, and wiring information.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

17

Related Manuals

Name of Manual
Vision System FH/FHV Series User's Manual
Vision System FH/FHV series Processing Item Function Reference Manual

Cat. No.. Z365
Z341

Vision System FH/FHV Series User's manual for Communications Settings

Z342

Vision System FH series Hardware Setup Manual

Z366

Vision System FH series Macro Customize Functions Programming Manual
Vision System FH/FHV Series Operation Manual for Sysmac Studio

Z367 Z343

Model
FH-1��� FH-1���-�� FH-2��� FH-2���-�� FH-3��� FH-3���-�� FH-5��� FH-5���-�� FH-L��� FH-L���-�� FHV7�-�����-C FHV7�-�����-S�� FHV7�-�����-S��-� � FHV7�-�����-H�� FHV7�-�����-H��-� �
FH-1��� FH-1���-�� FH-2��� FH-2���-�� FH-3��� FH-3���-�� FH-5��� FH-5���-�� FH-L��� FH-L���-��
FH-1��� FH-1���-�� FH-2��� FH-2���-�� FH-3��� FH-3���-�� FH-5��� FH-5���-�� FHV7�-�����-C FHV7�-�����-S�� FHV7�-�����-S��-� � FHV7�-�����-H�� FHV7�-�����-H��-� �

Purpose When User want to know about the FH/FHV series. When User confirm the details of each processing items at the create the measurement flow or operate it. When User confirm the setting of communication functions.
When User want to know about the Hard-ware specifications or to setup the Sensor Controller of the Vision System FH series. When User operate or programming using Macro Customize functions. When User connect to NJ/NX series via EtherCAT communication.

Contents Describes the soft functions, setup, and operations to use FH/FHV series/ Describes the software functions, settings, and operations for using FH/FHV series.
Describes the functions, settings, and communications methods for communication between FH/FHV series and PLCs. The following communications protocol are described. Parallel, PLC Link, EtherNet/IP, EtherCAT, and Non-procedure. Describes FH series specifications, dimensions, part names, I/O information, installation information, and wiring information.
Describes the functions, settings, and operations for using Macro Customize function of the FH series.
Describes the operating procedures for setting up and operating FH/FHV series Vision Sensors from the Sysmac Studio FH/FHV Tools.

18

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Revision History

A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual.

Cat. No. Z342-E1-14

Revision code

Rev. Code
01 02 03 04 05 06 07

Rev. Date
Jul. 2013 Aug. 2013 Sep. 2013 Jan. 2014 Jun. 2014 Oc. 2015 Apr. 2016

08

Mar. 2017

09

Jun. 2017

10

Jul. 2018

11

Nov. 2018

12

Jul. 2019

13

Nov. 2019

14

Jun. 2020

Revision Contents
First edition Additions for software version upgrade Additions for software version upgrade Additions for software version upgrade Additions for software version upgrade Additions for software version upgrade Additions for software revision upgrade and description of FH-L series Corrected mistakes. Additions for software revision upgrade Additions for software version upgrade Additions for software version upgrade Additions for software version upgrade Additions for software version upgrade Corrected mistakes. Corrected mistakes.

Software Version
Ver. 5.00 Ver. 5.10 Ver. 5.12 Ver. 5.20 Ver. 5.30 Ver. 5.50 Ver. 5.60
Ver. 5.71
Ver. 5.72 Ver. 6.10 Ver. 6.20 Ver. 6.30 Ver. 6.30 Ver. 6.40

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

19

Revision History

20

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1

Overview
This section describes communication specifications to be used for communications between FH/FHV and an external device, and the Sensor Controller control methods.

1-1 Introduction .................................................................................................... 1-2

1-2 Confirming the System Configuration ......................................................... 1-3

1-2-1

System Configuration ..................................................................................... 1-3

1-3 Communicating with an External Device ..................................................... 1-4

1-3-1

Basic Control Operations of the Sensor Controller......................................... 1-4

1-3-2

Communications between the Sensor Controller and an External Device ..... 1-5

1-3-3

Control Methods for the Sensor Controller ..................................................... 1-7

1-3-4

Communication Protocols for Communicating with the Sensor Controller ..... 1-9

1-3-5

Saving Sensor Controller Data to an External Device ...................................1-11

1-4 Control Methods Using an External Device............................................... 1-13

1-4-1

Control with Control Signals and Status Signals .......................................... 1-13

1-4-2

Command/Response Method ....................................................................... 1-16

1-4-3

Data Output after Measurements ................................................................. 1-17

1-5 Setting Procedures for Communications .................................................. 1-28

1-5-1

Communications Setup Procedures ............................................................. 1-28

1-5-2

Communications Protocols and Communications Modules.......................... 1-29

1-6 Differences in Specifications Based on the Communications Pro-

tocol................................................................................................................ 1-31

1-6-1

List of Supported Signals by Communications Protocol ............................... 1-31

1-6-2

Restrictions when Using Different Communication Protocols Simulta-

neously .......................................................................................................... 1-33

1-6-3

Restrictions in Communication Protocols by Operation Mode...................... 1-33

1-6-4

Models being Compatible with Communication Protocol.............................. 1-34

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-1

1 Overview
1-1 Introduction
This section describes a basic overview of the Sensor Controller control methods and the communication specifications, which is required when the FH/FHV series communicate with an external device.
Confirming the System Configuration This section describes the external device configuration that is required to perform measurement processing with the FH/FHV. For details, refer to 1-2 Confirming the System Configuration on page 1-3.
Communicating with an External Device This section describes the basic operations of the Sensor Controller, and the communication specifications between the Sensor Controller and an external device. For Basic Flow of Communications and Signals, refer to 1-3-1 Basic Control Operations of the Sensor Controller on page 1-4 � Process from Starting Measurements at the Sensor Controller to Data Output:
For details, refer to 1-3-2 Communications between the Sensor Controller and an External Device on page 1-5. � Sensor Controller Control Methods (Control Signals, Commands, etc.) For details, refer to 1-3-3 Control Methods for the Sensor Controller on page 1-7. � Types of Communication Protocols for Communicating with the Sensor Controller For details, refer to 1-3-4 Communication Protocols for Communicating with the Sensor Controller on page 1-9. � Moving Data between the Sensor Controller and an External Device For details, refer to 1-3-5 Saving Sensor Controller Data to an External Device on page 1-11.
Control Methods Using an External Device This section describes the methods that you can use to control the Sensor Controller from an external device. � Control with Control Signals and Status Signals
For details, refer to 1-4-1 Control with Control Signals and Status Signals on page 1-13. � Command/Response Method
For details, refer to 1-4-2 Command/Response Method on page 1-16. � Data Output after Measurements
For details, refer to 1-4-3 Data Output after Measurements on page 1-17.
Setting Procedures for Communications This section describes the procedures that are required to set up communications before starting communications between the Sensor Controller and an external device. For details, refer to 1-5-1 Communications Setup Procedures on page 1-28.
Differences in Specifications Based on the Communications Protocol This section describes the types and differences of communication protocols that are used for communications with the Sensor Controller. For details, refer to 1-5-2 Communications Protocols and Communications Modules on page 1-29.

1-2

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-2 Confirming the System Configuration

1-2-1 System Configuration

1 Overview

1-2 Confirming the System Configuration

The FH/FHV are Vision Systems that perform measurement processing through the Sensor Controller

on measurement objects imaged by a Camera.

In a system configuration connected to an external device such as a PLC or a PC (personal comput-

er), measurement commands can be received from and measurement results can be output to the external device.

1

1-2-1 System Configuration

An overview of the FH/FHV series system configuration is shown below.

External device (e.g, PLC)

Sensor Controller

Camera

The Sensor Controller and an external device (PLC, etc.) are connected with a communication cable and communicate with each other using various communication protocols. For details of various communication protocols, refer to Section 2 Methods for Connecting and Communicating with External Devices on page 2-1. An LCD monitor (BOX type only) for operation and monitoring and a camera are connected to the Sensor Controller unit. For details, refer to Vision System FH Series User's Manual (Cat. No. Z365), Smart Camera FHV Series Setup Manual (Cat. No. Z408), and the Instruction Manual provided with each individual device.

Communications Protocol Parallel
PLC Link
EtherNet/IP EtherCAT PROFINET
Non-procedure

Communication Cable Parallel I/O cable Ethernet cable RS-232C cable Ethernet cable Ethernet cable Ethernet cable Ethernet cable RS-232C cable

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-3

1 Overview
1-3 Communicating with an External Device
This section describes the communication specifications, control methods in communications, and settings required before starting communications with an external device.
1-3-1 Basic Control Operations of the Sensor Controller
The following figure shows basic communications, and the flow of signals and data, between an external device and the Sensor Controller.

Trigger sensor

Measurement triggers

and other control

commands are input.

PLC

External device

Sensor Controller

The measurement results are output. � Status signals � Overall judgement � Measured values � Character output

PLC External device

The following methods are used to exchange commands and data, between an external device and the Sensor Controller.

From an external device to the Sensor Controller

Type

Control signals (Input signal)

Control commands

Communications command input

Description
A measurement is performed when a measurement trigger (i.e., STEP signal: ON) is input. For information of control signals, refer to Control Signals and Status Signals on page 1-13.
You can send commands to perform measurements, switch scene groups, or perform other tasks. The communication commands depend on the communication protocol used. For details, refer to the section for each communication protocol.

From the Sensor Controller to an external device

Type Status signals Overall judgment Measured values

Description
When the Sensor Controller recognizes a control signal or communication command input and starts measurement processing, it reports its status to the external device using status signals such as a BUSY signal. For details, refer to Control Signals and Status Signals on page 1-13.
NG is output whenever there is one or more NGs in the judgment results for multiple processing items. It can be output using the OR signal or the TJG output parameter. For details, refer to Control Signals and Status Signals on page 1-13.
The measured values for processing items are output. The items to be output need to be previously registered to the output data (data 0 to 7) using processing items for output. For details, refer to Settings Required for Data Output on page 1-21.

1-4

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1 Overview

1-3 Communicating with an External Device

1-3-2 Communications between the Sensor Controller and an External Device

Type Character output

Description
This is valid in PLC Link and Non-procedure communications protocols. You can output character strings and numbers read by processing items such as Character Inspection, Barcode, or 2D Code. You can also use commands to acquire them after a measurement is performed. For details, refer to Items that can be Output as Output Data on page 1-19.

Additional Information

1

You can also use the FTP server to obtain logged image files and logged data files saved in the

FH/FHV (including external storage) from a FTP client such as web browser.

1-3-2 Communications between the Sensor Controller and an External Device
Communications between the Sensor Controller and an external device are performed as shown below. Here, describe how to start measurement with a communication command and to output data.

PLC or other external device

Data output request (DSA signal)*1

(1) Command Example: Starting a measurement, etc.
Sensor Controller

Response

(3) Data output

Measurement flow
Camera Input
Search

Communications processing

(2) The data at this point is output to the Communications Module.

Output Unit

Communications Module

An Output Unit processing item is required to perform data output. (Multiple Output Unit items can be used.)

Result Completion signal (GATE signal)*1

(1) When the Sensor Controller receives a command from an external device such as a PLC, it performs the command and returns a response.
(2) The measured data is output via the Communication module by the Output Unit (an abbreviation for Results Output Unit) placed in the measurement flow.
(3) The measurement data is output when the Output Unit is performed and not when the measurement is completed. *2

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-5

1 Overview
*1 When output control is set to handshaking (data output is controlled by the DSA and GATE signals). For details, refer to Control Signals and Status Signals on page 1-13.
*2 When handshaking is performed in the output control, the measurement data is held in the Communication module until a data output request (DSA signal) is received from the external device. For details, refer to Data Output Control with Handshaking on page 1-25.
Precautions for Correct Use 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. For details, refer to Settings Required for Data Output on page 1-21.

1-6

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-3 Communicating with an External Device

1-3-3 Control Methods for the Sensor Controller

1 Overview

1-3-3 Control Methods for the Sensor Controller
There are three methods below to control the Sensor Controller with an external device such as a PLC. For details of each control method, refer to their corresponding section.

Control Methods

Method

Overview

Trigger type and area

1
Signal and area to be used

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

Operation is controlled by sending control commands. The results performed by the commands can be checked with responses 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 and Response Areas)

Data output after measurement

After measurement was performed, the previously specified measurement data is automatically output.

Not required (Automatically output after measurement)

PLC I/O memory (Data Output Area)

1. Control with Control Signals and Status Signals (Refer to 1-4-1 Control with Control Signals and Status Signals on page 1-13.) Control and status check 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 for checking the operating status of the Sensor Controller.

Trigger sensor External device

Control signal Status signal

Sensor Controller

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-7

1 Overview

2. Control with Commands and Responses (Refer to 1-4-2 Command/Response Method on page 1-16.) Control is performed by storing a control command and the response to it to the PLC's I/O memory. This method is best suited to send multiple commands to the Sensor Controller without using exclusive communication instructions for a PLC.

External device

Sensor Controller

I/O memory Command Area Response Area
Output Area

(1) Command (3) Response

(2) Command execution

3. Data Output after Measurement (Refer to 1-4-3 Data Output after Measurements on page 1-17.) After measurement was performed, the previously specified measurement data is automatically output to the PLC's specified I/O memory. This allows you to output measurement results from the Sensor Controller to the PLC automatically without sending data requests from the PLC.

External device

Sensor Controller

I/O memory Command Area Response Area
Output Area

(2) Measurement data

(1) Measurement processing

1-8

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-3 Communicating with an External Device

1-3-4 Communication Protocols for Communicating with the Sensor Controller

1 Overview

1-3-4 Communication Protocols for Communicating with the Sensor Controller

The Sensor Controller can be controlled using various communication protocols by an external device

such as a PLC or a PC.

The communication protocols to control the Sensor Controller by an external device are described be-

low.
PLC

1
Sensor Controller

Computer

Control can be performed through different communications protocols.

Parallel

EtherNet/IP

PLC Link

EtherCAT

PROFINET Non-procedure

Applicable Communications Protocols The communication protocols and summary for each communication method available in the Sensor Controller are below.
OK: Supported, - : Not supported

Communication method
Contract input
Frame transmission

Communication
protocol
Parallel
Non-procedure

Communication Cable Type

Overview

Parallel Ether-

I/O

net

RS-232C/ 422*2

Using a combination of ON and OFF

signals of multiple physical contacts exchanges data between an external de-

OK

-

vice and the Sensor Controller.

Without using any specific communica-

tion protocol, command frames are sent

to the Sensor Controller and response

frames are received from it. By sending and receiving data in ASCII

-

OK

or binary formats, data is communicated

between an external device such as a

PLC or a PC and the Sensor Controller.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-9

1 Overview

Communication method

Communication
protocol

Overview

Communication Cable Type

Parallel Ether-

I/O

net

RS-232C/ 422*2

This is a communication protocol for the

OMRON Vision System.

Areas for control signals, Command,

PLC Link

Response, and measurement data are assigned in the PLC's I/O memory, and

-

OK

data is communicated between the PLC

and the Vision System by sharing them

cyclically.

This is an open communication proto-

col.

Tag data links are used to communicate

with the Sensor Controller.

Structure variables corresponding to the

control signals, command data and re-

EtherNet/IP

sponse data, and measurement data

-

OK

-

are created on the PLC. Those varia-

bles are used as tags to input and out-

put data via the tag data links to ex-

change data between the PLC and the

Data sharing

Sensor Controller.*1
This is an open communication protocol.

Areas for control signals, Command,

PROFINET

Response, and measurement data are assigned in the PLC's I/O memory, and

-

OK

-

data is exchanged between the PLC

and the Vision System by sharing the

data via IO data CR.

This is an open communication proto-

col.

PDO (process data object) communica-

tions are used to communicate with the

Sensor Controller.

I/O ports corresponding to the control

EtherCAT

signals, command data, response data,

-

OK

-

and measurement data are prepared in

advance, and the variables assigned to

the I/O ports are used to input and out-

put data via PDO communications to

exchange data between the PLC and

the Sensor Controller.

*1. When a CJ series PLC is connected, specify each area in the I/O memory. *2. FH-1000/2000/3000/5000, and FHV series equip RS-232C only.

1-10

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-3 Communicating with an External Device

1-3-5 Saving Sensor Controller Data to an External Device

1 Overview

1-3-5 Saving Sensor Controller Data to an External Device
In addition to sending and receiving data via a communication protocol, you can also save data in the Sensor Controller to an external device using the methods described below. For details, refer to the Vision System FH/FHV Series User's Manual (Cat. No. Z365)..

Connecting the FH/FHV as an External Drive

In addition to the Sensor Controller's built-in RAM disk, you can directly save various types of data

1

such as scene data, scene group data, logged data, and logged images to the external media below.

� For external storage, refer to Using External Storage Devices in the Vision System FH/FHV Series User's Manual (Cat. No. Z365). Data can be saved directly to a USB memory stick or SD Memory Card inserted into the slot on the Sensor Controller.
� For network drive, refer to the Shared folder on a computer connected to the network in the Vision System FH/FHV Series User's Manual (Cat. No. Z365). 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 shared folder settings must be set on the computer)

� Logged images � Logged data

The Sensor Controller is set up to save to the shared folder on the computer.

� For data transfer (FTP server), refer to the Saving Data to an External Device in the Vision System FH/FHV Series User's Manual (Cat. No. Z365). You can move logged image files and other data saved in the Sensor Controller's RAM disk or a USB memory stick to a computer via Ethernet. The computer needs to have an FTP client function to access the Sensor Controller of the FH/FHV series. The computer cannot be accessed directly from the Sensor Controller.

Browser (FTP client)

Computer

Sensor Controller (FTP server)

Ethernet Access via FTP

RAM disk

Image files

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.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-11

1 Overview

� For remote operation over a network, refer to the Remotely Operating the Controller (Remote Operation) in the Vision System FH/FHV Series User's Manual (Cat. No. Z365). If more than one Sensor Controller is connected via Ethernet, a computer (FZ tool) connected to the same Ethernet network can operate and monitor all the Sensor Controllers at once.
Computer (FH/FZ5 Tool)
Operate/monitor

Ethernet

Sensor Controller

Hub
Sensor Controller

1-12

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1 Overview

1-4 Control Methods Using an External Device

1-4-1 Control with Control Signals and Status Signals

1-4 Control Methods Using an External Device

This section describes how to control the Sensor Controller from an external device such as a PLC.

1-4-1 Control with Control Signals and Status Signals

1

Control and status check for the Sensor Controller is performed with the ON and OFF status of the control and status signals. A PLC inputs measurement triggers or other commands as control signals. The operating status of the Sensor Controller, judgment results, and other status information can be checked with status signals output from the Sensor Controller.

Trigger sensor

Control signal

Sensor Controller

Status signals

External device

(1) Measurement trigger input (STEP signal: ON).

(2) Command received. (BUSY signal turned ON.)
(3) Judgement results are output. (OR signal turned ON.)

(1) The external device turns the STEP signal ON to input a measurement trigger to the Sensor Controller. (2) When the Sensor Controller identifies that the STEP signal is turned ON, it outputs the BUSY signal to
notify the external device and starts measurement. (3) When the Sensor Controller completes the measurement, it outputs the judgment results on the OR signal
to notify the external device.

Control Signals and Status Signals
The signal types that are input and output to the Sensor Controller as control and status signals are described below.
l Input Signals (PLC to Sensor Controller)

Signal EXE Command Request
Trigger

Name Control Command Execution Signal
Measure Bit

STEP

Measure Bit

DSA (Used only for handshaking output control) Result Set Request ERCLR Error Clear

Data Output Request Signal
Error Clear Bit

Function
This is turned ON when the PLC will issue a command to the FH/FHV.
This is turned ON when measurement will be performed. This is turned ON when measurement will be performed.
During handshaking, the user (PLC) uses this signal to request to output data output results performed in the measurement flow to external from the Sensor Controller of the FH/FHV series.
This is turned ON when the ERR signal from the Sensor Controller will be cleared.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-13

1 Overview

Signal XEXE
Flow Command Request

Name
Flow Command Request Bit

DI (DI0 to DI7)

Command Input Signals

ENCTRIG

Encoder Trigger Input (Phase A, B, Z)

Function
This is turned ON when a command will be performed while PLC Link, Fieldbus, or parallel flow control is performed.
These are used to input commands from a parallel interface.
This is the encoder input signal. This signal is only available when the encoder trigger will be used.

l Output Signals (Sensor Controller to PLC)

Signal
BUSY
FLG Command Completion GATE Result Notification READY
Trigger Ready
OR Total Judgment DI (DO0 to DO15) XFLG Flow Command Completion XBUSY Flow Command Busy XWAIT Flow Command Wait Trigger ACK Command Ready

Name
Busy Signal
Control Command Completion Signal
Data Output Completion Signal
Camera Image Input Enabled Signal
Overall Judgment Output Signal Data Output Signals
Flow Command Completion Bit
Measurement Command Busy Bit Measurement Command Wait Bit Trigger Signal Acknowledged Bit Command Execution Ready Bit

Function
This signal indicates that new requests cannot be accepted because an external input such as a command is currently handled. "ON" of this signal does not mean that a command is currently performed. To check whether a command is being executed, check the Command Completion (FLG) signal. The Sensor Controller of the FH/FHV series uses this signal to inform the user (PLC) that a command has been completed. This signal informs the user (PLC) of the timing to load output data. "ON" of this signal indicates that the Sensor Controller is outputting the data.*1 This signal indicates that the STEP (Measurement Trigger) signal or the Trigger signal can be input.*2 When the multi-input function is used, following STEP signal or Trigger signal is accepted only when this signal is "ON".
This signal notifies the overall judgment results.*3
These signals are used to output parallel data and parallel judgment through a parallel interface.
This signal indicates that a command performed while PLC Link or Fieldbus flow control is being performed has been completed.
This signal indicates that a command input while PLC Link or Fieldbus flow control is being performed is in execution. This signal indicates that a command input can be accepted while PLC Link or Fieldbus flow control is being performed. This signal indicates that the Sensor Controller of the FH/FHV series has accepted a Trigger signal. This signal indicates that a control command is executable.

1-14

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-4 Control Methods Using an External Device

1-4-1 Control with Control Signals and Status Signals

1 Overview

Signal

Name

Function

ERR Error Status

Error Signal

This signal indicates that the FH/FHV detects the fol-

lowing errors.

� Camera connection error

� Battery error

� Fan error

� System error

� Communications timeout � STEP input during measurement

1

The ERR signal does not turn OFF even after the er-

ror is eliminated. The signal turns OFF only when the

error status is cleared by a control command.

For details, refer to Error Messages and

Troubleshooting in the Vision System FH/FHV Series

User's Manual (Cat. No. Z365)..

RUN Run Mode

Measurement Mode Signal

This is a notification signal indicating the Sensor Controller of the FH/FHV series is in Run mode (In a measurement capable state with RUN signal output checked in the Layout settings for the currently displayed line).

ACK

Command Completion Flag

This signal indicates that the DI command execution has been completed.

SHTOUT

Exposure Completion Signal

This signal indicates that Camera exposure has been completed.

STGOUT

Strobe Trigger Output

This is the trigger signal for the strobe.

*1. This signal is linked to the Output Unit processing items in the measurement flow. This has no linkage relation with the BUSY signal. Also, this has no linkage relation with the OR signal in the parallel communication protocol. Note that the operation is different when PLC Link is used. For details, refer to 2-2 Communicating by PLC Link on page 2-126.
*2. This signal is always OFF during display of a through image. When you use a camera with lighting controller, based on its type and connecting conditions, the time required for the READY or Trigger Ready signal to turn OFF may increase in comparison with not using it. For details, refer to Camera Image Input FH, Camera Image Input HDR, or Camera Image Input FHV in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).
*3. The OR signal is output only when the Output option is selected in the Adjustment window.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-15

1 Overview

1-4-2 Command/Response Method
Parallel Commands are input to the Sensor Controller by turning the DI signals (DI0 through DI7) ON and OFF. Since there is no direct response for these commands, so check the ACK signal whether or not a command was accepted. The command code is input with signals DI0 through DI6, and the command is performed by turning DI7 ON.
DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0
Execution Command Command information
PLC Link, EtherNet/IP, EtherCAT, or PROFINET By storing control commands from the PLC to the Sensor Controller and responses from the Sensor Controller to the PLC into the PLC's I/O memory, command and response control signals are exchanged. This enables you to control the Sensor Controller using commands such as single measurement and scene switch without any sequence control such as issuing communication commands from the PLC.

Memory Areas Used by the Command/Response Method

Command Area
Response Areas

You write the control commands to execute for the Sensor Controller to this area.
You read the performed results of the control commands written in the Command Area from this area.

PLC CPU Unit
I/O memory (communications areas)
(1) Command Area (5) Response Area

(2) Command

Sensor Controller

� Switch Scene Number � Single Measurement, etc.

(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's I/O memory area (the Command Area). (2) The PLC (the user) then turns the EXE bit ON to send the control command to the Sensor Controller. (3) The Sensor Controller perfoms the received control command. (4) The Sensor Controller returns a response to the PLC after the control command was performed. (5) The PLC (the user) stores the response in a specified PLC's I/O memory area (the Response Area).
The communication commands depend on the communication protocol used. For details, refer to A-1-3 Command List on page A-7.

1-16

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1 Overview

1-4 Control Methods Using an External Device

1-4-3 Data Output after Measurements

Additional Information
Command-driven character string output is not supported when using EtherNet/IP tag data link communication, EtherCAT, or PROFINET. To output character strings, use commands equivalent to Non-procedure communication in the EtherNet/IP message communication. For details, refer to 2-3-19 Communicating with the Sensor Controller using EtherNet/IP Message Communications on page 2-252
1
Non-procedure Communications
Communication 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) communica-
tions.

1-4-3 Data Output after Measurements
Just after a Single Measurement or Start Continuous Measurement command is executed, the Sensor Controller automatically outputs the data associated with the measurement specified in advance 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 required to receive the data (i.e., when handshaking is enabled). 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, EtherCAT, or PROFINET The output data is automatically output to the PLC's specified I/O memory below.

Area of Memory Used for Data Output after Measurements:

Data output area

After measurement performed, the output data associated with the measurement is written to this area by the Sensor Controller.

PLC
CPU Unit
I/O memory (communications areas)

(1) Measurement execution

Sensor Controller

Data Output Area

(2) Data
� Specified data is automatically output. � Output characters

Flow of Communications between the PLC and the Sensor Controller: The data to output after measurement performed and the PLC I/O memory area (Data Output Area) to store that data need to be specified in advance. For details, refer to Settings Required for Data Output on page 1-21.
(1) Measurement is performed. (2) After the measurement was performed, the specified measurement data is stored in the Data Output Area
in the PLC.

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1 Overview

Parallel The data is output to the PLC signal lines via DO signals (DO0 to DO15).
Non-procedure Communications The data is output to the PLC reception buffer through non-procedure (normal) communications.

Outputting the Measurement Data

The measurement data is output to the external device via the Communications Module by the processing unit for data output (hereafter, Output Unit) placed in the measurement flow. Therefore, to output measurement data, you must place an Output Unit in the measurement flow in advance. The measurement data is output when the Output Unit is performed and not when the measurement has been completed.

Processing order Measurement flow

Measurement started.

0.Camera Image Input

Sensor Controller Single Measurement command
Processing started (BUSY).

Measurement executed.

1.Search

Search measurement results output.

2.Data Output

Communications Module

The results for measurements for 1. Search are output.

You can output character strings read by processing items such as Character Inspection, Barcode, or 2D Code. (Available only for PLC Link and Non-procedure protocols) Character strings are output simultaneously when the processing item is performed.

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1 Overview

1-4 Control Methods Using an External Device

1-4-3 Data Output after Measurements

Processing

order

Measurement flow

Measurement started.

0.Camera Image Input

Sensor Controller Single Measurement command
Processing started (BUSY).

Measurement processed.

1.Character Inspection

Communications Module

Read characters are output.

1

Characters are output at the same time that the characters are read.

Additional Information
Command-driven character string output is not supported when using EtherNet/IP tag data link communication, EtherCAT, or PROFINET. To output character strings, use commands equivalent to Non-procedure communication in the EtherNet/IP message communication. For details, refer to 2-3-19 Communicating with the Sensor Controller using EtherNet/IP Message Communications on page 2-252

Items that can be Output as Output Data

Measurement Data You can output at once up to eight items (32 bytes) with performing one Output Unit.

Additional Information
� If you need to output nine or more data items, set more than one Output Unit processing unit in the measurement flow. For details, refer to Outputting Multiple Measurement Data Items on page 1-23
� The number of data items that can be output by one Output Unit can be increased by changing a setting when using PLC Link or EtherCAT communications, as shown below. - PLC Link: 256 max. (1,024 bytes max.) - EtherCAT: 64 max. (256 bytes max.)
The following items can be output. � Judgment result � Measured parameters (correlation values, reference coordinates, etc.) � Results calculated based on the values of the measured parameters � Judgment results for expression results (Parallel Judgment Output)

Character Output (Available only for PLC Link and Non-procedure Protocols) You can output character strings read by processing items such as Character Inspection. The maximum number of output characters are as follows. � Character Inspection: 32 characters � Barcode: 1,024 characters � 2DCode: 652 characters

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1 Overview
� 2DCode II: 652 characters � OCR: 128 characters (32 characters x 4 lines) NULL (\0) is attached at the end of the read string to be output.
The processing items supporting character strings output are listed below. � Character Inspection � Barcode � 2DCode � 2DCode II � OCR For details of the character output format, refer to each processing item description in the Vision System FH/FHV Series Processing Items Reference Manual (Cat. No. Z341).
Additional Information
Command-driven character string output is not supported when using EtherNet/IP tag data link communication, EtherCAT, or PROFINET. To output character strings, use commands equivalent to Non-procedure communication in the EtherNet/IP message communication. For details, refer to 2-3-19 Communicating with the Sensor Controller using EtherNet/IP Message Communications on page 2-252

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1-4 Control Methods Using an External Device

1 Overview

Settings Required for Data Output
Use the following procedures to set up Output Unit for data output.

Measurement Data

1. Place the data output processing unit(s) in the processing flow.

Place the processing unit for data output in the measurement flow.

1

Processing Units That Serve as Output Units: On the processing item tree in the Flow Editor window, the processing items under Output result serve as Output Units.

1-4-3 Data Output after Measurements

Output Unit Selection: Select the Output Units with the following combination according to a communication protocol to be used. For details of communication protocols, refer to 1-3-4 Communication Protocols for Communicating with the Sensor Controller on page 1-9.
OK: Data can be output, - : Data cannot be output.

Output unit

Parallel

Result Output (I/O)

-

Result Output (Message)

-

Result Output (Parallel I/O)

-

Parallel Data Output

OK

Parallel Judgment Output

OK

Serial Data Output

-

Fieldbus Data Output

-

*1. Except message communications

PLC Link
OK -
OK -
OK -

Communication Protocol

EtherNet/IP EtherCAT PROFINET

OK*1

OK

-

OK*1

OK

-

OK

Nonprocedure
OK
OK -

Precautions for Correct Use
When Non-procedure UDP is used to output data of Result output (Message), the Sensor Controller outputs the data to only the device whose command was accepted in the end.

2. Set the items to output Set the items to output as output data in the Output Units placed in the measurement flow. For the procedures to set output items in the Output Units, refer to the description for each communication protocol.

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1 Overview
Character Output (Available only for PLC Link and Non-procedure Protocols) Perform the character output settings for processing items to read output characters such as Character Inspection. Since the above processing items perform the character output operation, it does not need to set Output Units in the measurement flow. For the settings to output characters, refer to the description for each processing item in the Vision System FH/FHV Series Processing Items Reference Manual (Cat. No. Z341). � Character Inspection � Barcode � 2DCode � 2DCode II � OCR
Additional Information
Command-driven character string output is not supported when using EtherNet/IP tag data link communication, EtherCAT, or PROFINET. To output character strings, use commands equivalent to Non-procedure communication in the EtherNet/IP message communication. For details, refer to 2-3-19 Communicating with the Sensor Controller using EtherNet/IP Message Communications on page 2-252

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1-4 Control Methods Using an External Device

1-4-3 Data Output after Measurements

1 Overview

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 out-

put more than nine different data items, you must register multiple Output Units in the measurement

flow.

1

Although data output is performed for each Output Unit placed in the measurement flow, the output destination for the data is the same PLC's I/O memory area (Data Output Area). Therefore, the first output data is overwritten by the following output data if you do nothing. When you want to save all the output data, take one of the following means.

Sensor Controller

PLC

Processing

order

Measurement flow

Measurement started.

0.Camera Image Input

1.Search

Search measurement results output.

2.Data Output 3.Position Compensation

Position compensation values output.

4.Data Output

Communications Module

I/O memory Command
Area
Response Area
Output Area

The data that is output first is overwritten by the second data output

Outputting Data with Result Output (I/O) or Result Output (Message) Processing Unit The "Result Output (I/O)" or "Result Output (Message)" processing item can output nine or more items by only one processing item. For details, refer to Result Output (I/O) or Result Output (Message) in the Vision System FH/FHV Series Processing Items Reference Manual (Cat. No. Z341).

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1 Overview

Sensor Controller

PLC

Processing

order

Measurement flow

Measurement started.

0.Camera Image Input FH

1.Search

Output the results of Search or
Advanced filter

2. Advanced filter N. -------------

Communications Module

N+1. Result output (I/O)

I/O memory Command
Area
Response Area
Output Area

Offsets (Available only for PLC Link Communication Protocol): 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. For details, refer to 2-2-5 Output Data Settings (Processing Item Registration) on page 2-152.
Controlling Data Output with Handshaking: When handshaking is used to control data output, the timing of outputting the data is controlled by I/O signals. Therefore, each time that data is output, read and move the data to a different part in the PLC's I/O memory. For details, refer to Data Output Control with Handshaking on page 1-25.
Additional Information
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 Output Units can be used via parallel communications:

Output unit Parallel Data Output
Parallel Judgment Output

Output data
The measurement data is output. Up to eight items can be output.
The judgment results are output. Up to 16 judgment results can be output. The following two types of judgment results can be output. � Judgment results for specified processing items. � Judgment results of arbitrary judgment conditions set for specified item values

Parallel Data Output and Parallel Judgment Output Units are output in the order they are processed in the measurement flow.

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1-4 Control Methods Using an External Device

1-4-3 Data Output after Measurements

1 Overview

Outputting Multiple Items with Parallel Data Output

The items set for output data numbers 0 through 7 via parallel data output are output to the PLC's re-

ception buffer in ascending order, one data item at a time (16-bit units). Each time a data item is out-

put, the GATE signal turns ON. *1

In that time, the first data item output to the PLC's reception buffer (data 0) is overwritten with the fol-

lowing output data item (data 1).

Therefore, the data output to the PLC's reception buffer needs to be moved to the PLC's memory each time the GATE signal turns ON.

1

Parallel data output

0. Measurement data 0 7. Measurement data 7

DO0 to DO15 signals
GATE ON signal
OFF

Data output order

16 bits

Measurement data 0

Measurement data 7

PLC
Reception buffer

*1: The operation of the DSA signal depends on whether Handshaking for output control is enabled. For details, refer toData Output Control with Handshaking on page 1-25.

Data Output Control with Handshaking
The timing for data output can be controlled through the DSA and GATE signals. As the timing for transferring output data can be controlled, it is useful when output data from multiple Output Units is received.

Requirements for Using Data Output Control with Handshaking When controlling data output, set the output control method to Handshaking in the communication protocol settings. For details, refer to Communications Specifications Setting for each communication protocol.

Parallel Communications: PLC Link Communications: EtherNet/IP Communications: EtherCAT Communications: PROFINET Communications:

2-6-4 Communications Specifications Settings on page 2-355 2-2-4 Communication Specifications Settings on page 2-131 2-3-7 Communication Specifications Settings on page 2-199 2-1-11 Communication Specifications Settings on page 2-23 2-4-6 Communication Specifications Settings on page 2-267

Handshaking When when 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 Sensor Controller. The external device takes in the measurement data when the GATE signal turns ON.

Signals Used for Handshaking

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1 Overview

Signal

Name

Description

DSA

Data Output Request Signal

This signal is sent by the external device (PLC) to the Sensor Controller to request data output.

GATE

Data Output Completion Signal

This signal is sent by the Sensor Controller to inform the external device (PLC) of the timing to load output data. This signal is output only when the DSA signal is ON.*1

*1. When handshaking is not enabled for output control, the GATE signal will also be turned ON when data is output from the Sensor Controller. However, when handshaking is disabled for output control during PLC Link communications, the GATE signal is not even output.

External device (1) DSA signal

Sensor Controller
(2) GATE signal (3) Measurement results output

(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 performed.

DSA Signal ON Timing The DSA signal needs to be turned ON when data is required. When an Output Unit has been performed and data to output is ready, the Sensor Controller will output the data when it detected the DSA signal turned ON.

Measurement flow DSA (data output request) signal status

Start measurement.

OFF

Processing items related to results output

No data output.

Processing item

ON

Data output started.

To output measurement results immediately, issue the measurement trigger and turn ON the DSA signal. The Sensor Controller does not check the change from OFF to ON of the DSA signal but checks the ON state. As the measurement results are output from the Sensor Controller to the external device immediately when the Output Unit is performed, the PLC takes in the output data at once.

Measurement flow DSA (data output request) signal status

Start measurement.

OFF

ON

Processing items related to results output

Data output started.

Processing completed.

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1-4 Control Methods Using an External Device

1-4-3 Data Output after Measurements

1 Overview

Receiving Multiple Continuous Output Data Items When multiple output data items from multiple Output Units are received, receive the data one at a time using the DSA and GATE signals.

(i.e., PLC Link Communications with handshaking).

Output Unit 1 executed. Output Unit 2 executed.

1

Measurement trigger (e.g., STEP signal) Wait for the first output data.

Wait for the second output data.

Data Output Request ON

(DSA) signal

OFF

Result Completion (GATE) signal

ON OFF

Output data (DATA 0 to 7)

ON
OFF (1)

First output data

Second output data

(2) (3) (4) (5)

(6)

(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 ON, and it outputs the first data. (3) The user (PLC) turns OFF the DSA signal when the GATE signal turns ON. Then the user (PLC) checks
the output data received in the PLC's Data Output Area and moves it to another area in the PLC I/O memory. (4) The Sensor Controller checks that the DSA signal is turned OFF and turns OFF the GATE signal automatically. (5) The user (PLC) turns ON the DSA signal again after receiving the output data has completed 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 step 3 to 5 are repeated.
Step 3 to 5 above are repeated for all subsequent data output items.

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1 Overview

1-5 Setting Procedures for Communications

This section describes an overview of the setting procedures that the Sensor Controller starts communication with an external device such as a PLC, and the communication modules to be used for the communications.
Additional Information
For connection with a Touch Panel Monitor, refer to Settings for Touch Panel Monitor in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

1-5-1 Communications Setup Procedures
To communicate with an external device, the settings below are configured.

��� 1. Setting the Communications Module (Startup settings)
���
2. Communications specifications settings
���
3. Setting output data*1
���
4. Testing communications

The communication method to be used is determined by selecting a communication module. For details, refer to Communications Module Settings (Startup Settings) for each communication protocols in the Methods for Connecting and Communicating with External Devices.
The communication specifications are set for the communications method of the Communications Module that was selected in step 1. Set the communication area assignments for exchanging data with the external device. For details, refer to Communication Specifications Settings for each communication protocol in the Methods for Connecting with External Devices. � The setting data (including communication settings) can be
saved and loaded as system data (extension: .ini) or system + scene group 0 data (extension : .bkd). For details, refer to Saving Settings Data to the Controller RAM Disk or an External Storage Device in the Vision System FH/FHV Series User's Manual (Cat. No. Z365)..
The data to output to the Data Output Area is registered in the Output Unit. The Output Unit(s) is placed in the processing flow in the same way as for other processing items.
If communications are not working properly, check the communications setup in the step 2 and perform a communication test to determine whether or not the Sensor Controller can be detected on the network. If that does not solve the problem, refer to the troubleshooting section.

*1. When performing control through data sharing (data output after measurement).

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1-5 Setting Procedures for Communications

1-5-2 Communications Protocols and Communications Modules

1 Overview

1-5-2 Communications Protocols and Communications Modules

A Communications Module is used to communicate between the Sensor Controller and an external device. The appropriate Communications Module needs to be previously set for the communication protocol to be used to communicate between the Sensor Controller and the external device.

l Communications Module Settings

1

The Communication Module used for communications is selected in the startup settings.

1 On the Main window, click Tool - System Settings to open the system settings.
2 On the Multiview Explorer on the left, select System settings - Startup - Startup setting and
then click the Communication tab. For details of setting procedures, refer to Communications Module Settings for each communications protocol.

Precautions for Correct Use
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.

l Selecting a Communications Module
Select one of the following Communication Modules based on a combination of the communication protocol used to connect between the Sensor Controller and an external device, and the communication interface.

Communications protocol
Parallel
PLC Link
EtherNet/IP

Communication interface
Parallel
Ethernet
RS-232C/422
EtherNet/IP

Communication Module
Standard Parallel I/O
Serial (Ethernet) � PLC Link (SYSMAC CS/CJ/CP/One) (UDP) � PLC Link (SYSMAC CS/CJ/CP/One) (TCP) � PLC Link (MELSEC QnU/QnAS) (UDP) � PLC Link (MELSEC QnU/QnAS) (TCP) � PLC Link (JEPMC MP)
Serial - PLC Link (RS-232C/422) � PLC Link (SYSMAC CS/CJ/CP/One) � PLC Link (MELSEC QnU/Q/QnAS)
Fieldbus � EtherNet/IP � EtherCAT � PROFINET

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1 Overview

Communications protocol
Non-procedure

Communication interface
Ethernet
RS-232C/422

Communication Module
Serial (Ethernet) � Non-procedure (UDP) � Non-procedure (TCP) � Non-procedure (TCP Client) � Non-procedure (UDP) (Fxxx series method)
Serial (RS-232C/422) � Non-procedure � Non-procedure (Fxxx series method)

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1 Overview

1-6 Differences in Specifications Based on the Communications Protocol

1-6-1 List of Supported Signals by Communications Protocol

1-6 Differences in Specifications Based on the Communications Protocol

This section describes the types and differences of communication protocols that are used for communications with the Sensor Controller.
1 1-6-1 List of Supported Signals by Communications Protocol
Some of the control and status signals to be used depend on the communication protocol as shown below. The table below can be used to check which signals exist in each communication protocol by means of a vertical arrangement. Note that this table does not indicate whether signals of one communication protocol can be used simultaneously with signals of other communication protocols. For restriction on communication protocols that can be used simultaneously, refer to 1-6-2 Restrictions when Using Different Communication Protocols Simultaneously on page 1-33.
Precautions for Correct Use
The control signals and status signals cannot be used for control in Non-procedure communications.

l Input Signals (PLC to Sensor Controller)

OK: Can be used, - : Cannot be used

Signal

Name

EXE Command Request Trigger STEP DSA (Used only for handshaking output control) Result Set Request ERCLR Error Clear XEXE Flow Command Request
DI (DI0 to DI7)
ENCTRIG

Control Command Execution Signal Measure Bit Measure Bit
Data Output Request Signal
Error Clear Bit
Flow Command Request Bit
Command Input Signals Encoder Trigger Input (Phase A, B, Z)

Signals for each communication protocol

Parallel

PLC Link

EtherNet/I P

EtherCAT

PROFINET

-

OK

-

OK

-

OK

-

OK

-

OK

-

OK

-

OK

-

OK

-

OK

-

OK

-

OK

-

OK

-

OK

-

OK

-

OK

-

OK

-

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1 Overview

l Output Signals (Sensor Controller to PLC)

OK: Can be used, - : Cannot be used

Signal

Name

Signals for each communication protocol

Parallel

PLC Link

EtherNet/I P

EtherCAT

PROFINET

BUSY

Busy Signal

OK*1

FLG

-

Control Command

Command Comple- Completion Signal tion

-

OK

-

OK

-

OK

-

GATE

Data Output Com-

OK

OK*2

OK

-

OK

Result Notification pletion Signal

-

OK

-

READY

Camera Image In-

OK

-

Trigger Ready

put Enabled Signal

-

OK

-

OR

Overall Judgment

OK

-*3

OK

-

OK

Total Judgment

Output Signal

-

OK

-

One-shot Overall

One-shot OR*4

Judgment Result

OK

-

Signal

DI (DO0 to DO15)

Data Output Signals

OK

-

XFLG

-

Flow Command

Flow Command Completion

Completion Bit

-

XBUSY

-

Measurement

Flow Command Busy

Command Busy Bit

-

OK

-

OK

-

OK

-

OK

-

OK

-

OK

-

XWAIT

-

Measurement

Flow Command Wait

Command Wait Bit

-

Trigger ACK

Trigger Signal Acknowledged Bit

-

OK

-

OK

-

OK

-

OK

-

Command Ready

Command Execution Ready Bit

-

OK

-

ERR Error Status

Error Signal

OK

-

OK

-

OK

-

OK

-

Run Run Mode

Measurement Mode Signal

OK

-

OK

-

OK

-

OK

-

ACK

Command Completion Flag

OK

-

SHTOUT STGOUT

Exposure Completion Signal

OK

-

Strobe Trigger Output

OK

-

OK

-

*1. This will not be detected while commands received through any other protocol are processed. The BUSY signal in Parallel can be shared in all protocols. If you use more than one protocol and need to detect command execution, use the BUSY signal in Parallel.
*2. Data is not output when there is no handshaking used in PLC Link. *3. The OR signal is unavailable in PLC Link. *4. The one-shot OR signal is only available in Parallel.

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1-6 Differences in Specifications Based on the Communications Protocol

1-6-2 Restrictions when Using Different Communication Protocols Simultaneously

1 Overview

1-6-2 Restrictions when Using Different Communication Protocols Simultaneously

The FH/FHV series can use different communication protocols together. Restrictions in combined use

are as follows:

� The Parallel Communication Module can be used with any other Communication Modules.

� Communication Modules other than the Parallel ones have the following restrictions in the combina-

tion.

1

PLC Link for Vision Systems is unavailable simultaneously with Ethernet and RS-232C/422.

PLC Link for Vision Systems is unavailable simultaneously with EtherNet/IP, EtherCAT, and PROFI-

NET.

PROFINET is unavailable simultaneously with other non-procedure protocol using Ethernet.

All combinations of Communication Modules other than above are available.

Precautions for Correct Use
If control signals or commands are input simultaneously to the Sensor Controller from different Communications Modules, they may not be received correctly. Check the status signals for each Communications Module and input control signals and commands at different times for each.

1-6-3 Restrictions in Communication Protocols by Operation Mode
The Sensor Controller for the FH/FHV series can select its operating mode. The following describes typical restrictions for each operating mode. For details, refer to Setting Operation Mode in the Vision System FH/FHV Series User's Manual (Cat. No. Z365)..
Double Speed Multi-input Mode � To use the Multi-input function, use Parallel or EtherCAT in which the state of the READY signal can be checked. For EtherCAT, check the Trigger Ready signal instead of the READY signal. � While the Multi-input function is used, most of the CPU's loads are assigned to measurement processing. Therefore, its performance might drop (response may be delayed or packets lost) or communications errors might occur. While the Multi-input function is used, do not use EtherNet/IP or PROFINET communication protocols. � If triggers are continuously inputted with speed that communication outputs will not be in time, it may cause STEP not to be output or measurements to be delayed. Be sure to input triggers with the timing at which communications delay will not occur.
Multi-line Random-trigger Mode � Only Line 0 is available in Non-procedure or PLC Link. � Depending on communication protocols, each line needs to be set. � For Parallel communications, the I/O function and terminals vary depending on the number of lines. This function is not supported by FHV series.
Non-stop Adjustment Mode � Communication commands accepted during non-stop data transfer are only the Measurement command (in Parallel, Non-procedure, and PLC Link) and Continuous Measurement command (only Parallel).

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1 Overview

1-6-4 Models being Compatible with Communication Protocol
This section describes external devices which can communicate with the FH/FHV series based on communication protocols.

l PLC Link and NGn-procedure Communications
� Ethernet

OMRON

OK: Can connect, Cond.: Only some models can connect, NG: Cannot connect

Series SYSMAC_CJ2 SYSMAC_CJ1 SYSMAC_CS SYSMAC_CP1 SYSMAC_One

CPU unit
CJ2H or CJ2M
CJ1H or CJ1G
CJ1M CS1H, CS1D or CS1G CP1L CP1H NSJ

Direct connection with CPU unit (Built-in port) Cond. (Built-in port only)
NG
Cond. (Built-in port only)
NG Cond. (Built-in port only)
NG NG

Interface
Connection via Ethernet unit
CJ1W-EIP21 (PLC Link only) or CJ1WETN21 CJ1W-EIP21 (PLC Link only) or CJ1WETN21 CJ1W-EIP21 (PLC Link only) or CJ1WETN21 CJ1W-EIP21 (PLC Link only) or CJ1WETN21
CJ1W-EIP21 (PLC Link only) or CJ1WETN21 NSJW-ETN21

Mitsubishi Electric OK: Can connect, Cond.: Only some models can connect, NG: Cannot connect

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1 Overview

1-6 Differences in Specifications Based on the Communications Protocol

1-6-4 Models being Compatible with Communication Protocol

Interface

Series Model name

CPU unit

Direct connection with CPU
unit (Built-in port)

Ethernet Connection via Ethernet
unit

Q03UDECPU,

Q04UDEHCPU,

Q06UDEHCPU,

1

QnUDECPU

Q10UDEHCPU,

OK

Q13UDEHCPU,

Q20UDEHCPU,

Q26UDEHCPU

MELSECQnU

Universal models
QnUDCPU

Q03UDCPU, Q04UDHCPU, Q06UDHCPU, Q10UDHCPU, Q13UDHCPU, Q20UDHCPU, Q26UDHCPU

QJ71E71-100

NG

QJ71E71-B2

QJ71E71-B5

Q00UJCPU,

QnUCPU

Q00UCPU, Q01UC-

NG

PU, Q02UCPU

Basic models QnCPU

Q00JCPU, Q00CPU, Q01CPU

NG

Q02CPU,

MELSECQ Series

High-performance models

QCPU

Q02HCPU, Q06HCPU, Q12HCPU,

NG

Q25HCPU

MELSEC-

QnAS Ser-

-

ies

Q2ASCPU, Q2ASC-

-

PU-S1, Q2ASHCPU,

NG

Q2ASHCPU-S1

� RS-232C/422 OMRON

OK: Can connect, Cond.: Only some models can connect, NG: Cannot connect

Series SYSMAC_CJ2 SYSMAC_CJ1

CPU unit CJ2H CJ2M
CJ1H, CJ1G, or CJ1M

Interface

Direct connection with CPU unit
(Built-in port)

Connection via serial communication unit

OK Cond. (Built-in port only)

CJ1W-SCU21-V1, CJ1W-SCU31-V1, CJ1W-SCU41-V1, CJ1W-SCU22, CJ1W-SCU32, CJ1W-SCU42

CJ1W-SCU21-V1,

CJ1W-SCU31-V1,

OK

CJ1W-SCU41-V1, CJ1W-SCU22,

CJ1W-SCU32,

CJ1W-SCU42

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-35

1 Overview

Series
SYSMAC_CS SYSMAC_CP1 SYSMAC_One SYSMAC NJ

CPU unit
CS1H, CS1D, or CS1G CP1E, CP1L, or CP1H NSJ NJ501 or NJ301

Interface

Direct connection with CPU unit
(Built-in port)

Connection via serial communication unit

CS1W-SCB��-V1

OK

CS1W-SCU21-V1

CS1W-SCU31-V1

Cond. (Built-in port only) CP1W-CIF01

OK

-

CJ1W-SCU22

NG

CJ1W-SCU32

CJ1W-SCU42

Mitsubishi Electric OK: Can connect, Cond.: Only some models can connect, NG: Cannot connect

Series Model name

CPU unit

QnUDECPU

MELSECQnU

Universal models
QnUDCPU

QnUCPU Basic models QnCPU

MELSECQ Series

High-performance models

QCPU

MELSEC-

QnAS Ser-

-

ies

CPU unit
Q03UDECPU, Q04UDEHCPU, Q06UDEHCPU, Q10UDEHCPU, Q13UDEHCPU, Q20UDEHCPU, or Q26UDEHCPU Q03UDCPU, Q04UDHCPU, Q06UDHCPU, Q10UDHCPU, Q13UDHCPU, Q20UDHCPU, or Q26UDHCPU Q00UJCPU, Q00UCPU, Q01UCPU, or Q02UCPU Q00JCPU, Q00CPU, or Q01CPU Q02CPU, Q02HCPU, Q06HCPU, Q12HCPU, or Q25HCPU Q2ASCPU, Q2ASCPU-S1, Q2ASHCPU, or Q2ASHCPU-S1

Interface

Direct connection with CPU
unit (Built-in port)

Connection via serial
communication unit

NG

QJ71C24N or QJ71C24NR2 OK

OK OK

NG

A1SJ71QC24

NG

N1 or A1SJ71QC24

N1-R2

1-36

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-6 Differences in Specifications Based on the Communications Protocol

1-6-4 Models being Compatible with Communication Protocol

1 Overview

l EtherNet/IP
Series SYSMAC NJ SYSMAC_CJ2 SYSMAC_CJ1 SYSMAC_CS
l EtherCAT
Series SYSMAC NJ
l PROFINET
Series SYSMAC NJ

OK: Can connect, Cond.: Only some models can connect, NG: Cannott connect

Interface

CPU unit

Direct connection with CPU unit (Built-in port)

Connection via Ethernet unit

NJ501 or NJ301

CJ1W-EIP21 (Only version 2.1 sup-

OK

ports Sysmac NJ connection. This ap-

1

plies to NJ versions 1.01 and later.)

CJ2M or CJ2H

Cond. (Built-in port only) CJ1W-EIP21

CJ1H or CJ1G

NG

CJ1W-EIP21

CJ1M

Cond. (Built-in port only) CJ1W-EIP21

CS1H, CS1D, or CS1G

NG

CS1W-EIP21

OK: Can connect, Cond.: Only some models can connect, NG: Cannot connect

CPU unit NJ501 or NJ301

Interface

Direct connection with CPU unit (Built-in port)

Connection via master unit

OK

NG

OK: Can connect, Cond.: Only some models can connect, NG: Cannot connect

CPU unit NJ501 or NJ301

Interface

Direct connection with CPU unit (Built-in port)

Connection via master unit

NG

CJ1W-PNT21

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

1-37

1 Overview

1-38

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2

Methods for Connecting and

Communicating with External Devices

2

This section describes the communication specifications, data I/O methods, communication settings, communication commands, and other details for each communication protocol used to communicate between the Sensor Controllers for the FH/FHV series and external devices.

2-1 EtherCAT Connections .................................................................................. 2-4

2-1-1

Introduction to EtherCAT................................................................................. 2-4

2-1-2

Structure of CAN Application Protocol over EtherCAT (CoE) ......................... 2-7

2-1-3

EtherCAT Slave Information Files (ESI Files) ................................................. 2-8

2-1-4

Transitions of Communications States ........................................................... 2-9

2-1-5

Process Data Objects (PDOs) ...................................................................... 2-10

2-1-6

Service Data Objects (SDOs) ....................................................................... 2-13

2-1-7

Communications between Master and Slaves for EtherCAT ....................... 2-14

2-1-8

Communication Method of FH Sensor Controller Connected by EtherCAT . 2-15

2-1-9

Communications Settings ............................................................................. 2-20

2-1-10 Communications Module Settings (Startup Settings) ................................... 2-22

2-1-11 Communication Specifications Settings........................................................ 2-23

2-1-12 Output Data Settings (Processing Item Registration) ................................... 2-28

2-1-13 Setting Output Data (Numerical Values/Character Strings) .......................... 2-31

2-1-14 EtherCAT Network Configuration Settings.................................................... 2-37

2-1-15 Communication Test ..................................................................................... 2-38

2-1-16 I/O Ports by Area (PDO Mapping) and Memory Allocation........................... 2-39

2-1-17 I/O Signals .................................................................................................... 2-45

2-1-18 Measurement Results for which Output is Possible (Fieldbus Data

Output) .......................................................................................................... 2-49

2-1-19 Command List............................................................................................... 2-51

2-1-20 Measurement Trigger Input........................................................................... 2-54

2-1-21 Command Response Processing ................................................................. 2-55

2-1-22 Data Output .................................................................................................. 2-57

2-1-23 Timing Chart ................................................................................................. 2-60

2-1-24 EtherCAT Troubleshooting............................................................................ 2-64

2-1-25 Sysmac Error Status..................................................................................... 2-66

2-1-26 Sysmac Device Features.............................................................................. 2-84

2-1-27 Object Dictionary .......................................................................................... 2-87

2-2 Communicating by PLC Link .................................................................... 2-126

2-2-1

Communications Processing Flow.............................................................. 2-126

2-2-2

Communications Settings ........................................................................... 2-128

2-2-3

Communications Module Settings (Startup Settings) ................................. 2-129

2-2-4

Communication Specifications Settings...................................................... 2-131

2-2-5

Output Data Settings (Processing Item Registration) ................................. 2-152

2-2-6

Setting Output Data (Numerical Values and Character Strings) ................. 2-157

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-1

2 Methods for Connecting and Communicating with External Devices

2-2-7 2-2-8 2-2-9 2-2-10 2-2-11 2-2-12 2-2-13 2-2-14 2-2-15

Testing Communications............................................................................. 2-163 Memory Allocation ...................................................................................... 2-167 I/O Signals .................................................................................................. 2-171 Output Items ............................................................................................... 2-174 Command List............................................................................................. 2-175 Command Response Processing ............................................................... 2-179 Data Output ................................................................................................ 2-182 Timing Chart ............................................................................................... 2-184 PLC Link Troubleshooting........................................................................... 2-187

2-3 Communicating by EtherNet/IP................................................................. 2-190

2-3-1

Introduction to EtherNet/IP ......................................................................... 2-190

2-3-2

Data Exchange with EtherNet/IP ................................................................ 2-191

2-3-3

EtherNet/IP Communications ..................................................................... 2-194

2-3-4

Communications Processing Flow.............................................................. 2-195

2-3-5

Communications Settings ........................................................................... 2-197

2-3-6

Communications Module Settings (Startup Settings) ................................. 2-198

2-3-7

Communication Specifications Settings...................................................... 2-199

2-3-8

Setting Tag Data Link.................................................................................. 2-206

2-3-9

Output Data Settings (Processing Item Registration) ..................................2-211

2-3-10 Setting Output Data (Numerical Values and Character Strings) ................. 2-216

2-3-11 Testing Communications............................................................................. 2-222

2-3-12 Memory Allocation ...................................................................................... 2-224

2-3-13 I/O Signals .................................................................................................. 2-234

2-3-14 Output Items ............................................................................................... 2-238

2-3-15 Command List............................................................................................. 2-239

2-3-16 Command Response Processing ............................................................... 2-243

2-3-17 Data Output ................................................................................................ 2-247

2-3-18 Timing Chart ............................................................................................... 2-249

2-3-19 Communicating with the Sensor Controller using EtherNet/IP Mes-

sage Communications................................................................................. 2-252

2-3-20 Example for Command Settings ................................................................. 2-255

2-3-21 EtherNet/IP Troubleshooting....................................................................... 2-256

2-4 Communicating by PROFINET.................................................................. 2-259

2-4-1

Overview of PROFINET.............................................................................. 2-259

2-4-2

PROFINET Communications...................................................................... 2-262

2-4-3

Communications Processing Flow.............................................................. 2-263

2-4-4

Communications Settings ........................................................................... 2-265

2-4-5

Communications Module Settings (Startup Settings) ................................. 2-266

2-4-6

Communication Specifications Settings...................................................... 2-267

2-4-7

IO Data Communication Settings ............................................................... 2-273

2-4-8

Output Data Settings (Processing Item Registration) ................................. 2-275

2-4-9

Setting Output Data (Numerical Values and Character Strings) ................. 2-279

2-4-10 Testing Communications............................................................................. 2-285

2-4-11 Memory Allocation ...................................................................................... 2-288

2-4-12 I/O Signals .................................................................................................. 2-294

2-4-13 Output Items ............................................................................................... 2-298

2-4-14 Command List............................................................................................. 2-299

2-4-15 Command Response Processing ............................................................... 2-302

2-4-16 Data Output ................................................................................................ 2-305

2-4-17 Timing Chart ............................................................................................... 2-307

2-4-18 PROFINET Troubleshooting ....................................................................... 2-310

2-5 Non-procedure Communications ............................................................. 2-313

2-5-1

Communications Processing Flow.............................................................. 2-313

2-5-2

Communications Setup Procedures .......................................................... 2-314

2-5-3

Communications Module Settings (Startup Settings) ................................. 2-314

2-5-4

Communications Specifications Settings.................................................... 2-316

2-5-5

Output Data Settings (Processing Item Registration) ................................ 2-321

2-5-6

Output Data Settings (Numerical Values/Character Strings) ..................... 2-327

2-5-7

Testing Communications............................................................................. 2-335

2-5-8

Output Items ............................................................................................... 2-338

2-5-9

Command Formats ..................................................................................... 2-340

2-5-10 Command List............................................................................................. 2-342

2-2

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2 Methods for Connecting and Communicating with External Devices

2-5-11 2-5-12

Output Format............................................................................................. 2-346 Non-procedure Communications Troubleshooting ..................................... 2-348

2-6 Parallel Communications .......................................................................... 2-351

2-6-1

Communications Processing Flow ............................................................. 2-351

2-6-2

Communications Setup Procedures .......................................................... 2-353

2-6-3

Communications Module Settings (Startup Settings) ................................. 2-354

2-6-4

Communications Specifications Settings ................................................... 2-355

2-6-5

Output Data Settings (Processing Item Registration) ................................. 2-364

2-6-6

Output Data Settings (Numerical value/Judgment) ................................... 2-370

2-6-7

Testing Communications............................................................................. 2-376

2-6-8

I/O Signals .................................................................................................. 2-378

2-6-9

Output Items ............................................................................................... 2-389

2 2-6-10 Command Formats ..................................................................................... 2-391
2-6-11 Time Charts ................................................................................................ 2-395

2-6-12 Parallel Troubleshooting ............................................................................. 2-409

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-3

2 Methods for Connecting and Communicating with External Devices

2-1 EtherCAT Connections

This section describes the communication settings , communication specifications, input/output formats, and the communication timing chart required for communications by EtherCAT between the Sensor Controller and an external device.
2-1-1 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 communication cycle time by transmitting Ethernet frames at high speed. Although EtherCAT is a unique communication protocol, standard Ethernet technology is used for the physical layer, which means you can use Ethernet cables for wider applications. 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

In EtherCAT communication, Ethernet frames pass through all of the slave nodes. When a frame passes through a slave node, the slave node reads and 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 real-time data transmission.

EtherCAT master

Slave Data
OUT IN

Slave

� The slave reads output data addressed to it. � The slave writes input data.
Ethernet frames
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).

2-4

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-1 EtherCAT Connections

2 Methods for Connecting and Communicating with External Devices

Ethernet header

Ethernet frame Ethernet data (1,498 bytes max.)

CRC

EtherCAT header

1st to nth EtherCAT telegrams

EtherCAT frame
2

1st EtherCAT 2nd EtherCAT

nth EtherCAT telegram

Telegram header

Data

WKC
WKC: Working counter

2-1-1 Introduction to EtherCAT

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-5

2 Methods for Connecting and Communicating with External Devices

Types of EtherCAT Communications
The following 2 types of communications are available with EtherCAT. PDO communications are processed in each EtherCAT communication cycle to refresh data continuously. SDO communications are processed between PDO communications.

l Process Data Communications (PDO Communications)

The process data communication function (PDO communications) cyclically transfers process data in real-time. 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

Ethernet frame

Ethernet header

Ether CAT header

1st EtherCAT telegram

Logical process data

2nd EtherCAT telegram

3rd EtherCAT telegram

Data a

Data b Data c

CRC

l Mailbox Communications (SDO Communications)
The mailbox communication function (SDO communications) is used to perform message communication. Whenever necessary, the EtherCAT master sends a command to a slave, and then the slave returns a response to the EtherCAT master. The mailbox communication function (SDO communication) has the following functions. � Reading and writing process data � Setting slaves � Monitoring slave status

2-6

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-1 EtherCAT Connections

2-1-2 Structure of CAN Application Protocol over EtherCAT (CoE)

2 Methods for Connecting and Communicating with External Devices

2-1-2 Structure of CAN Application Protocol over EtherCAT (CoE)

EtherCAT allows the use of multiple protocols for communication. EtherCAT slave terminal adopts CAN application protocol over EtherCAT (CoE) as a device profile for CAN application protocol which is one of the open network standards, which provides the communication interface to apply to EtherCAT devices. The following figure indicates the CoE structure in the EtherCAT coupler unit.

FH Sensor Controller

Application layer

FH Unit application

2

Transitions of communications
states

Object dictionary

SDO (mailbox)

PDO mappings PDO communications (cyclic)

Registers

Mailbox

Process data

SyncManager

FMMU

EtherCAT data link layer
EtherCAT physical layer
The object dictionary for the CAN application protocol is roughly classified into PDOs (process data objects) and SDOs (service data objects).
PDOs consist of the mappable object dictionaries, and the contents in process data are defined by the PDO mappings. PDOs are used for PDO communications to exchange process data periodically.
Moreover, SDOs can read and write all object dictionaries and are used for non-periodic SDO (eventdriven message) communications.
In EtherCAT, by setting the object dictionaries for PDOs and SDOs using the CoE interface, EtherCAT devices that have the same device profiles as the CAN application protocol can be provided.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-7

2 Methods for Connecting and Communicating with External Devices

2-1-3 EtherCAT Slave Information Files (ESI Files)
The setting information for an EtherCAT slave is provided as ESI file (EtherCAT Slave Information). In EtherCAT, its various communication settings are defined based on the ESI definition information and the network connection information for the connected slaves.

Installing ESI files into the network setup software (configuration tool) can generate the network configuration information. (*1) Downloading the generated network configuration information to the EtherCAT master enables you to setup the EtherCAT network.

ESI files

Configuration Tool

Network configuration information

EtherCAT master

EtherCAT slave

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/FHV can be downloaded from the OMRON website.
*1: If you are using Sysmac Studio, it is not necessary to install the ESI files in the network setup software (configuration tool). The ESI files for OMRON EtherCAT slaves have already installed in the Sysmac Studio. Auto-update function in the Sysmac Studio enables you to get the ESI files for the latest models.

2-8

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-1 EtherCAT Connections

2-1-4 Transitions of Communications States

2 Methods for Connecting and Communicating with External Devices

2-1-4 Transitions of Communications States
The EtherCAT master controls the state transition model for communication control of its slave terminals. The following figure indicates the transition for the communication state since the power has been turned ON.
Power supply ON
2
Init

Pre-Operational

Safe-Operational

Operational

The following table indicates whether or not data objects can be sent or received in each communication state.

Status
Init.
Pre-Operational (PreOp)
Safe-Operational (Safe-Op)
Operational (Op)

SDO communications Not possible
Possible
Possible
Possible

Sending PDOs
Not possible Not possible
Possible
Possible

Receiving PDOs Not possible
Not possible
Not possible
Possible

Description
Communications is in initialization. Communications are not possible. Only SDO (message) communications are possible. After the initialization, the network settings is initialized in this state. Sending PDOs in addition to SDO (message) communications are possible in this state. The slave terminals can send Information such as status with sending PDOs. Normal state in communications. The I/O data can be controlled with PDO communications.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-9

2 Methods for Connecting and Communicating with External Devices

2-1-5 Process Data Objects (PDOs)
This section describes the process data objects (PDO) used in EtherCAT communications.

Introduction
Real-time data transfer in cyclic communication uses Process Data Objects (PDOs). There are two types of Process Data Objects (PDOs): RxPDOs, which are used by the EtherCAT slave terminal to receive data from the EtherCAT master; and TxPDOs, which are used by the EtherCAT slave terminal to send data to the EtherCAT master.

EtherCAT master
Example: Built-in EtherCAT port on NJ-series CPU Unit

RxPDO Output data and motion commands to NX Units (Output Units)
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.

2-10

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2 Methods for Connecting and Communicating with External Devices

2-1 EtherCAT Connections

2-1-5 Process Data Objects (PDOs)

PDO Mappings
PDO mapping objects contain the I/O data for EtherCAT slave terminals. PDO mapping objects are managed with indexes in the object dictionary: from 1600 to 17FF Hex for the RxPDO, and from 1A00 to 1BFF Hex for TxPDO.

l PDO Mapping Scheme in EtherCAT

The following describes the PDO mapping scheme in EtherCAT.

Three application objects (Object A, B, and D) are allocated to the PDO (name: PDO_1) at index

1ZZZ Hex.

2

Like mentioned above, PDO mappings indicates how application objects are allocated to PDOs.

Indexes and sub-indexes are also allocated to application objects.

Mapping object

Object Dictionary

Index

Sub Index

Object Contents

1ZZZ hex 01 hex 6TTT hex TT hex 8

02 hex 6UUU hex UU hex 8

03 hex 6YYY hex YY hex 16

PDO-Length : 32 Bit

PDO_1 Object A Object B

Object D

6TTT hex TT hex 6UUU hex UU hex 6VVVHex VV hex 6YYY hex YY hex 6ZZZHex ZZ hex

Object A Object B Object C Object D Object E

Application object

l PDO Mapping for EtherCAT Slave Terminals

EtherCAT slave terminals have PDOs for each EtherCAT coupler unit and the Sensor Controller for FH/FHV series. Application objects are allocated by default (factory settigs) to PDOs for each unit. The following figure describes a specific example for one of PDOs in a Sensor Controller for the FH/FHV series.

Mapping object

Object Dictionary

Index

Sub Index

Object Contents

1BFF hex 01 hex 2001 hex 01 hex *1 8

PDO-Length : 8 Bit

512th transmit PDO mapping

Sysmac error status

Application object

2001 hex 01 hex Sysmac error status

*1. This is expressed as 0x2001:01 on the Sysmac Studio.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-11

2 Methods for Connecting and Communicating with External Devices

In the above example, a single application object is allocated to the PDO at index 1BFF Hex (name: 512th transmission PDO mapping). This PDO is for TxPDO. The application object contains the Sysmac error status at index 2001 Hex and sub-index 01 Hex.

Allocating PDOs

l Scheme for Allocating PDOs to EtherCAT Slaves

Multiple PDOs can be allocated to an EtherCAT slave. The following example indicates the PDO allocation. Here, PDOs are allocated to index 1C12 Hex for the RxPDO, and 1C13 Hex for the TxPDO.

Sync Manager PDO assignment objects

Index 1C13 hex

Sub Index
1
2
3

Object Contents
1A00 hex 1A01 hex 1A03 hex

Sync Manager entity Z

PDO A PDO B

PDO D

Mapping objects

1A00 hex 1A01 hex 1A02 hex 1A03 hex 1A04 hex 1A05 hex 1A06 hex

PDO A PDO B PDO C PDO D PDO E PDO F PDO G

In the example, three PDOs (PDO A, PDO B, PDO D) are allocated to index 1C13 Hex for the TxPDO. Likewise, a PDO for the RxPDO is also allocated to index 1C12 Hex. The above allocation defines the PDO types for communications between the EtherCAT master and slave.

2-12

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-1 EtherCAT Connections

2-1-6 Service Data Objects (SDOs)

2 Methods for Connecting and Communicating with External Devices

2-1-6 Service Data Objects (SDOs)
This section describes the service data objects (SDO) used in EtherCAT communications.

Introduction

EtherCAT slave terminals support SDO communications.

The EtherCAT master can set parameters and monitor status by reading and writing data from and to

entries in the object dictionary using SDO communications.

For the objects that SDO communications are available, refer to 2-1-27 Object Dictionary on page 2-87.

2

Abort Codes
The following table lists the abort codes for SDO communication errors.

Abort code value 05030000 Hex 05040000 Hex 05040001 Hex 05040005 Hex 06010000 Hex 06010001 Hex 06010002 Hex 06020000 Hex 06040041 Hex 06040042 Hex 06040043 Hex 06040047 Hex 06060000 Hex 06070010 Hex 06070012 Hex 06070013 Hex 06090011 Hex 06090030 Hex 06090031 Hex 06090032 Hex 06090036 Hex 08000000 Hex 08000020 Hex 08000021 Hex 08000022 Hex
08000023 Hex

Meaning Toggle bit not changed SDO protocol timeout Client and server command specifiers not valid or unknown Out of memory area Unsupported access to an object Attempt to read a write-only object Attempt to write to a read-only object Non-exist object in the object dictionary Unable to map the object to the PDO Number and length for the mapped object exceed the PDO length. General parameter incompatibility General internal incompatibility in the device. Access failure due to a hardware error. Mismatch of data type and service parameter length Data type mismatch and service parameter length is too long. Data type mismatch and service parameter length is too short. Missing sub-index. Parameter value is out of range. (Only for write-access) Written parameter value is too high. Written parameter value is too low. Maximum value is smaller than minimum value. General error Data cannot be transferred or stored to the application. Data cannot be transferred or stored to the application because of local control. Data cannot be transferred or stored to the application because of the present device state. Failed to dynamically create the object dictionary, or no object dictionary exists.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-13

2 Methods for Connecting and Communicating with External Devices
2-1-7 Communications between Master and Slaves for EtherCAT
This section describes the communication modes between the master and slaves for EtherCAT and the communication modes for EtherCAT slave terminals.
Communication Modes for Communications between Master and Slaves for EtherCAT
l Free-run Mode (FH/FHV series not supported)
In the free-run mode, a slave performs the I/O processing (updating the I/O data) asynchronously to the communication cycle of the master.
l DC Mode
In the DC mode, a slave performs the I/O processing (updating the I/O data) synchronously with the communication cycle of the master. The synchronization in EtherCAT communications uses a distributed clock (DC) to share the same clock in the master and slaves. Interruptions (Sync0) are generated in the slaves at precise intervals based on the clock. Each slave performs the I/O processing at the precise timing.
Communication Modes for EtherCAT Slave Terminals
The FH/FHV series support DC mode. They do not support the free-run mode.
Communication Cycle
The communication cycle is determined by the settings for it in the EtherCAT master. For details of communication cycle supported by the built-in EtherCAT port in the NJ series CPU units, refer to NJ-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505).

2-14

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-1 EtherCAT Connections

2-1-8 Communication Method of FH Sensor Controller Connected by EtherCAT

2 Methods for Connecting and Communicating with External Devices

2-1-8 Communication Method of FH Sensor Controller Connected by EtherCAT

With commands and responses via communications between an EtherCAT master and a Sensor Con-

troller, the master can control the Sensor Controller and make it output data after measurement.

To connect a Sensor Controller of the FH series to an NJ series CPU unit by EtherCAT, use Sysmac

Studio (standard edition) version 1.09 or later.

Using the Sysmac Studio, the Sensor Controller of the FH series is registered to the EtherCAT slave

configuration on the Edit Network Configuration tab page.

For details of the registration procedures, refer to Controller Configurations and Setup in the Sysmac

Studio Version 1 Operation Manual (Cat. No. W504).

2

Precautions for Correct Use
When Sysmac Studio is used in a high load environment, such as input of measurement triggers at short intervals while connected online to an FH, there may be deviations in the measurement processing time.

Additional Information
Up to eight Sensor Controllers of the FH series can be connected to an NJ-series Controller by EtherCAT.

In EtherCAT communications, communications are performed via I/O ports in the following six areas in the Controller. The I/O ports in the Sysmac Error Status Area are used only when a CPU Unit of the NJ series is connected as a EtherCAT master.

Command/response method
Data output after measurements Error status
User area

(1) I/O ports in the Command Area
(2) I/O ports in the Response Area
(3) I/O ports in the Data Output Area
(4) I/O ports for Sysmac Error Status Area
(5) I/O ports in the user input area
(6) I/O ports in the user output area

These I/O ports are used that you write control commands to perform for the Sensor Controller.
These I/O ports are used that the Sensor Controller writes the results which the control commands written in the Command Area were performed.
These I/O ports are used that the Sensor Controller writes the measurement parameters, judgment results, and other results after measurements are performed.
These I/O ports are used that the Sensor Controller writes the error status. Valid only for Sysmac Studio and Vision Tool used together.
These I/O ports are used that you write the data that you defined for the Sensor Controller.
These I/O ports are used that the Sensor Controller write the data that you defined for the Sensor Controller.

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Command/ response method

Controller (master)
I/O ports in the Command Area
You write the following control commands for the Vision Sensor.
� Control signals � Command codes � Command parameters
I/O ports in the Response Area
The Vision Sensor writes the execution results.

Data output after measurements

I/O ports in the Data Output Area
The Vision Sensor writes the output data.

Error status

I/O ports for Sysmac Error Status Area
The Vision Sensor writes the error status.

Vision Sensor (slave)

Commands

The Vision Sensor executes the control commands written to the I/O ports in the Command Area.

28 bytes

Execution

Responses

The Vision Sensor writes the execution results to the I/O ports in the Response Area in the Controller.
� Status signals � Command codes � Response codes � Response data

External outputs*1
The Vision Sensor writes the values measured by processing item A.

� Measurement Flow Execution of processing item A

Communications Module

Execution of processing item for the Output Unit.*2

Data is written to the Communications Module.

The Vision Sensor writes the error status to the I/O ports in the Sysmac Error Status Area.

� Sysmac error status

24 bytes
Operation is performed by executing the measurement flow (32 to 256 bytes).
1 byte

I/O ports in the user input area
You write data that you defined for the FH Sensor Controller to these I/O ports.

User area

I/O ports in the user output area
Data that you defined for the FH Sensor Controller is written to these I/O ports from the FH Sensor Controller.

Input

The FH Sensor Controller proceed with processing using the written data.*3

32 byte

Output

The FH Sensor Controller writes data that you defined for the FH Sensor Controller to these I/O ports.*3

32 byte

*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 Result Set Request signal to request the output data. *2: For details of the Output Units outputting measurement data, refer toSettings Required for Data Output on page 1-21. *3: Use the Macro Customization Function to input and output to the User Area. For details of the Macro Customization Function, refer to EtherCAT communication of the IO Module List in the Vision System FH Macro Customize Functions Programming Manual (Cat. No. Z367).

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2-1 EtherCAT Connections

2-1-8 Communication Method of FH Sensor Controller Connected by EtherCAT

2 Methods for Connecting and Communicating with External Devices

Communications in Multi-line Random-trigger Mode
In Multi-line Random-trigger mode, a Sensor Controller for the FH series can control up to eight lines. In Multi-line Random-trigger mode, the I/O ports (areas) for communications between the Sensor Controller and the master are allocated as shown below.

Command/response method

I/O ports in the Command Area I/O ports in the Response Area

Data output after measurements I/O ports in the Data Output Area Allocated for each line.

I/O ports in the User Input Area

User area

I/O ports in the User Output Area

2

Error status

I/O ports for Sysmac Error Status Area

The same for all lines.

Independent areas for PDO communications are allocated for each line by allocating a Module (line) to each EtherCAT communication slot using Sysmac Studio (standard edition).
Line 0

Line 1 FH
Line 6
Line 7

Line 0 PDO communications
Line 1 PDO communications

NJ-series Controller

Line 6 PDO communications
Line 7 PDO communications

You can specify the output data size for each line.

l Available Size for Output Data
The upper limits for the output data size depend on the number of lines and User Area to be used as shown below.

1 line 2 lines 3 lines 4 lines 5 lines 6 lines 7 lines 8 lines

Number of lines

Not Using User area Max. 256 bytes

Using User area Max. 256 bytes

Max. 128 bytes

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l Minimum PDO Communication Cycle Time
Do not set the communication cycle (PDO communication cycle time) for EtherCAT communications to a value lower than the minimum time in the following table. The minimum communication cycle time (PDO communication cycle time) depends on the number of lines to control, the number of bytes for output data, and the User Area to use as shown below. In Multi-line Random-trigger mode, the minimum value for the communication cycle is the minimum value for the maximum byte size for each line. If the communication cycle (PDO communication cycle time) were set lower than the minimum value below, a slave application error (AL status code: 0x0035) will occur and EtherCAT communication will become unavailable.

Not Using User area

Number of lines to be controlled
1 line 2 lines 3 lines 4 lines 5 lines 6 lines 7 lines 8 lines

32 bytes 125 s 250 s 250 s 500 s 500 s 500 s 500 s 1000 s

Byte size of output data

64 bytes

128 bytes

500 s

1000 s 1000 s

256 bytes 250 s
1000 s Unavailable Unavailable Unavailable

Using User area

Number of lines to be controlled

32 bytes

1 line

125 s

2 lines

250 s

3 lines

500 s

4 lines

500 s

5 lines

500 s

6 lines

1,000 s

7 lines

1,000 s

8 lines

1,000 s

Byte size of output data

64 bytes

128 bytes

250 s

1,000 s Unavailable

256 bytes
500 s
1,000 s Unavailable Unavailable Unavailable

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2 Methods for Connecting and Communicating with External Devices

Applicable Models

� OMRON

OK: Can connect, Cond.: Only some models can connect, NG: Cannot connect

Interface

Series

CPU unit

Direct connection with Connection via master

CPU unit (Built-in port)

unit

SYSMAC NJ/NX

NJ501, NJ301, NJ101, NX701

OK

� Beckhoff

-
2

TwinCAT PC edition, Industrial PCs, Embedded PCs

(When you use a Beckhoff's master, contact us to get an ESI file for Sensor Controllers of the FH

series.)

2-1-8 Communication Method of FH Sensor Controller Connected by EtherCAT

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2-1-9 Communications Settings
The following settings are required to use EtherCAT communications.

1. Communication Module settings (Startup settings)

2. Communications specifications settings

3.Output data settings (processing item registration)

4. EtherCAT network configuration settings

5. Communications test

���

The communication method to be used is determined by select-

ing a communication module.

For details, refer to 2-1-10 Communications Module Settings

(Startup Settings) on page 2-22.

���

The communications specifications are set for the communica-

tions method of the Communication Module selected in step 1.

Moreover, The data size settings output to the Data Output Area

and whether or not to use the User Area are also set.

For details, refer to 2-1-11 Communication Specifications Set-

tings on page 2-23.

���

The data output to the Data Output Area is registered in the Out-

put Unit.

The Output Unit is placed in the processing flow in the same way

as for other processing items.

For details, refer to 2-1-12 Output Data Settings (Processing

Item Registration) on page 2-28.

���

Using Sysmac Studio, register Sensor Controllers of the FH/FHV

series in the EtherCAT slave configuration.

Moreover, When multiple lines are used in Multi-line Random-

trigger Mode, set the Communication Module for each line.

For details, refer to 2-1-14 EtherCAT Network Configuration Set-

tings on page 2-37.

���

In normal communication state, ECAT RUN-LED on the Sensor

Controller lights green.

If communications were not working properly, check the commu-

nications setup from step 2.

If communications were not performed properly, error events are

registered in the troubleshooting of the Sysmac Studio. Check

them to solve the problem.

For details, refer to 2-1-15 Communication Test on page 2-38.

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Additional Information Communications are set up as shown below when you use the Multi-line Random-trigger mode.

Settings on the window for line 0

Communications Module setting
Set [Fieldbus] to [EtherCAT].

Communications specifications settings
� The communications settings (e.g., communications cycle): Are the same for all lines.
� Number of output data bytes (output size): Set for each line.

Output data designation

Settings on the window for line 1

Communications Module setting
Set [Fieldbus] to [EtherCAT].

.... ....

Settings on the window for line 7

Communications Module setting
Set [Fieldbus] to [EtherCAT].

Output data

2

designation

The output data is designated according to the output data size that was set on the window for line 0.
Output data designation
The output data is designated according to the output data size that was set on the window for line 0.

2-1-9 Communications Settings

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2-1-10 Communications Module Settings (Startup Settings)
1 On the Main window, click Tool - System Settings to open the system settings. 2 On the Multiview Explorer on the left, select System settings - Startup - Startup setting and
then click the Communication tab.

3 In the Communication Module Selection Area, select EtherCAT in the Fieldbus, and then click
Apply.
4 Click Data save in the Toolbar.
5 On the Main window, click Function - System restart. 6 Click OK in the System restart dialog box to restart the Sensor Controller.
When the Sensor Controller was restarted, the set Communication Module will operate with the default settings.
7 Set the IP address and other parameters for external devices such as a PLC.
Precautions for Correct Use 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.

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Additional Information
You can save the Communication Module settings to a file. Use the System data or System + Scene group 0 data option for saving settings to a file. For details, Refer to Saving Settings Data to the Controller RAM Disk or an External Storage Device in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

2-1-11 Communication Specifications Settings

Here, set output data size, output handshaking, and output controls to perform EtherCAT communica-

tions.

2

Precautions for Correct Use

� Use the same communications specifications settings for the Sensor Controller and the external device.
� Do not input signals to EtherCAT from an external device while performing 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. For details, Refer to 2-1-10 Communications Module Settings (Startup Settings) on page 2-22.

1 On the Main window, click Tool - System Settings to open the system settings. 2 Select System Settings and then select Communications - EtherCAT.
Communication settings window appears.
3 Set each item.

2-1-11 Communication Specifications Settings

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Setting item
Judge output polarity
Error output polarity
Output control
Output period [cycle] Output time [cycle] Timeout [s]

Setting value [Factory default]
� ON at OK � [ON at NG]
� [ON at error] � OFF at error
� [None] � Handshaking
2 to 5,000 [2]
1 to 1,000 [1]
0.5 to 120.0 [10.0]

Description
ON at OK: ON when the judgment result is OK. For the overall judgment, ON when all judgment results are OK. ON at NG: ON when the judgment result is NG. For the overall judgment, ON when one of the judgment results is NG.
ON at error: ON when an error occurs. OFF at error: OFF when an error occurs.
None: The Sensor Controller outputs measurement results without synchronizing with external devices. Handshaking: The Sensor Controller outputs measurement results with synchronizing with external devices.
Set the cycle by which measurement results are output. Set the number of cyclic communications of the EtherCAT PDO communication cycle after which to output the measurement results from the Sensor Controller.
Set the cycle by which the output of measurement results are held. Set the number of EtherCAT PDO communication cycles to hold the output from the Sensor Controller.
Valid only when Handshaking is set to Output Control. Set the timeout time. A timeout error will occur if external devices could not perform handshaking within the time set here.

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2-1-11 Communication Specifications Settings

Setting item
Line n Data Output number

Setting value [Factory default]

Description

Set the number of data items to output for each line. There are two types in the output data size: 4 bytes (DINT) and 8 bytes (LREAL). Select the output data size and the number of outputs from the types below.

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)

2

� 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)

Result Data Format 2 (DINT 32)
Result Data Format 3*1 (DINT 64)
Result Data Format 4 (LREAL 4)
Result Data Format 5 (LREAL 8)
Result Data Format 6 (LREAL 16)
Result Data Format 7*1 (LREAL 32)
Result Data Format 8 (DINT 2 + LREAL 3)
Result Data Format 9 (DINT 4 + LREAL 6)

Thirty-two 4-byte data items are output. (Total: 128 bytes)
Sixty-four 4-byte data items are output. (Total: 256 bytes)
Four 8-byte data items are output. (Total: 32 bytes)
Eight 8-byte data items are output. (Total: 64 bytes)
Sixteen 8-byte data items are output. (Total: 128 bytes)
Thirty-two 8-byte data items are output. (Total: 256 bytes)
Two 4-byte data items and three 8-byte data items are output, for a total of five data items. (Total: 32 bytes)
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*1 (DINT 16 + LREAL 24)

Sixteen 4-byte data items and twenty-four 8byte data items are output, for a total of 40 data items. (Total: 256 bytes)

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Setting item

Setting value [Factory default]

Description

� Result Data Format 12 (ByteArray 32 byte)
� Result Data Format 13 (ByteArray 64 byte)
� Result Data Format 14 (ByteArray 128 byte)
� Result Data Format 15 (ByteArray 256 byte)

Result Data Format 12 (ByteArray 32 byte)
Result Data Format 13 (ByteArray 64 byte)
Result Data Format 14 (ByteArray 128 byte)

A character string of 32 bytes is output.
A character string of 64 bytes is output.
A character string of 128 bytes is output.

Result Data Format 15 A character string of

(ByteArray 256 byte)

256 bytes is output.

User area

� [OFF] � ON

Set whether or not to use the user area (user input area/user output area) for each line.

*1. When you control six to eight lines in Multi-line Random trigger mode, you cannot use the output data size of 256 bytes.

4 Click Apply.

Precautions for Correct Use
If you change any of the Line N Data Output Number and User area settings, restart the Controller.

Additional Information
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. Coordinate values are multiplied by 1,000 and are output as integers. Only 1/1,000 of the precision is output. � 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. � ByteArray Data: This is used to output a character string. (Other than characters cannot be output.)
1) Select Result Data Format on the EtherCAT setting screen in the Sensor Controller of the FH/FHV series. (Data with Array of Byte format is output to the NJ series Controller.)
2) Use the AryToString command in the program on the NJ series Controller to convert the received data with Array of Byte format to String format.

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EtherCAT Communications Settings for Multi-line Random-trigger Mode
When you use Multi-line Random-trigger mode to perform EtherCAT communications on multiple lines, you can only configure EtherCAT communication settings on line 0 Setting tab page. The EtherCAT communication settings on multiple-line are as follows.

Setting item Output control Output period Output setting

Description

Common settings for all lines

Common settings for all lines Set for each line.

2

The settings of the Fieldbus data output for each line vary depending on

the settings of the number of Data Output.

For details, refer to 2-1-12 Output Data Settings (Processing Item Regis-

tration) on page 2-28.

2-1-11 Communication Specifications Settings

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2-1-12 Output Data Settings (Processing Item Registration)
Here, set the output items and output format to be used with EtherCAT. This processing item is not available in the FHV series. When you set output data in the FHV series, refer to 2-1-13 Setting Output Data (Numerical Values/Character Strings) on page 2-31.
Registering Processing Items
Register the processing items for data output in the measurement flow.
1 Click Edit flow in the Toolbar. 2 Select the Fieldbus Data Output processing item in the processing item tree.
3 Click Append.
The Fieldbus Data Output processing item is added at the bottom of the unit list (flow).
4 Click the Fieldbus Data Output icon and set the data output items and data format.
For details of the settings, refer to the following. Setting the Output Data on page 2-29 Precautions for Correct Use Fieldbus Data Output Perform the communication settings before the settings of Fieldbus Data Output. Note that if you changed the communication settings after the settings of Fieldbus Data Output, the changed settings will not be displayed on the Fieldbus Data Output setting display.

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2-1-12 Output Data Settings (Processing Item Registration)

2 Methods for Connecting and Communicating with External Devices

Additional Information

� 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.

For the number of data items that you can output for each Data Output Number setting., refer

to 2-1-11 Communication Specifications Settings on page 2-23.

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

data that was output first will be overwritten by the subsequent data.

Use the following method to read each set of output data.

2

� Controlling Data Output with Handshaking

When 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.

For more information on handshaking, refer to Data Output Control with Handshaking on

page 1-25.

� Data is output in the order of registration in the measurement flow, with each data output

processing item executed at a different timing. (Data output is executed in the order that it is

registered in the measurement flow.)

For details, refer to Outputting the Measurement Data on page 1-18.

Setting the Output Data
Set the output data with expressions. Set the expression for each four-byte data (DINT) and eight-byte data (LREAL).
Additional Information
The Fieldbus Data Output setting item changes according to the EtherCAT communications settings. Set the total output data size (256 bytes max.) and the number of data items to output (64 max.) in the EtherCAT communications settings in advance.
1 Click the Fieldbus Data Output icon in the measurement unit list (flow). 2 The Fieldbus Data Output window is displayed.
The DINT Setting and LREAL Setting tabs and the number of the output data are displayed according to the EtherCAT communication settings.
3 In the item tab area, click either tab, DINT Setting or LREAL Setting.
The DINT Setting and LREAL Setting tabs are displayed according to the EtherCAT communication settings.
4 In the list, click the output data number to set the expression.

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The selected output data number is displayed under the list.
5 Click next to the expression text box and set the expression.
Specify the processing items, measurement results, and measurement data in the expression. Arithmetic or function calculations can be applied to the measurement data to output. For details of the calculation settings, refer to Calculation in the Vision System FH/FHV Series Processing Items Reference Manual (Cat. No. Z341).
6 Click for the Comment text box and enter the description for the expression.
The entered comment will be displayed in the detailed results area on the Main window. For example, Test was entered as the comment for the expression 0, Test will be displayed instead of Expression 0 in the detailed results areas on the Main window.
7 Repeat step 4 to 5 to set expressions for each output data number. 8 In the item tab area, click either tab, DINT Setting or LREAL Setting and set the expressions
in the same way as for step 3 to 5 above.
Additional Information 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.

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2-1-13 Setting Output Data (Numerical Values/Character Strings) Registering Processing Items
Register the processing items for data output in the measurement flow.
1 In the Main window, click Edit flow in the Toolbar. 2 Click Result output (I/O) in the processing item tree.
2
3 Click Append.
The Result output (I/O) processing item is added at the bottom of the unit list (flow).

4 Click Result output (I/O)
output data.

icon in the unit list (flow) or Set to set the output device and the

2-1-13 Setting Output Data (Numerical Values/Character Strings)

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Setting the Output Device
Here, set a communication method when data is output.
1 Click Result output (I/O) icon in the unit list (flow) or Set to set the output device and the
output data. The Result output (I/O) setting window is displayed.

2 Click Output setting.
The Output setting window is displayed.

3 Click
use.

at the right side of the Output device text box to select the communication method to

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Precautions for Correct Use � The displayed output device is determined based on the selection of Communication
module in the System settings in the item tab. � Executing measurements without an output device selected causes a failure (NG: No meas-
urement) in the judgment of the processing unit.
Setting the Output Data
Here, set the data to output such as processing item data or fixed character strings.
2
1 In the item tab area, click Output data.
The Result output (I/O) setting window is displayed.

2-1-13 Setting Output Data (Numerical Values/Character Strings)

(a)

(c) (b)

(c)

a) Setting data display area The No. (output number), Offset (indicating the byte position from the beginning), Data type (integer, double, string), Data, Value, and Title (data description) are displayed in this area. A value is displayed when a variable is assigned to data.
b) Output data display area Contents in the output data display area in binary (Hex) are displayed in this area.
c) Button

Button

Description Moves the selected data up one position. Moves the selected data down one position. Adds new data to the selected data position. Deletes the selected data. The following data moves up after the deletion. Edits the selected data.

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Button

Description Saves the current settings and returns to the previous view.

Discards the current settings and returns to the previous view.

2 In the list, select the output data number to set the output and then click Insert.
The following Output data editing dialog box is displayed.

Setting item

Setting value [Factory default]

Description

Data type

� Integer � Double � String

Sets the data type.

Data

There are two input methods.*1

-

� Enter strings directly

� Assign variables

Title

-

Enters the description for data.

String settings

Valid when String is selected in the Data type.

Size

0 to 4,095 [10]

Sets the number of characters.

Character code

[0]

Sets the code page according to the language to be used.

*1. Any arithmetic expression cannot be used. If it is used, it will be handled as character strings.

� Character code: Specify the following code page for each language.

Language Japanese
German Italian Vietnamese

Code page 932

Language English

1252
1252 1258

French
Spanish Polish

Code page 1252
1252 1252 1250

Language
Chinese (simplified) Chinese (traditional) Korean

Code page 936
950 949

� The default 0 is no language-dependent letters in ANSI code page. � If non-existing code page is selected, corresponding data is handled as invalid data (NULL).

3 Click at the right side of the Data type text box to select the data to output.
Integer, Double, or String are selectable.

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2-1-13 Setting Output Data (Numerical Values/Character Strings)

2 Methods for Connecting and Communicating with External Devices

Data type

Description

Integer

� Entered data is handled as four-byte data. � Allowable entering range is a range of signed INT. � When string variables are specified for data, character strings like digits which
can be converted into numerical values will be converted and output.When dec-

imal digits are included, they are truncated.Moreover, they are handled as "0" if

they are not convertible.

Double

� Entered data is handled as eight-byte data.

� The allowable entering range is a range of eight-byte floating decimal value.

� When string variables are specified for data, character strings like digits which

can be converted into numerical values will be converted and output. Moreover, they are handled as "0" if they are not convertible.

2

� Entered data is set based on specified Size.

Example: Size is four and the entered data is ABCD.

ABCD ABC+NULL � The number of allowable entering characters is up to 4,095.

String

If this limit is exceeded, nothing is displayed and output. � When NULL is included in the entered character string, the character string fol-

lowing NULL is not output. � The following escape sequence codes can be entered. The entered escape se-

quence codes are handled as fixed character strings.

\N: Carriage return, \r: Line feed, \t: Tab, \xXX: ASCII code specified by "XX"

(numerical value), \": Double quotation mark, \\: Backslash

4 Enter data into Data text box.
Data that can be output with one data No. is a range only to be handled as one string.
1) When directly entering an output content into the Data text box. A string enclosed with " " (double quotation marks) handled as one string and the rest following it is not output. Example: "AA"TEST only "AA" is output.
2) In the case where assignment variable is assigned o data: Directly enter a variable name (Scene variable: SC.~) or specify a variable in Variable

assignment window displayed by clicking . � Only one variable is valid for one data No.
Example: SC.A$+SC.B$ Only SC.A$ is output. � When a fixed string, e.g. AA, is entered before a variable, the subsequent variable is also
handled as a fixed string. Example: AA+SC.AA& "AA+SC.AA&" � When "String" is selected in the "Data type" but "Integer" or "Double" is set to the variable, then the variable is converted to a string and then output.

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5 Enter Title that indicates the content of output data. 6 When String is selected in Data type, the following items in String setting area also needs to be
set. Example:

7 Click OK in the end of entering data to close the settings.

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2-1 EtherCAT Connections

2-1-14 EtherCAT Network Configuration Settings

2-1-14 EtherCAT Network Configuration Settings
To communicate with an NJ series Controller using EtherCAT, use the Sysmac Studio to register the Sensor Controller of the FH/FHV series to the network configuration.
Precautions for Correct Use
To connect the Sensor Controller of the FH/FHV series to an NJ/NX series Controller by EtherCAT, first connect Sysmac Studio to with the Sensor Controller online and then perform the EtherCAT network configuration.
2 Registering the Sensor Controller in the EtherCAT Slave Configuration
Using the Sysmac Studio, the Sensor Controller of the FH/FHV series is registered to the EtherCAT slave configuration on the Edit Network Configuration tab page. For details of the registration procedures, refer to Controller Configurations and Setup in the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).
Precautions for Correct Use
Use Sysmac Studio Standard Edition version 1.09 or later to perform the settings for the EtherCAT connections between the Sensor Controller of the FH series and an NJ-series Controller.

Setting the Data Output Size
Use the Sysmac Studio to assign individual PDO communication area for each line in the master according to the Data Output Number settings in the EtherCAT communication specifications settings in the Sensor Controller of the FH/FHV series. There are two setting methods.
l Online Settings
When the data output size has already set in the Sensor Controller of the FH/FHV series, follow the procedures below to perform the settings for the Sysmac Studio.
1 Connect the Sysmac Studio to the Sensor Controller of the FH/FHV series on-line. 2 Make the Sensor Controller off-line after on-line connection, the setting data will be loaded to
the Sysmac Studio.
3 PDO communication areas will be assigned in the master according to the setting conditions of
the EtherCAT communication specifications too.
l Offline Settings
When the data output size has not yet set in the Sensor Controller of the FH/FHV series and it will be set by the Sysmac Studio, follow the procedures below in offline state.
1 Display the window to edit the system data for the FH/FHV series.

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2 Display the EtherCAT settings window and select the check boxes for the EtherCAT settings. 3 Restart the FH/FHV simulator to reflect the settings. 4 After the simulatorwas restarted, display the EtherCAT settings window again and set the Data
Output Number for each line.
5 Restart the FH/FHV simulator to reflect the settings.
PDO communication areas will be assigned in the master according to the setting conditions of the EtherCAT communication specifications too.
Additional Information
If you change any parameter that requires that the Vision Sensor be restarted, will be displayed by the model in the Multiview Explorer. If this icon is displayed, restart the Vision Sensor.
Precautions for Correct Use If six to eight lines are controlled in Multi-line Random-trigger mode, settings where the data output size (data output number) is 256 bytes*1 cannot be used. If such 256-byte data output size is set, a warning mark will appear in Sysmac Studio. *1: Three types: Result Data Format 3 (DINT 64), Result Data Format 7 (LREAL 32), Result Data Format 11 (DINT16 + LREAL 24)
2-1-15 Communication Test
Here, check whether or not the EtherCAT communication settings are correct. In normal communication state, ECAT RUN-LED on the Sensor Controller lights green. If the communications are not properly performed, check the communication specification settings. As error events are registered in the troubleshooting of the Sysmac Studio, check them to solve the problem. For details, refer to 2-1-25 Sysmac Error Status on page 2-66.
Additional Information For LED specifications of ECAT RUN LED for the Sensor Controller of the FH/FHV series, refer to 3-1 Sensor Controller in the Vision System FH series Hardware Setup Manual (Cat. No. Z366) or Smart Camera FHV series Setup Manual (Cat. No. Z408).

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2-1-16 I/O Ports by Area (PDO Mapping) and Memory Allocation

2 Methods for Connecting and Communicating with External Devices

2-1-16 I/O Ports by Area (PDO Mapping) and Memory Allocation
This section describes each I/O port for the Command, Response, Data Output, User, and Sysmac Error Status Areas. For the size, data type, initial value, and other information for each I/O port, refer to Vision Sensor Specific Objects in the Manufacturer Specific Objects on page 2-116.

I/O Ports for the Command Area

Controller (Master) to Sensor Controller (Slave)

2

I/O port name

Signal name

Function

Control Flag

Control signal

Command Request

Switches from OFF to ON when the Controller (master) instructs the Sensor Controller (slave) to process the control command. (Sets the control command code and parameters and then switches from OFF to ON.)
Switches from ON to OFF by the Controller (master) when the Sensor Controller (slave) turns ON the Command Completion signal.

Trigger

Measurement Trigger

Switches from OFF to ON when the Controller (master) instructs the Sensor Controller (slave) to process the measurement execution.
Switches from ON to OFF when the Trigger Acknowledged signal is turned ON.

Flow Command Re- Flow Command

quest

Request

Switches from OFF to ON when an entered command execution is instructed during the execution of the Fieldbus flow control.
Switches from ON to OFF when the Flow Command Completion signal is turned ON

Error Clear

Clear Error

Switches from OFF to ON when the Error Status signal from the Sensor Controller (slave) is turned OFF.
Switches from ON to OFF by the Controller (master) when the Error Status signal is turned OFF.

Result Set Request

Data Output Request *1

Switches from OFF to ON when the Controller (master) requests to output data. With this request, the Sensor Controller (slave) outputs the data.
Switches from ON to OFF by the Controller (master) when the Sensor Controller (slave) turns ON the Result Notification signal.

Command Code

Command Code Stores the command code

Command Parameter 0 to 3

Command parameters

Stores the command parameters

*1. Valid only when the output handshaking is set to ON.

Precautions for Correct Use
Since Command Parameter 3 is the reserved area, it is unavailable. Use Command Parameter 0 to 2.

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I/O Ports for the Response Area

Sensor Controller (Slave) to Controller (Master)

I/O port name

Signal name

Function

Status Flag

Status signal

Command Completion

Switches from OFF to ON when the Sensor Controller (slave) completes the control command execution and stores the control command code, response code, and response data.
Automatically switches from ON to OFF when the Controller (master) turns OFF the Command Request signal.

BUSY

Busy

Turns ON when the Sensor Controller (slave) cannot perform the control command.
Turns OFF when the Sensor Controller (slave) can perform the control command.

Trigger Ready

Turns OFF when the Sensor Controller (slave) cannot perform the measurement trigger. Turns OFF when the image window is set to "Through". In this case, the measurements can be processed.

Turns ON when the Sensor Controller (slave) can perform the measurement trigger.

Total Judgment

Overall Judgment Output

Turns ON when the overall judgment is NG. Turns OFF when the overall judgment is OK.

Run Mode

Turns ON when the Sensor Controller is in Run mode (In a measurement capable state with RUN signal output checked in the Layout settings for the currently displayed line).
Turns OFF when the Sensor Controller (slave) is not in Run mode.

Trigger ACK

Trigger Acknowledged

Turns ON when the Sensor Controller receives the Trigger signal.
Automatically turns OFF when the Trigger signal turns OFF.

Command Ready

Turns ON when the control command can be performed. Turns OFF when the control command cannot be performed.

Shutter Output

Shutter Trigger Output

Turns ON at the timing when the imaging elements complete exposure.
Turns OFF after one output cycle of the EtherCAT communications.

Flow Command Completion

Turns ON after the echo back, response code, and response data for the executed command code are set during the execution for the Fieldbus flow control.
Turns OFF after checking the Flow Command Request signal turned OFF.

Flow Command Busy

Turns ON when an entered command is being executed during the execution of the Fieldbus flow control.
Turns OFF after checking the Flow Command Request signal turned OFF.

Flow Command Wait

Turns ON when a command can be entered during the execution of the Fieldbus flow control.
Turns OFF when an executed command is completed.

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2 Methods for Connecting and Communicating with External Devices

I/O port name

Signal name

Function

Error Status

Error Signal

Turns ON if the Sensor Controller (slave) detects an error. Turns OFF when the Sensor Controller (slave) runs normally.

Switches from OFF to ON when the Sensor Controller (slave) completes the data out.

� Without handshaking

Result Notification

Data Output Completion

Turns OFF after the "Output Time" set in the EtherCAT settings has passed.

� With handshaking

Automatically switches from ON to OFF when the Control-

Command Code Echo Back

ler (master) turns OFF the Result Set Request signal. Returns the executed command code.

2

Response Code

Stores the response code for the executed command.

Response Data

Stores the response data for the executed command.

Error Code

Stores the event code for the Sysmac error status when an error occurs. For the event codes, refer to Sysmac Error Status Event Code Table on page 2-66.

I/O ports for the Data Output Area

Sensor Controller (Slave) to Controller (Master)

I/O port name
DINT Result Data 0 to 63 DINT Result Data 0 to 31

Signal name Output data 0 to 63
Output data 0 to 31

Data output number
1 (4 bytes) to 64 (256 bytes) 1 (8 bytes) to 32 (256 bytes)

Function
Outputs data with the pattern selected in the Data Output Number settings in the communication settings. Ex.: When the Data Output Number is set to 32byte DINT 2 + LREAL3, 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

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I/O Ports for the User Input Area

Controller (Master) to Sensor Controller (Slave)

I/O port name User Input Area 0 User Input Area 1 User Input Area 2 User Input Area 3 User Input Area 4 User Input Area 5

Signal name User Input Area 0 User Input Area 1 User Input Area 2 User Input Area 3 User Input Area 4 User Input Area 5

Data type DINT DINT DINT DINT LREAL LREAL

Function
When the User Area is set to "ON" in the communication specification settings, this area can be used as an input area for the Sensor Controller that the user can write freely using the Macro Customization feature.

I/O Ports for the User Output Area

Sensor Controller (Slave) to Controller (Master)

I/O port name User Output Area 0 User Output Area 1 User Output Area 2 User Output Area 3 User Output Area 4 User Output Area 5

Signal name User Output Area 0 User Output Area 1 User Output Area 2 User Output Area 3 User Output Area 4 User Output Area 5

Data type DINT DINT DINT DINT LREAL LREAL

Function
When the User Area is set to "ON" in the communication specification settings, this area can be used as an output area for the Sensor Controller that the user can write freely using the Macro Customization feature.

I/O Ports for Sysmac Error Status Area
Sensor Controller (Slave) to Controller (Master) The Sysmac Error Status is mapped only when the connecting destination is an NJ series Controller. Use Sysmac Studio (standard edition) Ver. 1.09 or later.

I/O port name Sysmac Error Status
Observation
Minor Fault

Signal name

Function

Sysmac Error Status Indicates the Sysmac error status.

Observation Error

Turns ON when an observation error occurs in the Sensor Controller (slave).

Minor Fault Level Error Turns ON when an minor fault level error occurs in the Sensor Controller (slave).

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2 Methods for Connecting and Communicating with External Devices

Rules for I/O Port Name
An I/O port name consists of the device name and line number to be controlled as shown below. When only one line is controlled, the line number is defined as "Line 0".
Example: Command Request Signal in the Command Area

2

� Device name When the operation mode is Multi-line Random-trigger mode, the I/O ports for the Command Area, Response Area, and Data Output Area are allocated for each line. The I/O Ports for the Sysmac Error Status Area, however, are shared by all lines.

Line used
Line 0 Line 1 Line 2

I/O port

Not Multi-line Random-trigger mode

Multi-line Random-trigger mode (Ex.: The number of lines is three.)

E001_Line0_Command_Request

-

E001_Line0_Command_Request

-

E001_Line0_Command_Request

2-1-16 I/O Ports by Area (PDO Mapping) and Memory Allocation

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Allocating Device Variables to I/O Ports (PDO Mapping)
When the Sensor Controller is connected to a CPU unit for NJ series, the data for the PDO communications in the Sensor Controller is displayed as the I/O port names on the Sysmac Studio. To the I/O ports, allocate device variables on the Sysmac Studio I/O map to perform programming and monitoring. Multiview Explorer (Connected to a NJ series CPU Unit): Configurations and Setup - I/O Map (Double-click)
Select and right-click a slave or an I/O port on the I/O map, and select Create Device Variable. The device variable name is automatically created as a combination of the device name and I/O port name. Or, select an I/O port and enter a variable name in the Variable column. About the device name registration, there is another way like selecting a variable registered on the variable table instead of using the Create Device Variable, For details of the registering device variables, refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).

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2-1-17 I/O Signals

2 Methods for Connecting and Communicating with External Devices

2-1-17 I/O Signals
The following tables list the signals used to control I/O for EtherCAT.

Input Signals

Signal

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

This is turned on when

the user (PLC) will isThis is turned on when sue a command (in-

The user (PLC) switches from ON to

2

Command Re- Command Ex- the PLC will issue a

struct the execution) to OFF when the Com-

quest

ecution

command to the Sensor the Sensor Controller mand Completion sig-

Controller.

based on the command nal from the Sensor

code and command pa- Controller is turned ON.

rameters.

Result Set Request (Used only for handshaking output control)

Data Output Request Signal

The user (PLC) issues this signal to the Sensor Controller to request to output the results performed in the measurement flow. When this signal is ON while an output unit (Fieldbus data output unit) in the measurement flow is performed, the Sensor Controller outputs the data of the processing item. When multiple output units output data with 256 bytes and more, turn ON the Result Set Request signal again after the Result Notification signal for the first data output turns OFF. For details, refer to 2-1-23 Timing Chart on page 2-60.

� The signal turns ON when the user (PLC) requests to output the data of the meas-
urement results. *2 � The Result Set Re-
quest signal is turned ON at the same time when the Trigger (measurement trigger) signal or the Command Request signal switches from OFF to ON.

The user (PLC) switches from ON to OFF when the Result Notification signal from the Sensor Controller is
turned ON.*1

Error Clear

This is turned on when the ERR signal from the Sensor Controller will be cleared.

The user (PLC) switches the signal from OFF to ON when the Error Status signal from the Sensor Controller is turned OFF.

The user (PLC) switches the signal from ON to OFF when it detects that the Error Status signal is turned OFF.

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Signal

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

Flow Command Request

This is turned on when a command will be performed while PLC Link, Fieldbus, or parallel flow control are performed.

The user (PLC) switches the signal from OFF to ON when it instructs an entered command execution during the execution of the Fieldbus flow control.

Switches from ON to OFF when the Flow Command Completion signal is turned ON

Trigger

Measurement Trigger

This is turned on when measurements will be performed.

The user (PLC) turns the signal ON to execute measurements after checking that the Trigger Ready signal is ON.

The user (PLC) switches the signal from ON to OFF when it detects that the Trigger Acknowledged signal is ON.

*1. A timeout error will occur if the Result Set Request signal does not switch from ON to OFF within 10 seconds after the Result Notification signal turned ON. In the case of EtherCAT, the data will not be discarded even though a timeout error occurred. Turn ON the Result Set Request signal after clearing the timeout error, the data when the timeout occurred is output.
*2. A timeout error will occur if the Result Set Request signal does not switch from OFF to ON within the time set at the Timeout in the EtherCAT settings after the measurement processing starts by the Trigger (measurement trigger) signal or the Command Request signal turned ON.

Output Signals

Signal
BUSY
Command Completion

Signal name
Busy
Command Completion

Function
This signal indicates that external inputs such as a command cannot be accepted. Be sure to issue commands under the condition which this signal is OFF.*1*2*4
The Sensor Controller uses this signal to inform the PLC that command execution has been completed.

ON/OFF timing

OFF to ON

ON to OFF

The Sensor Controller turns the signal ON when it receives a command from the user (PLC). (After the Command Request signal switches from OFF to ON.)

The signal turns OFF when the a command execution is completed.

The signal turns ON when the Sensor Controller completes execution of a received command.

The signal automatically turns OFF when the user (PLC) switches the Command Request signal from ON to OFF.

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2-1-17 I/O Signals

Signal

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

� Without handshaking

The signal turns ON after the Sensor Con-

The signal informs the PLC of the timing to load output data.

troller performs the Output Unit (Fieldbus
Data Output Unit) *1 in the measurement flow and is ready for

� Without handshaking The signal turns OFF after the Output Time set in the EtherCAT

"ON" of this signal indi-

the data output.

settings has passed.

Result Notifica- Data Output

cates that the Sensor � With handshaking

� With handshaking

2

tion

Completion

Controller is outputting

The signal turns ON

The signal automati-

the data.

after the Sensor Con- cally turns OFF when

The user (PLC) starts to troller performs the

the user (PLC)

load data when the sig- Output Unit (Profibus switches the Com-

nal turns ON.

Data Output Unit) *3 in the measurement

mand Request signal from ON to OFF.

flow and is ready for the data output and

the Result Set Request signal is ON.

The signal indicates

Error Status

Error Signal

that the Sensor Controller detects the following errors. For details, refer to Error Messages and Troubleshooting in the Vision System FH/FHV

The signal turns ON if the Sensor Controller detects an error.

The signal turns OFF when the error is fixed and the user (PLC) turns the Error Clear signal ON.

Series User's Manual (Cat. No. Z365)..

Run Mode

Run Signal

The signal indicates that the Sensor Controller in RUN mode.

The signal turns ON when the Sensor Controller is in Run mode (In a measurement capable state with RUN signal output checked in the Layout settings for the currently displayed line). (RUN LED lights.)

The signal turns OFF when the Sensor Controller cannot perform measurements and without RUN signal output checked in the Layout settings for the currently displayed line).

Total Judgment

Overall judgment

The signal indicates the overall judgment results.

The signal turns ON when the overall judgment is NG.

The signal turns OFF when the overall judgment is OK.

Trigger ACK

Trigger Acknowledged

The signal indicates that the Sensor Controller has accepted a Trigger signal.

The signal turns ON when the Sensor Controller receives the Trigger signal.

The signal turns OFF when the user (PLC) switches the Trigger signal from ON to OFF.

Command Ready

Command Execution Ready

The signal indicates that a control command is executable.

The signal turns ON when the control command can be performed.

The signal turns OFF when the control command cannot be performed.

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Signal Trigger Ready
Shutter Output
Flow Command Completion

Signal name Trigger Input Ready
Shutter Trigger Output
Flow Command Execution Completion

Function

ON/OFF timing

OFF to ON

ON to OFF

The signal indicates that the Cameras assigned to the Trigger signal can perform
measurements.*5

The signal turns ON when the Cameras assigned to it can perform measurements. (I.e. When a Trigger signal can be input.)

The signal turns OFF when even one of the Cameras assigned to the Trigger signals cannot perform measurement (i.e. When a Trigger signal cannot be input.)

The signal indicates the timing at which the imaging elements complete exposure. � When more than one
Camera is connected, the signal turns ON to fit a Camera with the longest exposure time. � The SHTOUT signal is unavailable when the image mode is set to "Through image". � When more than one processing units related to the Camera Image Input is registered in the measurement flow, the SHTOUT signal turns ON for each processing unit. In that case, use the Camera Switching processing item instead of processing units of the related to Camera Image Input processing items in the middle of the measurement flow.

The signal turns ON when the imaging elements complete the exposure.

The signal follows the output signal settings. After the exposure is completed, the signal turns ON after the time set in the SHTOUT delay passed, and it turns OFF after the time set in the SHTOUT pulse width passed. For details of the SHTOUT signal output, refer to Setting the Output Signal Specifications on page 2-357.

The signal indicates that a command performed while the Fieldbus flow control is being performed has been completed.

The signal turns ON after the echo back, response code, and response data for the executed command are set during the execution for the Fieldbus flow control.

The signal switches from ON to OFF when the Flow Command Request signal switches form ON to OFF during the execution for the Fieldbus flow control.

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2-1-18 Measurement Results for which Output is Possible (Fieldbus Data Output)

Signal

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

Flow Command Busy

Flow Command Executing

The signal indicates that a command input during the execution for the Fieldbus flow control is in execution.

The signal switches from OFF to ON when a command input during the execution for the Fieldbus flow control is in execution.

The signal switches from OFF to ON when a command execution input during the execution for the Fieldbus flow control is completed.

Flow Command Wait

The signal indicates that a command input can be accepted during the execution for the Fieldbus flow control.

The signal switches from OFF to ON when a command can be input during the execution for the Fieldbus flow control.

The signal switches from ON to OFF when the Flow Command Request signal switches form ON to OFF during the execution for the Fieldbus flow control.

2

*1. Although the BUSY signal remains ON during continuous measurement, the Sensor Controller accepts the Command Request signal only when the End Continuous Measurement command is performed.
*2. This will not be detected while commands received through any other protocol are processed. (Ex.: This signal remains OFF during measurements with the Trigger signal in the Parallel communications.) If you use more than one protocol and need to detect command execution, use the BUSY signal in Parallel.
*3. This occurs at which the Output Unit is performed after the measurement flow is performed in order from the top. not the moment at which measurement execution was completed.
*4. "ON" of this signal does not mean that a command is currently performed. To check whether a command is being executed, check the Command Completion (FLG) signal.
*5. When you use a camera with lighting controller, based on its type and connecting conditions, the time required for the READY or Trigger Ready signal to turn OFF may increase in comparison with not using it. For details, refer to Camera Image Input FH, Camera Image Input HDR or Camera Image Input FHV in the Vision System FH/FHV Processing Item Function Reference Manual (Cat. No. Z341).

2-1-18 Measurement Results for which Output is Possible (Fieldbus Data Output)
The following data can be output using the processing items related to the Result Output. Measurement values are also referred using processing units such as expressions.

Measurement items Judgment DINT data 0 to 63

Character string JG DI00 to DI63

LREAL data 0 to 31

DL00 to DL31

Description
Judgment result
Results of expressions that are set for output data 0 to 63 in DINT (4-byte) format. The numerical values in the following range are output as an integer type by 1000 times. -2147483.648 to 2147483.647
Results of expressions that are set for output data 0 to 31 in LREAL (8-byte) format. The numerical values in the following range are output as double precision floating point format. -999999999.9999 to 999999999.9999

External Reference Tables (Fieldbus Data Output)
By specifying a number, the following data can be referred using control commands or processing items having a set/get processing unit data function.

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Number

Data name

Set/Get

Data range

0: No judgment (unmeasured)

0

Judgment

Get only 1: Judgment result OK

-1: Judgment result NG

1000 + 10*N (N = 0 to 63)

DINT data 0 to 63

Get only -999999999.9999 to 999999999.9999*1

2000 + 10*N (N = 0 to 31)

LREAL data 0 to 31

Get only -999999999.9999 to 999999999.9999*1

*1. Since the response data area is DINT type, so the data is acquired as numerical values in the following range as an integer type by 1000 times. -2147483.648 to 2147483.647

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2-1-19 Command List

2-1-19 Command List
This section describes the commands used in EtherCAT.
Additional Information
Use device variables assigned to the I/O port of the command area to specify command codes and command parameters of commands used in EtherCAT. To specify a command code or command parameter for a device variable, refer to the following: To specify a command code or command parameter for a device variable, refer to A-1-2 Details of Commands Used in EtherCAT Communications on page A-6
2
l Execution Commands

Command code for Command
Area (Hex)
0010 1010

Command name Single Measurement

0010 1020

Start Continuous Measurements

0010 1030

End Continuous Measurements

0010 1040

Execute Unit Test

0010 2010 0010 2020 0010 2030

Clear Measurement Values Clear Data Output Buffer Clear I/O Output Memory

0010 2040

Clear Measurement State

0010 3010
0010 4010 0010 5010
0010 5020
0010 5030
0010 7010 0010 7020 0010 7030 0010 8020
0010 9010

Save Data in Sensor Controller
Re-register Model Scroll
Zoom
Fit
Copy Scene Data Delete Scene Data Move Scene Data Load Registered Image
Echo

Function

Reference

Performs measurement one time. Performs continuous measurement. Ends continuous measurements. Performs test measurement for the specified unit. Clears all measurement result values. Clears the data output buffer. Clear the I/O memory of the Fieldbus data output destination. Clears the measurement result value, data output buffer, and I/O memory of the Fieldus data output destination. Saves the current system data and scene group data in the Sensor Controller. Registers the model again. Shifts the image display position by the specified amount. Zooms the image display in or out by the specified factor. Returns the display position and display magnification to their default values. Copies the scene data. Deletes the scene data. Moves the scene data. Loads the specified registered image as the measurement image. Returns an entered text string without changing it.

page A-15 page A-15 page A-16 page A-16 page A-17 page A-18 page A-18
page A-19
page A-19 page A-20 page A-21 page A-21
page A-22 page A-24 page A-25 page A-25 page A-27 page A-27

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Command code for Command
Area (Hex)

Command name

0010 B010

Return to Start of Flow

0010 F010

Restart

l Commands to Get Status

Function

Reference

Branches to the start of the measurement flow (processing unit 0).
Restarts the Sensor Controller.

page A-30 page A-30

Command code for Command
Area (Hex) 0020 1000 0020 2000 0020 4000
0020 5010
0020 5020
0020 5030
0020 7010
0020 7020 0020 8010
0020 8020
0020 8030 0020 A000

Command name

Function

Reference

Get Scene Number Get Scene Group Number Get Layout Number
Get Display Image Unit Number
Get Display Sub-image Number
Get Image Display Status
Get Communications Input Status Get Communications Output Status Get Parallel Terminal Status
Get All Parallel Terminal Status
Get All Parallel DI Terminal Status Get Operation Log State

Gets the current scene number.
Gets the current scene group number.
Gets the number of the layout that is currently displayed.
Gets the number of the Unit that is currently displayed in the specified image display window.
Gets the sub-image number that is currently displayed in the specified image display window.
Gets the image mode for the specified image display window.
Gets the input status (prohibited/ permitted) for the Communications Modules.
Gets the output status (prohibited/ permitted) to an external device.
Gets the ON/OFF status for the specified parallel I/O terminal.
Gets the ON/OFF status of all parallel terminals except for DI terminals.
Gets the ON/OFF status of all parallel DI terminals.
Gets the current state of the operation log.

page A-31 page A-31 page A-32 page A-33
page A-33 page A-35 page A-35 page A-36 page A-38 page A-40 page A-42 page A-45

l Commands to Set Status

2-52

Command code for Command Area (Hex)

Command name

0030 1000

Switch Scene

0030 2000

Switch Scene Group

Function

Reference

Switches to the specified scene number.
Switches to the scene group with the specified number.

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2-1-19 Command List

Command code for Command Area (Hex)

Command name

Function

Reference

0030 4000

Set Layout Number

Sets the layout number and switches the image.

page A-48

0030 5010

Set Display Image Unit Number

Sets the number of the Unit to display in the specified image display window.

page A-49

0030 5020

Set Display Sub-image Number

Sets the number of the subimage to display in the specified image display window.

page A-49

Sets the image mode for the

2

0030 5030

Set Image Display Status

specified image display win- page A-50

dow.

0030 7010

Set Communications Input Status

Permits/prohibits inputs to the Communications Modules.

page A-51

0030 7020

Set Communications Output Status

Permits/prohibits outputs to external devices.

page A-52

0030 8010

Set Parallel Terminal Status

Sets the ON/OFF status of the specified parallel I/O terminal.

page A-52

0030 8020

Sets the ON/OFF status of all Set All Parallel Terminal Status parallel terminals except for
DO terminals.

page A-55

0030 8030

Set All Parallel DO Terminal Status

Sets the ON/OFF status of all parallel DO terminals.

page A-57

0030 A000

Set Operation Log State

Sets the state of the operation log.

page A-60

l Commands to Read Data

Command code for Command
Area (Hex)

Command name

0040 1000

Get Unit Data

0040 4050

Get Data Logging Conditions

0040 4060

Get Parallel Terminal Offset

l Commands to Write Data

Function

Reference

Gets the specified processing unit data.
Gets the conditions set for data logging.
Gets the parallel DI terminal offset data that is set.

page A-60 page A-67 page A-67

Command code for Command
Area (Hex)
0050 1000 0050 4050

Command name
Set Unit Data Set Data Logging Conditions

0050 4060

Set Parallel Terminal Offset

Function

Reference

Sets the specified unit data. Sets the data logging conditions. Sets the parallel DI terminal offset data.

page A-68 page A-73
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2-1-20 Measurement Trigger Input
This section describes the ON/OFF timing for signals related to measurement trigger inputs using the following timing chart.

l Measurement Trigger Input Timing Chart
The Trigger signal is used to input a measurement trigger. Single measurement is performed each time the Trigger signal switches from OFF to ON.

Command Area

Measurement ON Trigger signal
OFF

Trigger ACK ON Status signal OFF

Response Area

ON BUSY signal
OFF
Trigger Ready ON signal OFF

ON Total Judgment
signal OFF

(1)(2)(3)(4)(5)

(6)(7)

(1) The Controller (master) turns the Trigger signal ON after checking that the Trigger Ready signal is ON. (2) The Sensor Controller (slave) changes the status of the following signals.
- Turns the BUSY signal ON. - Turns the Trigger Ack signal ON. - Turns the Trigger Ready signal OFF. (3) The Controller (master) turns the Trigger signal OFF. (4) The Sensor Controller (slave) turns the Trigger Ack signal OFF. (5) The Sensor Controller (slave) turns the Trigger Ready signal ON when an image input has completed and the measurement trigger input becomes available. (6) When measurement processing is completed, the Sensor Controller (slave) turns the Total Judgment signal ON. (7) When measurement processing is completed, the Sensor Controller (slave) turns the Total BUSY signal OFF.

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2-1-21 Command Response Processing

2-1-21 Command Response Processing
About control command response processing, the following timing chart describes the ON/OFF timing of signals related to commands to be input.

l Timing Chart for Command Execution
The Controller (master) uses the Command Request signal as a trigger to input and execute vari-
ous commands such as measurement execution.
After a command was executed, turns the Command Request signal OFF when the Command
Completion signal is turned ON.
2
ON Command Code
OFF

Command Area

Command Parameter ON OFF
Command Request ON signal OFF

(5)
*1
Specified time in the time out setting.

ON Command Code Echo Back
OFF
ON Busy signal
OFF

(3)
*2 Control command is executing.

Command Ready ON

*2

signal OFF

Response Area

Response Code ON

OFF

Response Data ON OFF

Command Completion ON

signal

(6)

OFF

(1) (2)

(4)

*1: A timeout error will occur if the Command Request signals does not turn OFF within 10 seconds. Then Command Completion signal and Busy signal will be forced to turn OFF.
*2: Busy signal are automatically switched from ON to OFF when command execution is completed.

(1) The Controller (master) sets the command code and command parameters. (2) After checking that the Command Ready signal is ON and the Command Completion signal is OFF,
the Controller (master) turns the Command Request signal ON. (3) The Sensor Controller (slave) turns the Busy signal ON (4) The Sensor Controller (slave) sets the echoing back the command code, response code, and re-
sponse data. (5) The controller (master) turns the Command Request signal OFF.

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(6) The Sensor Controller (slave) turns the Command Completion signal OFF.

l Continuous Measurement Command (Without handshaking)
Continuous execution is used to repeatedly execute measurement by starting the next measurement operation (image input and measurement processing) as soon as single measurement operation (image input and measurement processing) is completed. Continuous measurement is started when the Start Continuous Measurements command is executed and ended when the End Continuous Measurements command is executed.

Command Area Command Code

ON OFF

Command Parameter ON OFF

Command Request ON signal OFF

Response Area Command Code Echo Back

ON OFF

ON
Busy signal OFF

Start Command for Continuous Measurement (5)
*1 Timeout

End Command for Continuous Measurement (13)
*1 Timeout

(8)

*2

Measurement Measurement Measurement

Command Ready signal ON OFF

Trigger Ready signal ON

(8)

OFF

Response Code ON
OFF
(14) Command Completion ON
signal OFF

Total Judgment ON signal OFF

(1) (2)

(3) (4) (6) (7)

(9) (10) (11) (12)

*1: A timeout error will occur if you turn off the Command Request signal within 10 seconds after the Command Completion signal is turned ON. Command Completion signal and Busy signal will be forcefully turned OFF.
*2: Busy signal are automatically switched from ON to OFF when command execution is completed.

(1) The Controller (master) sets the command code and command parameters. (2) After checking that the Command Ready signal is ON and the Command Completion signal is OFF,
the Controller (master) turns the Command Request signal ON. (3) The Sensor Controller (slave) sets the echoing back the command code, response code, and re-
sponse data. (4) The Sensor Controller (slave) turns the Command Completion signal ON.

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2-1-22 Data Output

(5) The controller (master) turns the Command Request signal OFF. (6) The Sensor Controller (slave) turns the Command Completion signal OFF. (7) The Sensor Controller (slave) starts continuous measurement. (8) The Sensor Controller (slave) turns the Busy signal ON
and tune the Trigger Ready signal OFF.
<Operation to End Continuous Measurement>
(9) The Controller (master) sets the End Continuous Measurements command code during execution of continuous measurement by the Start Continuous Measurements command.
(10) The Controller (master) turns ON the Command Request (EXE) signal.
2
Additional Information
Continuous measurement is not ended in the middle of measurement. When the End Continuous Measurements command was executed, continuous measurement is ended after the measurement in execution was completed.
<Ending Continuous Measurement>
(11) The Sensor Controller (slave) stops continuous measurement and turns OFF the BUSY signal. (12) After setting the command code echo back and response code, the Sensor Controller (slave) turns
ON the Command Completion (FLG) signal. (13) The Controller (master) turns OFF the Command Request (EXE) signal. (14) The Sensor Controller (slave) turns OFF the Command Completion (FLG) signal.
Precautions for Correct Use
� The measurement during continuous measurement is 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.
� When continuous measurement is ended, the measurement results from the last measurement will be displayed.

2-1-22 Data Output
This section describes the ON/OFF timing for signals related to measurement data output after measurement completion using the following timing chart.

l Without handshaking

Response Area
Data Output Area

Result Notification signal
Output data

ON OFF ON OFF

Fieldbus Data Fieldbus Data

Output Unit Output Unit

execution

*1

*2

First data output Second data output

The data is overwritten by the second data output.

(1)

(2)

*1, *2: Data is output at the set output period*1 and for the set output time.*2 After data is output, the Result Notification signal is turned ON and the data is held for the data output time.

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(1) The Sensor Controller (slave) outputs data when the Fieldbus Data Output Unit starts execution. (2) Data is output each time that the Fieldbus Data Output Unit is performed for the second time or oth-
er Fieldbus Data Output Unit is performed. In that time, the output data for the first time is overwritten.
Precautions for Correct Use
Set the Output period in the communication settings to a time that is longer than the Output time.

l With handshaking
The Result Notification signal switches from OFF to ON when the Controller (master) switches the Result Set Request signal from OFF to ON. At that time, data that is possible to output will be output.*1 The Controller (master) checks that the Result Notification signal is ON and acquires the data, and then it needs to switch the Result Set Request signal from ON to OFF. In the case where multiple Fieldbus Data Output Units perform the data output, the Controller (master) needs to turn the Result Set Request signal ON again to instruct next data output when the Sensor Controller (slave) switched the Result Notification signal from ON to OFF.

*1: Data prepared for output which an Output Unit has been already performed in the measurement flow.

Fieldbus Data Output Fieldbus Data Output

Unit execution

The Controller (master) switches the Result Set Request signal from OFF to ON at the same time that the Trigger signal or Command Request signal switches from OFF to ON, and waits for the first data output.

The Trigger signal is turned ON at the same time.

Wait for the first Wait for the second

output data.

Result Set

ON

* *

Request signal

OFF

Result

ON

Notification

signal

OFF

When the Result Notification signal is ON, the Controller (master) reads the data and switches the Result Set Request signal back to OFF.
When the Result Notification signal has switched from ON to OFF, the Controller (master) switches the Result Set Request signal from OFF back to ON, and waits for the second data output.
The Sensor Controller (slave) checks that the Result Set Request signal has turned OFF, then automatically turns the Result Notification signal OFF.

ON Output data
OFF

First data output Second data output

(1) (2) (3) (4) (5)

(6)

*: 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 input or the command input.) � If the Result Set Request signal is not turned OFF after a certain time elapses from when the Result Notification signal turned ON.

(1) The Controller (master) turns the Result Set Request signal ON. (2) When the Fieldbus Data Output Unit in the measurement flow is performed, the Sensor Controller
(slave) writes the data and then turns the Result Notification signal ON. (3) The Controller (master) acquires the data and then turns the Result Set Request signal OFF. (4) The Sensor Controller (slave) turns the Result Notification signal OFF. (5) In the case where multiple Fieldbus Data Output Units are placed in the measurement flow, the Con-
troller (master) turns the Result Set Request signal ON and then waits for the next Fieldbus Data Output Unit performed. (6) When the next Fieldbus Data Output Unit is performed, the Sensor Controller (slave) writes the data and then turns the Result Notification signal ON.

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After that, repeat step 3 to 6.
2

2-1-22 Data Output

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2-1-23 Timing Chart
This section describes the ON/OFF timing for signals related to the sequence of operation from control command input until measurement data output after measurement completion using the following timing chart.

l Example 1: Inputting a Measurement Trigger after Switching a Scene without Handshaking

Command Code ON OFF

Select Scene command

Command Area

Command Parameter ON OFF
Command Request ON signal OFF

Scene No.

(6)

Select Scene command

is running

*1

Trigger ON signal OFF

(10)
Measurement Trigger is running.

ON Busy signal
OFF

(3)
*2

(12)
*3

Response Area

Command Ready ON signal OFF
Command Completion ON signal OFF
Trigger Ready ON signal OFF

(3)
*2
(7)

*3
(13)

Trigger Ack ON signal OFF

(9) (11)

Result Notification ON signal OFF

(15) (15)

Data Output Area

ON Result Data
OFF

(1) (2)

(4)(5)

(8)

(14)

Fieldbus Data Output Unit is executed.

*1: A timeout error will occur if you turn off the Command Request signal from Sensor Controller (master) within the timeout period set in the EtherCAT settings. Then Command Completion signal and Busy (BUSY) signal will be forced to turn off.
*2: Busy (BUSY) signal is automatically switched ON from OFF when the command execution is completed. *3: Busy (BUSY) signal is automatically switched ON from OFF when the measurement is completed.

(1) The Controller (master) sets the command code and command parameters for the scene switching command.
(2) The Controller (master) checks that the Command Ready signal is ON and the Command Completion signal is OFF, and then turns the Command Request signal ON.
(3) The Sensor Controller (slave) turns the BUSY signal ON and the Command Ready signal OFF, and then switches the scene.
(4) The Sensor Controller (slave) turns the Trigger Ready signal ON after the switching scene is completed.
(5) The Sensor Controller (slave) turns the Command Completion signal ON. (6) The Controller (master) turns the Result Set Request signal OFF. (7) The Sensor Controller (slave) turns the Command Completion signal OFF.

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(8) The Controller (master) turns the Trigger signal ON.
Additional Information
Before inputting a measurement trigger after changing the scene, first check that the Command Completion signal that was turned ON by execution of the scene change command has turned OFF, and that the Trigger Ready signal is ON.

(9)

The Sensor Controller (slave) turns the Trigger Ack signal ON and the Trigger Ready signal OFF.

(10) The Controller (master) turns the Trigger signal OFF.

(11)

The Sensor Controller (slave) turns the Trigger Ack signal OFF.

(12) the Sensor Controller (slave) turns the BUSY signal ON and performs measurement processing.

2

(13) The Sensor Controller (slave) turns the Trigger Ready signal ON when image input processing has

completed and the measurement trigger input becomes available.

(14) When the Fieldbus Data Output Unit in the measurement flow is performed, the Sensor Controller (slave) writes the data and then turns the Result Notification signal ON.

(15) After the time set at Output time in the EtherCAT settings passed, The Sensor Controller (slave)

turns the Result Notification signal OFF.

2-1-23 Timing Chart

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l Example 2: Outputting Data with more than one Output Unit Without Handshaking

Command

Trigger signal ON

(3)

Area

OFF

Response Area
Data output Area

Busy signal ON

(5)

*1

OFF

ON Trigger Ready signal OFF

Trigger Ack signal ON OFF
Result Notification ON signal OFF
Result Data ON OFF

(2) (4)

(9) (8)
First data output

(10) Second data output

(1)

(6) (7)

(7) First Fieldbus Data Output Unit is executed.

This data is overwritten by the second data output.
(9) Second Fieldbus Data Output Unit is executed.

*1: Busy (BUSY) signal is automatically switched ON from OFF when the command execution is completed.

(1)

The Controller (master) checks that the Trigger Ready signal is ON and then turns the Trigger sig-

nal ON

(2)

The Sensor Controller (slave) turns the Trigger Ack signal ON and the Trigger Ready signal OFF.

(3)

The Controller (master) turns the Trigger signal OFF.

(4)

The Sensor Controller (slave) turns the Trigger Ack signal OFF.

(5)

the Sensor Controller (slave) turns the BUSY signal ON and performs measurement processing.

(6)

The Sensor Controller (slave) turns the Trigger Ready signal ON when image input processing has

completed and the measurement trigger input becomes available.

(7)

When the first Fieldbus Data Output Unit in the measurement flow is performed, the Sensor Con-

troller (slave) writes the data and then turns the Result Notification signal ON.

(8)

After the time set at Output time in the EtherCAT settings passed, The Sensor Controller (slave)

turns the Result Notification signal OFF.

(9)

When the second Fieldbus Data Output Unit in the measurement flow is performed after the output

cycle for the first one passed, the Sensor Controller (slave) turns the Result Notification signal ON.

(10) After the time set at Output time in the EtherCAT settings passed, The Sensor Controller (slave) turns the Result Notification signal OFF.

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Additional Information

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

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 da-

ta.

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.

2

For more information on handshaking, refer to Data Output Control with Handshaking on page

1-25.

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 measure-

ment flow.

If you set something like [DO+1], each time a measurement is executed (each time the meas-

urement flow is executed), 1 will be added to DO, so the present value of DO will give you the

actual number of measurements.

2-1-23 Timing Chart

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2-1-24 EtherCAT Troubleshooting

Cannot Communicate with the Sensor Controller

Problem Data is not input and output at all.
EtherCAT communications are unavailable due to Slave Initialization Error (0x84230000).
EtherCAT communications are unavailable due to Slave Initialization Error (0x84280000).

Cause The node address is set incorrectly.
The devices are not connected correctly.
The Output Option is not selected in the Adjustment window. The communication module settings are set incorrectly. PDO Mapping information (slot information for MDP) is different between the Sensor Controller and the Controller of the NJ/NX series.
The communication cycle for EtherCAT (PDO communication cycle time) has been set lower than the predetermined value.

Action
Check the node address setting switches.
Check that the EtherCAT connectors (input and output) are connected to the devices correctly.
Place a check to the Output Option in the Adjustment window.
Check that EtherCAT is set in the communication module settings.
Verify whether or not the following parameters are matched. � The number of controlled lines � Data output size � Use of User Area
The minimum communication cycle time (PDO communication cycle time) depends on the number of lines to control, the number of bytes for output data, use of the User Area, and use of Multi-line Random-trigger mode. For details, refer to Minimum PDO Communication Cycle Time on page 2-18.

A Timeout Error Occurred

Problem
A handshaking timeout error occurred.

Cause

Action

The Result Set Request signal is being turned ON and OFF too slowly. The following patterns are considered. � The Result Set Request signal is
not turned ON even measurement is completed. � The Result Set Request signal is not switched from ON to OFF even the Result Notification signal is turned ON. � The Result Set Request signal is not turned ON even the Result Notification signal is turned OFF.

After the measurement command is performed, turn the Result Set Request signal ON and OFF within the timeout time set in the EtherCAT communication settings. Or, increase the timeout time.

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Settings are not kept

Problem
Settings such as Fieldbus Data Output Calculations or Comments are not kept.

Cause
Changed the communication settings after setting the Fieldbus Data Output.

Action
Set the Fieldbus Data Output after performing the communication settings.

Additional Information

Errors that occur in the EtherCAT system, including sensor errors, are displayed as a Sysmac error status in Sysmac Studio(Standard Edition).

2

For Sysmac Error Status, refer to Sysmac Error Status Event Code Table on page 2-66.

2-1-24 EtherCAT Troubleshooting

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2-1-25 Sysmac Error Status
The Sysmac Studio (standard edition) displays errors occurred in the EtherCAT system (including errors in the sensor) as Sysmac error status.

Sysmac Error Status Event Code Table
This section describes the event codes for the Sysmac error status related to the Sensor. For details of the event code, refer to NJ-series Troubleshooting Manual (Cat. No. W503). � Levels:
Maj: major, Prt: Partial, Min: Minor, Minor, Obs: Observations, Info: Information

Event code

Event name

Description

0821 0000 Hex

Fan/Power supply error

An error occurred in the fan or power supply.

0822 0000 Hex

Camera overcurrent detected

An overcurrent state occurred on the Camera.

0823 0000 Hex
0825 0000 Hex

Parallel I/O overcurrent detected
Battery error detected

An overcurrent state occurred in a Parallel I/O interface.
An error occurred in the built-in battery.

182D 0000 Setting data Loading the scene

Hex

load error group data failed.

Occurrence factor (Assumed cause) Maj
� There are obstacles disturbing the fan operation.
� An improper power supply is used, which cause over- or lower-voltage.
� A short circuit occurs inside of the Camera cable or in the Controller circuit.
� A Parallel I/O line is shortcircuited.
� An error occurred in the built-in battery.
� The data is damaged because the power supply was turned off during the previous scene data save.
� As the result of changing its operation mode, the required memory amount increased causes insufficient memory.

Level*1

Prt

Min

Ob s

Ref. Info
page 2-73
page 2-73 page 2-74 page 2-74
page 2-75

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2-1-25 Sysmac Error Status

2 Methods for Connecting and Communicating with External Devices

Event code

Event name

Description

Occurrence factor

Level*1

(Assumed cause)

Maj

Prt

Min

Ob s

Info

Ref.

� The Camera

connection infor-

385A 0000 Hex

Change in connected camera

The camera connected is different from the previous one.

mation in the scene data does not match the Camera current-

page 2-75

ly connected to

the Controller.

� A Camera is not

2

connected to the

Controller. � The Camera ca-

ble is broken. � The Camera

Selection set-

tings are incor-

rect in the

Camera Image

Input and

Camera

3859 0000 Hex

Camera connection error

Switching processing units. � A Camera is not

page 2-76

connected to the

Camera port on

the Controller

according to the

The Camera

Selection set-

tings in the

Camera Image

Input and

Camera

Switching proc-

essing units.

� A serious error

4802 0000 System er- An error occurred

Hex

ror

in the system.

occurred in the system in the

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Event code

Event name

5821 0000 Hex

Output control timeout for Parallel I/O, PLC Link, EtherNet/IP, or PROFINET

5822 0000 Hex

Output control timeout (EtherCAT)

7819 0000 Hex

Logging disk write error

Description
A timeout occurred in the handshaking control of data output for measurement results.
A timeout occurred in the handshaking control of data output for measurement results.
Writing data to the logging disk failed.

Occurrence factor (Assumed cause) Maj
� The handshaking control of the data output in the program, i.e. ON/OFF timing for DSA signal, is improper.
� The timeout time for the output control is too short to the program processing time.
� The DSA signal or the Result Notification signal in the Parallel I/O is miswired.
� The handshaking control of the data output in the program, i.e. ON/OFF timing for DSA signal, is improper.
� The timeout time for the output control is too short to the program processing time.
� A logging disk is not inserted.
� The free space on the logging disk is insufficient.
� There is no logging folder.
� Security restrictions are set on the logging disk.

Level*1

Prt

Min

Ob s

Ref. Info
page 2-78
page 2-78
page 2-79

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2 Methods for Connecting and Communicating with External Devices

Event code

Event name

Description

Occurrence factor

Level*1

(Assumed cause)

Maj

Prt

Min

Ob s

Info

Ref.

� Scene data was

edited when the

free space on

the RAMDisk

was insufficient

and the opera-

tion mode was

Double Speed

781A 0000 Hex

Setting data An error occurred

transfer er- during the scene

ror

data transfer.

Multi-input mode. � The Data transfer was

2

page 2-80

clicked when the

free space on

the RAMDisk

was insufficient

and the opera-

tion mode was

Non-stop Adjust-

ment mode.

� Measurements

are performed in

781B 0000 Hex

Output buffer error (EtherCAT)

The data output buffer for measurement results became full.

a cycle shorter than the time required for the handshaking control of the da-

page 2-80

ta output in the

program.

� The communica-

tion settings in

the PLC or the

8808 0000 Hex

PLC Link A PLC Link comcommunica- munications are tions error not established.

Sensor Controller is improper. � Cables for

page 2-81

Ethernet or

RS-232C are

broken.

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2 Methods for Connecting and Communicating with External Devices

Event code

Event name

Description

Occurrence factor

Level*1

(Assumed cause)

Maj

Prt

Min

Ob s

Info

Ref.

� The power con-

sumption of the

light connected

to the Camera-

mount lighting

controller is im-

proper.

� The light emit-

Lighting

An error occurred

ting mode of the

385B 0000 connection in the lighting con-

Hex

configura- nection configura-

light connected to the Camera-

tion error tion.

mount lighting

controller is im-

proper.

� Connects an ex-

ternal power

supply to the

Camera-mount

lighting control-

ler.

page 2-81

� The external

storage set in

the "Scene

Group Saving

Destination Set-

tings" is not con-

nected at start-

up.

Incorrect

� The directory for

5823 0000 Scene

Hex

Group at

The scene group is incorrect at startup.

the scene group saving destina-

Startup

tion does not ex-

ist at startup.

� The scene group

number at start-

up is out of

range from the

scene group

specified in the

system.

page 2-82

� The scene num-

5824 0000 Hex

Incorrect Scene Number at Startup

The scene number is incorrect at startup.

ber at startup is set larger than the scene range specified in the

system.

page 2-83

*1. Level of Severity � Major Fault Level: These errors make the Controller be totally out of control. If a major error is detected, the execution of user programs is immediately stopped and loads for all slaves including remote I/Os are cut off.

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You cannot clear major fault level errors through user programs, Sysmac Studio, or a PT of the NS series.

To recover this situation, remove the cause of the error, and either turn the power supply for the Controller

off and on or reset it using System Studio.

� Partial Fault Level:

These errors make a certain function module in the Controller be totally out of control. The Controller of

the NJ series continues to perform user programs even after a partial error occurs. To recover from the

situation, remove the cause of the error, and perform either one of the following.

- Reset the error through user programs, Sysmac Studio, or an PT of the NS series.

- Turn the power supply for the Controller off and on

- Reset the Controller through Sysmac Studio.

� Minor Fault Level:

These errors make a part of a certain function module in the Controller be out of control. The troubleshooting for these errors is the same as the processing for the partial fault level errors.

2

� Observations:

These errors do not affect the Controller control.

Although these errors do not affect the control, the purpose of them is to warn users so that the errors do

not develop into higher level errors.

� Information:

Notifications other than above errors.

Checking Sysmac Error Status
The Sysmac error status can be checked by the troubleshooting functions of the Sysmac Studio (standard edition). For details of the troubleshooting function, refer to NJ/NX series Troubleshooting Manual (Cat. No. W503).
1 Select Troubleshooting from the Tool menu while online or click Troubleshooting in the tool-
bar. 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 Sysmac Error Status
1 Remove the cause of the error, then click Reset All on the Controller Errors tab page in the
Troubleshooting dialog box.
Additional Information Even if you reset the Sysmac error status, the error log will remain in the logs on the Controller Event Log tab.

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2 Methods for Connecting and Communicating with External Devices

Error Details
This section describes details on errors. The items used to describe individual errors (events) are described in the following copy of an error table.

Event name Name of the error

Event code Code of the error

Description Short description of the error

Source

Source of the error

Source details

Details on the source of the error

Detection timing

When the error is detected.

Error attrib- Level utes

The level of influence on control*1

Recovery

Recovery method*2

Log category

Which log the error is saved in.*3

Effects

User program

What will happen to execution of the user

Operation

Special information on the operation at the error occurrence.

program.*4

LED

The status indicator for the EtherCAT port built into the NJ-series Controller. The indicator status is displayed only for errors in the EtherCAT Master Function Module and the EtherNet/IP Function Module.

System-defined variables

Variable name

Data type

Name

Lists the variable names, data types, and names for system-defined variables that provide direct error notification, that are directly affected by the error, or that contain settings that cause the error.

Cause and correction

Occurrence factor (Assumed cause)

Correction

Prevention

Lists the possible causes, corrections, and preventive measures for the error (event).

Additional Additional information displayed by the Sysmac Studio or an PT of the NS series. information

Precautions/ Precautions, restrictions, and supplemental information Remarks

*1. One of the following: 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 the 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.

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2 Methods for Connecting and Communicating with External Devices

Starts: Execution of the user program starts.

Error Descriptions

Event name Fan/Power supply error

Event code 0821 0000 Hex

Description An error occurred in the fan or power supply.

Source

EtherCAT Master Function Module

Source details

Slave

Detection timing

Always at startup

Error reset

Error attributes

Level

Minor Fault Recovery

(after resetting the error

Log category

System

2

in the slave)

Effects

User program

Continuous Operation

All slave functionality stops until the problem is corrected.

LED

EtherCAT NET RUN -

EtherCAT NET ERR -

EtherCAT LINK/ACT -

System-defined variables

Variable name None

Data type -

Name -

Occurrence factor (Assumed cause)

Correction

Prevention

Cause and correction

There are obstacles disturbing the fan operation.

Turn the power supply OFF, remove the obstacle disturbing the fan operation, and turn the power supply back ON.

Be sure to use it in conditions without obstacles disturbing the fan operation.

An improper power supply is used, which cause over- or lower-voltage.

Turn the power supply OFF and replace it with one with proper voltage, then turn it back ON.

Use a power supply with proper voltage.

Additional information

None

Precautions/ If the problem still exists after the corrections was performed, a hardware failure may have oc-

Remarks

curred. Consult your OMRON representative.

Event name Description Source
Error attributes
Effects
LED

Camera overcurrent detected

Event code 0822 0000 Hex

An overcurrent state occurred on the Camera.

EtherCAT Master Function Module

Source details

Slave

Detection timing

Always at startup

Level

Minor Fault Recovery

Error reset (after resetting the error in the slave)

Log category

System

User program

Continuous Operation

The Camera image will not be input, so measurements will be performed on invalid images. This may result in the output of unintentional measurement results.

EtherCAT NET RUN

EtherCAT NET ERR

EtherCAT LINK/ACT

-

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System-defined variables
Cause and correction
Additional information Precautions/ Remarks

Variable name
None
Occurrence factor (Assumed cause) A short circuit occurs inside of the Camera cable or in the Controller circuit.
None
None

Data type -
Correction
Consult your OMRON representative.

Name -
Prevention
Consult your OMRON representative.

Event name Description Source
Error attributes
Effects
LED System-defined variables
Cause and correction
Additional information Precautions/ Remarks

Parallel I/O overcurrent detected

Event code 0823 0000Hex

An overcurrent state occurred in a Parallel I/O interface.

EtherCAT Master Function Module

Source details

Slave

Detection timing

Always at startup

Level

Minor Fault Recovery

Error reset (after resetting the error in the slave)

Log category

System

User program

Continuous Operation

Measurement results cannot be output to an external device with the parallel I/O.

EtherCAT NET RUN

EtherCAT NET ERR

EtherCAT LINK/ACT

-

Variable name

Data type

Name

None

-

Occurrence factor (Assumed cause)
A Parallel I/O line is shortcircuited.

Correction
Turn the power supply OFF and check the parallel I/O connections.

Prevention
Route the parallel I/O lines so that they will not be shortcircuited.

None

Event name Battery error detected Description An error occurred in the built-in battery.

Source

EtherCAT Master Function Module

Source details

Error attributes

Level

Effects

User program

Minor Fault Recovery Continuous Operation

Event code 0825 0000 Hex

Slave

Detection timing

After the slave power was turned ON.

Error reset (after resetting the error in the slave)

Log category

System

Date-time setting of the Controller will be initialized.

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LED

EtherCAT NET RUN -

EtherCAT NET ERR -

EtherCAT LINK/ACT -

System-defined variables

Variable name None

Data type -

Name -

Cause and correction

Occurrence factor (Assumed cause)
An error occurred in the builtin battery.

Correction
Consult your OMRON representative.

Prevention
Consult your OMRON representative.

Additional information
Precautions/ Remarks

None None

2

Event name Description
Source
Error attributes
Effects
LED System-defined variables
Cause and correction
Additional information Precautions/ Remarks

Setting data load error

Event code 182D 0000 Hex

Loading the scene group data failed.

EtherCAT Master Function Module

Source details

Slave

Detection timing

After the slave power was turned ON.

Level

Minor Fault Recovery

Error reset (after resetting the error in the slave)

Log category

System

User program

Continuous Operation

The Controller will start with the default scene group data. If the data is saved into the Controller in this condition, the data currently saved will be overwritten.

EtherCAT NET RUN

EtherCAT NET ERR

EtherCAT LINK/ACT

-

Variable name

Data type

Name

None

-

Occurrence factor (Assumed cause)
The data is damaged because the power supply was turned off during the previous scene data saved.
As the result of changing its operation mode, the required memory amount increased causes insufficient memory.

Correction
Set the scene you desired from scratch.
Review the measurement flow so that the memory consumption is reduced.

Prevention
Do not turn the power supply OFF during saving the scene data.
Review the measurement flow so that the memory consumption is reduced.

None

Event name Change in connected camera

Event code

Description The camera connected is different from the previous one.

385A 0000 Hex

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2 Methods for Connecting and Communicating with External Devices

Source
Error attributes
Effects
LED System-defined variables
Cause and correction
Additional information Precautions/ Remarks

EtherCAT Master Function Module

Level

Minor Fault

User program

Continuous

EtherCAT NET RUN -
Variable name

Source details

Slave

Detection timing

After the slave power was turned ON.

Recovery

Error reset (after resetting the error in the slave)

Log category

System

Operation

Although the Camera image input is available, the measurement may be performed by the number of camera pixels, color, and monochrome information unintended.

EtherCAT NET ERR

EtherCAT LINK/ACT

-

Data type

Name

None

-

Occurrence factor (Assumed cause)
The Camera connection information in the scene data does not match the Camera currently connected to the Controller.

Correction
Replace the Camera with one matched to the camera connection information held in the scene data or edit the scene data according to the information for the Camera connected to the Controller.

Prevention
Be sure to match the Camera connection information in the scene data to the Camera connected to the Controller.

None

The error will occur when system and scene group 0 data (bkd file) edited with simulation software is loaded to the Controller. Save the data once and then restart the Controller.

Event name Description Source
Error attributes
Effects
LED System-defined variables

Camera connection error

Event code 3859 0000 Hex

The camera connection is wrong.

EtherCAT Master Function Module

Source details

Slave

Detection timing

Always at startup

Level

Minor Fault Recovery

Error reset (after resetting the error in the slave)

Log category

System

User program

Continuous Operation

The Camera image will not be input, so measurements will be performed on invalid images. This may result in the output of unintentional measurement results.

EtherCAT NET RUN

EtherCAT NET ERR

EtherCAT LINK/ACT

-

Variable name

Data type

Name

None

-

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Occurrence factor (Assumed cause)

Correction

Prevention

A Camera is not connected to the Controller.

Turn the power supply OFF, correctly connect a Camera to the Controller, and turn the power supply ON.

Correctly connect a Camera to the Controller and tighten the screws.

Turn the power supply OFF, Use a bending resistant cable

The Camera cable is broken.

replace the Camera cable with a new one, then turn it

or apply other measures so that the Camera cable will not

back ON.

be broken.

Cause and The Camera Selection set-

correction tings are incorrect in the

Properly perform the settings Properly configure the set-

2

Camera Image Input and

according to the connected tings according to the con-

Camera Switching processing Camera.

nected Camera.

units.

A Camera is not connected to the Camera port on the Controller according to the The Camera Selection settings in the Camera Image Input and Camera Switching processing units.

Turn the power supply OFF, connect the Camera to the proper Camera port, and then turn it back ON.

Connect the Camera to the proper Camera port.

Additional information

None

Precautions/ Remarks

None

Event name Description Source
Error attributes
Effects
LED System-defined variables
Cause and correction
Additional information Precautions/ Remarks

System error

Event code 4802 0000 Hex

An error occurred in the system.

EtherCAT Master Function Module

Source details

Slave

Detection timing

Always at startup

Level

Minor Fault Recovery

Error reset (after resetting the error in the slave)

Log category

System

User program

Continuous Operation

All functions in slaves stop, and measurement trigger signals and commands are not accepted.

EtherCAT NET RUN

EtherCAT NET ERR

EtherCAT LINK/ACT

-

Variable name

Data type

Name

None

-

Occurrence factor (Assumed cause)
A serious error occurred in the system in the Controller.

Correction
Consult your OMRON representative.

Prevention
Consult your OMRON representative.

None

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Event name Description Source
Error attributes
Effects LED System-defined variables
Cause and correction
Additional information Precautions/ Remarks

Output control timeout for Parallel I/O, PLC Link, EtherNet/IP, or PROFINET

Event code 5821 0000 Hex

A timeout occurred in the handshaking control of data output for measurement results.

EtherCAT Master Function Module

Source details

Slave

Detection timing

At measurement result output

Level

Minor Fault Recovery

Error reset (after resetting the error in the slave)

Log category

System

User program

Continuous Operation

The latest measurement data will be discarded.

EtherCAT NET RUN

EtherCAT NET ERR

EtherCAT LINK/ACT

-

Variable name

Data type

Name

None

-

Occurrence factor (Assumed cause)
The handshaking control of the data output in the program, i.e. ON/OFF timing for DSA signal, is improper.
The timeout time for the output control is too short to the program processing time.
The DSA signal or the Result Notification signal in the Parallel I/O is mis-wired.

Correction

Prevention

Correct the program so that the handshaking control of the data output, i.e. ON/OFF timing for DSA signal, is proper.
Correct the timeout time according to the program processing time.
Turn the power supply OFF, correctly route them, then restart it.

Create the program so that the handshaking control of the data output, i.e. ON/OFF timing for DSA signal, is proper. Set the timeout time according to the program processing time.
Correctly route them, then restart.

None

The error will occur when measurement results are output through the Parallel I/O, PLC Link, EtherNet/IP, or PROFINET. For EtherCAT, refer to the following Output Control Timeout for EtherCAT event.

Event name Description Source
Error attributes
Effects
LED

Output control timeout for EtherCAT

Event code 5822 0000 Hex

A timeout occurred in the handshaking control of data output for measurement results.

EtherCAT Master Function Module

Source details

Slave

Detection timing

At measurement result output

Level

Minor Fault Recovery

Error reset (after resetting the error in the slave)

Log category

System

User program

Continuous Operation

Data is not output to the EtherCAT master and held in the Sensor Controller. The stored data will be output to the EtherCAT master when the Result Set Request signal is turned ON.

EtherCAT NET RUN

EtherCAT NET ERR

EtherCAT LINK/ACT

-

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System-de- Variable name

Data type

Name

fined variables

None

-

Occurrence factor (Assumed cause)

Correction

Prevention

The handshaking control of Correct the program so that Create the program so that

Cause and correction

the data output in the program, i.e. ON/OFF timing for DSA signal, is improper.

the handshaking control of the the handshaking control of the data output, i.e. ON/OFF tim- data output, i.e. ON/OFF timing for DSA signal, is proper. ing for DSA signal, is proper.

The timeout time for the out- Correct the timeout time ac- Set the timeout time accord-

put control is too short to the cording to the program proc- ing to the program processing

program processing time.

essing time.

time.

2

Additional information

None

Precautions/ Remarks

The error will occur when measurement results are output through EtherCAT. For the Parallel I/O, PLC Link, EtherNet/IP, or PROFINET, refer to the above event, Output Control Timeout for Parallel I/O, PLC Link, EtherNet/IP, or PROFINET.

Event name Description
Source
Error attributes
Effects LED System-defined variables
Cause and correction
Additional information Precautions/ Remarks

Logging disk write error

Event code 7819 0000 Hex

Writing data to the logging disk failed.

EtherCAT Master Function Module

Source details

Slave

Detection timing

When logging images and Logging operations

Level

Minor Fault Recovery

Error reset (after resetting the error in the slave)

Log category

System

User program

Continuous Operation

Logging failure continuously occurs until the problem is corrected.

EtherCAT NET RUN

EtherCAT NET ERR

EtherCAT LINK/ACT

-

Variable name

Data type

Name

None

-

Occurrence factor (Assumed cause)

Correction

A logging disk is not inserted. Insert the logging disk.

The free space on the logging disk is insufficient.

Delete unnecessary files from the logging disk to increase the free space.

There is no logging folder.

Create the logging folder or change it.

Security restrictions are set on Clear the security restrictions

the logging disk.

on the logging disk.

Prevention
Insert the logging disk so that it will not come off. Delete unnecessary files from the logging disk to increase the free space. Create the logging folder or change it. Clear the security restrictions on the logging disk.

None

The error will occur in image logging and operation logging and it will not occur in data logging.

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Event name Description Source
Error attributes
Effects LED System-defined variables
Cause and correction
Additional information Precautions/ Remarks

Setting data transfer error

Event code 781A 0000 Hex

An error occurred during the scene data transfer.

EtherCAT Master Function Module

Source details

Slave

Detection timing

After editing scene data

Level

Minor Fault Recovery

Error reset (after resetting the error in the slave)

Log category

System

User program

Continuous Operation

Measurements will be performed without reflecting the edited scene data.

EtherCAT NET RUN

EtherCAT NET ERR

EtherCAT LINK/ACT

-

Variable name

Data type

Name

None

-

Occurrence factor (Assumed cause)
Scene data was edited when the free space on the RAMDisk was insufficient and the operation mode was Double Speed Multi-input mode.
The Data transfer was clicked when the free space on the RAMDisk was insufficient and the operation mode was Nonstop Adjustment mode.

Correction
Clean the contents in the RAMDisk to increase the free space.
Clean the contents in the RAMDisk to increase the free space.

Prevention
Normally be sure to keep the size for the current scene group data on the RAMDisk at least.
Normally be sure to keep the size for the current scene group data on the RAMDisk at least.

None

The RAMDisk is used as a buffer when the operation mode is Double Speed Multi-input mode or Non-stop Adjustment mode. Normally be sure to keep the size for the current scene group data on the RAMDisk at least.

Event name Description Source
Error attributes
Effects
LED System-defined variables

Output buffer error (EtherCAT)

Event code 781B 0000 Hex

The data output buffer for measurement results became full.

EtherCAT Master Function Module

Source details

Slave

Detection timing

At measurement result output

Level

Minor Fault Recovery

Error reset (after resetting the error in the slave)

Log category

System

User program

Continuous Operation

The latest measurement results data will be continuously discarded until sufficient free space is secured.

EtherCAT NET RUN

EtherCAT NET ERR

EtherCAT LINK/ACT

-

Variable name

Data type

Name

None

-

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Occurrence factor (Assumed cause)

Correction

Prevention

Cause and correction

Measurements are performed in a cycle shorter than the time required for the handshaking control of the data output in the program.

Correct the program so that measurements are performed in a cycle longer than the time required for the handshaking control of the data output.

Create the program so that measurements are performed in a cycle longer than the time required for the handshaking control of the data output.

None

Precautions/ Remarks

The buffer size for the EtherCAT measurement data is 4 KB. When the size for one Fieldbus Data Output Unit is 32 bytes (eight DINT formats), the buffer can store data up to 127 measurements.

2

Event name Description Source
Error attributes
Effects
LED System-defined variables
Cause and correction
Additional information Precautions/ Remarks

PLC Link communications error

Event code 8808 0000 Hex

A PLC Link communications are not established.

EtherCAT Master Function Module

Source details

Slave

Detection timing

Always at startup

Level

Minor Fault Recovery

Error reset (after resetting the error in the slave)

Log category

System

User program

Continuous Operation

The Sensor Controller cannot be controlled via PLC Link.

EtherCAT NET RUN

EtherCAT NET ERR

EtherCAT LINK/ACT

-

Variable name

Data type

Name

None

-

Occurrence factor (Assumed cause)
The communication settings in the PLC or the Sensor Controller is improper.

Correction
Correct the communication settings in the PLC and Sensor Controller.

Cables for Ethernet or RS-232C are broken.

Replace the cable for Ethernet or RS-232C with a new one.

Prevention
Correct the communication settings in the PLC and Sensor Controller. Use a bending resistant cable or apply other measures so that the cable will not be broken.

None

The PLC Link Connection Guide is available on our website.

Event name Description
Source
Error attributes

Lighting connection configuration error

Event code

An error occurred in the lighting connection configuration.

EtherCAT Master Function Module

Source details

Slave

Level

Minor Fault Recovery

Error reset (after resetting the error in the slave)

385B 0000 Hex

Detection timing

After the slave power was turned ON.

Log category

System

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Effects LED System-defined variables
Cause and correction
Additional information Precautions/ Remarks

User program

Continuous

EtherCAT NET RUN

-

Variable name

Operation The lighting does not turn on.

EtherCAT NET ERR -
Data type

EtherCAT LINK/ACT -
Name

None

-

Occurrence factor (Assumed cause)
The power consumption of the light connected to the Camera-mount lighting controller is improper.
The light emitting mode of the lighting connected to the Camera-mount lighting controller is improper.
No external power supply is connected to the Cameramount lighting controller.

Correction
Connect a lighting with proper power consumption to the Camera-mount lighting controller.
Properly set the light emitting mode for the lighting connected to the Camera-mount lighting controller.
Connects an external power supply to the Camera-mount lighting controller.

Prevention
Consult the instruction manual for the lighting, and check the power consumption of it is proper for the Camera-mount lighting controller.
Consult the FH/FHV Series Vision System Processing Item Function Reference Manual (CAT. No. Z341), and check the proper lighting mode for the lighting.
Check that the cable of an external power supply is connected to the Camera-mount lighting controller.

None

Event name Description
Source
Error attributes
Effects
LED System-defined variables

Incorrect Scene Group at Startup

Event code 5823 0000 Hex

The scene group is incorrect at startup.

EtherCAT Master Function Module

Source details

Slave

Detection timing

After the slave power was turned ON.

Level

Minor Fault Recovery

Error reset (after resetting the error in the slave)

Log category

System

User program

Continuous Operation

All functions in slave stop until the problem is corrected.

EtherCAT NET RUN

EtherCAT NET ERR

EtherCAT LINK/ACT

-

Variable name

Data type

Name

None

-

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2 Methods for Connecting and Communicating with External Devices

Occurrence factor (Assumed cause)

Correction

Prevention

The external storage set in the "Scene Group Saving Destination Settings" is not connected at startup.

Connect the external storage set in the "Scene Group Saving Destination Settings".

Check that the cable of an external power supply is connected to the Camera-mount lighting controller, and restart the Sensor Controller.

Cause and

Select another directory in the

correction

The directory for the scene group saving destination does not exist at startup.

connected external storage at the scene group saving destination in the "Scene Group Saving Destination Settings"

Use the external storage which has the directory specified as the scene group saving destination.

2

dialog.

The scene group number at startup is out of range from the scene group specified in the system.

Correct the scene group number at startup, save it, and restart the Sensor Controller.

Check that the scene group number at startup is correct, save it, and restart the Sensor Controller.

Additional information

None

Precautions/ Remarks

None

Event name Description
Source
Error attributes
Effects
LED System-defined variables
Cause and correction
Additional information Precautions/ Remarks

Incorrect Scene Number at Startup

Event code 5824 0000 Hex

The scene number is incorrect at startup.

EtherCAT Master Function Module

Source details

Slave

Detection timing

After the slave power was turned ON.

Level

Minor Fault Recovery

Error reset (after resetting the error in the slave)

Log category

System

User program

Continuous Operation

All functions in slave stop until the problem is corrected.

EtherCAT NET RUN

EtherCAT NET ERR

EtherCAT LINK/ACT

-

Variable name

Data type

Name

None

-

Occurrence factor (Assumed cause)

Correction

The scene number at startup is set larger than the scene range specified in the system.

Correct the scene number at startup, save it, and restart the Sensor Controller.

Prevention
Check that the scene number at startup is correct, save it, and restart the Sensor Controller.

None

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2-1-26 Sysmac Device Features
Sysmac Devices are the control device products designed based on standardized communications and user interface specifications for OMRON control devices. And the features available with them are so called "Sysmac Device Features". This section describes the features when they are combined with a Machine Automation Controller such as NJ series, and with automation software.
Sysmac Error Status
Since errors occurring in slaves are systematized in Sysmac Devices, you can check the causes and measures for errors with common procedures using Sysmac Studio. The status of an error can be monitored at the Sysmac Error Status (2002 Hex - 01 Hex). To display the error status detected by the Sensor Controller for the FH/FHV/FZ5 series to Sysmac Studio, map the Sysmac Error Status (2002 Hex - 01 Hex) to the PDO. Sysmac Studio, by default, uses 1BFF Hex: 512th transmit PDO mapping assignment to map Sysmac Error Status (2002 Hex - 01 Hex) automatically to the PDO.
Additional Information � For the Sysmac Error status (2002-01 hex), refer to 2-1-27 Object Dictionary on page 2-87. � For errors displayed in Sysmac Studio, refer to NJ/NX series Troubleshooting Manual (Cat.
No. W503).

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Saving Node Address Settings
When the node address switch is set to 00, it means Software Setup mode, the node address setting value set in Sysmac Studio is enabled. When it is other than 00, The value of the node address switch is used as the node address. In the Software Setup Mode, perform Write Slave Node Address on the EtherCAT Edit in Sysmac Studio, save the slave node address setting in the nonvolatile memory in the Sensor Controller.

� Software Settings

The setting value saved as Slave Information Interface (SII) in the nonvolatile memory in the slave is the node address.

2

EtherCAT master

(4)

(5)

EtherCAT Slave Controller
Register : 0010h Register : 0012h
EtherCAT Slave

(2)

Nonvolatile memory

SII

(3) (1) Node Address
Switch

(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.

� Node Address Switch Setting The value set to the node address switch is the node address.

EtherCAT master

(3)

(4)

EtherCAT Slave Controller
Register : 0010h Register : 0012h
EtherCAT Slave

Nonvolatile memory SII
(2)
(1) Node Address Switch

(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.

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Serial Number Display
The serial number saved in the non-volatile memory in the Sensor Controller is displayed at 1018 Hex - 04 Hex: Serial Number. Controllers supporting Sysmac Device Features use this serial number to grasp the network configuration. When grasping it, set Serial No. Check Condition to Set Value = Actual Unit on EtherCAT Edit screen in Sysmac Studio. If the specified condition is not satisfied, "Network Configuration Check Error" will occur.
Additional Information The 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) V1.0.1)
The ESI specifications are a set of specifications defining the entries required in an EtherCAT Slave Information (ESI) file.
SII Data Check
The Slave Information Interface (SII) is an interface area in the non-volatile memory of an EtherCAT slave in which the configuration information for the EtherCAT slave is stored.
EtherCAT slaves as Sysmac Device check the SII information. If SII information, which slaves cannot accepted, was written here, an SII Check Error (Error No. 88.3) occurs. If the problem still exists even after it is restarted, contact your OMRON sales representative.
Precautions for Correct Use Do not use third-party or any other configuration tools to edit the SII information.

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2-1-27 Object Dictionary
The CAN application protocol over EtherCAT (CoE) protocol is based on the object dictionary of the CAN application protocol. This section describes the object dictionary and each object.

Object Dictionary Area

Each object is allocated with an index of four-digit hexadecimal value, and the indexes are configured in the area below.

Indexes 0000 Hex to 0FFF Hex 1000 Hex to 1FFF Hex
2000 Hex to 2FFF Hex 3000 Hex to 5FFF Hex
6000 Hex to 6FFF Hex 7000 Hex to 7FFF Hex 8000 Hex to 8FFF Hex 8000 Hex to 8FFF Hex A000 Hex to AFFF Hex B000 Hex to BFFF Hex C000 Hex to EFFF Hex F000 Hex to FFFF Hex

Areas

Description

2

Data Type area

Definitions of data types

CoE Communication area

Definitions for variables that can be applied to all servers for a dedicated communication.

Manufacture Specific area 1 Variables defined for all OMRON products.

Manufacture Specific area 2

Variables defined for EtherCAT Slave Units of the FH/FHV series. Command/response method using message communication (SDO)

Input area

Objects mapped to TxPDO

Output area

Objects mapped to RxPDO

Configuration area

Objects for configurations and settings

Information area

Not used (Unsupported)

Diagnosis area

Not used (Unsupported)

Send Service area

Not used (Unsupported)

Reserved area

Area reserved for future use

Device Profile area

Parameters belonging to devices

l Data types
This profile uses the data types below.

Data types Boolean Unsigned8 Unsigned16 Unsigned32 Integer8 Integer16 Integer32 Visible string Double

Code BOOL U8 U16 U32 INT8 INT16 INT32 VS Double

Size 1 bit 1 bytes 2 bytes 4 bytes 1 byte 2 bytes 4 bytes
8 bytes

Range true(1), false(0) 0 to 255 0 to 65535 0 to 4294967295 -128 to 127 -32768 to 32767 -2147483648 to 2147483647 -1.79769313486231e+308 to 1.79769313486231e + 308

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Object Description Format
Here, describes objects by the following format. Object Description Format

<Index>

Range: <Setting range>

Unit: <Unit>

Size: <Size>

Default: <Default setting>

Attribute: <Data attribute>

Access: <Access>

PDO map: <Possible/Not possible>

Object Description Format with Sub-indexes

<Index>

Sub-index 0

Range: <Setting range>

Unit: <Unit>

Size: <Size>

Sub-index N Range: <Setting range>

Unit: <Unit>

Size: <Size>

Default: <Default setting>

Attribute: <Data attribute>

Access: <Access>

PDO map: <Possible/Not possible>

: :

Default: <Default setting>

Attribute: <Data attribute>

Access: <Access>

PDO map: <Possible/Not possible>

The following values are indicated within the pointed brackets <>.

Indexes Object name Range Unit Default Attribute
Size Access
PDO map

: An object index given by a four-digit hexadecimal number. : Object name : Range for settable numerical value : Physical unit : Default value set at product shipment : Timing at which changes are enabled in a writable object.
A: Always enabled B: Timing of transition from count stop to operation (Encoder Input Slave Unit only) C: Timing of transition from pre-operational state to safe-operational state D: Timing of transition from pre-operational state to initial value state R: Updated after the power supply is reset. - : Read only : The object size in bytes : Indicates whether the object is read-only or readable and writable. RO: Read-only RW: Readable and writable : Indicates the PDO mapping availability.

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Communication Objects

1000 Hex

Device Type

Range: -

Size: 4 bytes (U32)

Unit: -

Access: RO

Default: 00000000 Hex

Attribute: -

PDO map: Not possible

� The Sensor Controllers of the FH/FHV series do not support a device profile.

1001 Hex

Error Register

Range: -

Unit: -

Size: 1 byte (U8)

Default: 00 Hex

Attribute: -

Access: RO

PDO map: Not possible

2

� The table below indicates the error types occurring in a Slave Unit.

Bit

Name

0

General error

1

Current error

2

Voltage error

3

Temperature error

Bit

Name

4

Communication error

5

Device profile specific error

6

(Reserved)

7

Manufacture specific error

1008 Hex Range: -

Manufacturer Device Name Unit: -

Size: 20 bytes (VS)

� Indicates the Slave Unit model number.

Access: RO

Default: by Slave Unit type *1 Attribute: PDO map: Not possible

1009 Hex Range: -

Manufacturer Hardware Version Unit: -

Size: 20 bytes (VS)

Access: RO

� Indicates the version of the Slave Unit hardware.

Default: by Slave Unit type *1 Attribute: PDO map: Not possible

100A Hex Range: -

Manufacturer Software Version Unit: -

Size: 20 bytes (VS)

Access: RO

� Indicates the version of the Slave Unit software.

Default: by Slave Unit type *1 Attribute: PDO map: Not possible

*1: The default settings for the manufacture device name, manufacture hardware version, and manufacture software version are shown below for each slave.

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Slave

Manufacture device name

Manufacture hardware version

Manufacture software version

FH-1050 FH-1050-10 FH-1050-20 FH-2050 FH-2050-10 FH-2050-20 FH-3050 FH-3050-10 FH-3050-20 FH-5050 FH-5050-10 FH-5050-20 FH-5550 FH-5550-10 FH-5550-20 FHV7HM004+SDU30 FHV7HC004+SDU30 FHV7HM016+SDU30 FHV7HC016+SDU30 FHV7HM032+SDU30 FHV7HC032+SDU30 FHV7HM050+SDU30 FHV7HC050+SDU30 FHV7H-M063R +SDU30 FHV7H-C063R +SDU30 FHV7H-M120R +SDU30 FHV7H-C120R +SDU30

V1.00 Space (20 Hex) � 15 characters (Fifteen space characters are inserted after the hardware version V1.00.)

V6.XX (The FH/FHV software version,
*1 which consists of nineteen characters, follows after letter V. When the length of the software version string is less than nineteen characters, spaces (20 Hex) are filled until the version string length becomes nineteen.)

*1. The software version refers to the version displayed in the System information dialog.

1011 Hex

Restore Default Parameters

Sub-index 0: Number of entries

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: Restore Default Parameters

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Default: 01 Hex

Attribute: -

PDO map: Not possible

Access: RW

Default: 00000001 Hex

Attribute: A

PDO map: Not possible

� Resets the parameters to their default values. � To avoid accidentally overwriting, the parameters are reset only when a specific value is written to
sub-index 1.

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� The specific value is load.

MSB d 64 Hex

a 61 Hex

o 6F Hex

LSB l 6C Hex

� The ABORT code is displayed if a value other than the specific one is written. � A value 0000 0001 Hex (command valid) is indicated in reading. � The Sensor Controllers of the FH/FHV series do not support this parameter.

1018 Hex

Identity Object

Sub-index 0: Number of entries

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: Vendor ID

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 2: Product Code

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 3: Revision Number

Range: -

Unit: -

Size: 4 bytes (U32) Sub-index 4: Serial Number Range: Size: 4 bytes (U32)

Unit: -

2

Access: RO

Default: 04 Hex

Attribute: -

PDO map: Not possible

Access: RO

Default: 00000083 Hex

Attribute: -

PDO map: Not possible

Access: RO

Default: by Slave Unit type *1 Attribute: PDO map: Not possible

Access: RO

Default: by Slave Unit type *1 Attribute: PDO map: Not possible

Access: RO

Default: Each Unit

Attribute: -

PDO map: Not possible

� Indicates the device information. � Sub-index 1 (Vendor ID) indicates the manufacturer identifier. � Sub-index 2 (Product Code) indicates the value assigned to each Slave Unit type. � Sub-index 3 (Revision Number) indicates the Unit revision number. � Bit 0 to 15: Minor revision number of the device � Bit 16 to 31: Major revision number of the device � Sub-index 4 (Serial Number) indicates a serial number for each product. *1: The values of sub-index 2 (Product Code) and sub-index 3 (Revision Number) for the Identity Object are below for each slave.

Slave
FH-1050 FH-1050-10 FH-1050-20 FH-2050 FH-2050-10 FH-2050-20 FH-3050 FH-3050-10 FH-3050-20 FH-5050

Product Code (Hex)
0000 00A0 0000 00A1 0000 00A2 0000 00FA 0000 00FB 0000 00FC 0000 00A3 0000 00A4 0000 00A5 0000 0103

Revision Number (Hex)*1 0001 0002 0001 0002 0001 0002 0001 0002 0001 0002 0001 0002 0001 0002 0001 0002 0001 0002 0001 0002

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Slave

Product Code (Hex)

Revision Number (Hex)*1

FH-5050-10

0000 0104

0001 0002

FH-5050-20

0000 0105

0001 0002

FH-5550

0000 0106

0001 0002

FH-5550-10

0000 0107

0001 0002

FH-5550-20

0000 0108

0001 0002

FHV7H-M004+SDU30

0000 0109

0001 0000

FHV7H-C004+SDU30

0000 010A

0001 0000

FHV7H-M016+SDU30

0000 010B

0001 0000

FHV7H-C016+SDU30

0000 010C

0001 0000

FHV7H-M032+SDU30

0000 010D

0001 0000

FHV7H-C032+SDU30

0000 010E

0001 0000

FHV7H-M050+SDU30

0000 010F

0001 0000

FHV7H-C050+SDU30

0000 0110

0001 0000

FHV7H-M063R +SDU30

0000 0111

0001 0000

FHV7H-C063R +SDU30

0000 0112

0001 0000

FHV7H-M120R +SDU30

0000 0113

0001 0000

FHV7H-C120R +SDU30

0000 0114

0001 0000

*1. The Revision Number changes according to the revision of the ESI file used.

Slave FH-1050 FH-1050-10 FH-1050-20 FH-3050 FH-3050-10 FH-3050-20

Product Code (Hex) 0000 00A0 0000 00A1 0000 00A2 0000 00A3 0000 00A4 0000 00A5

Revision Number (Hex) 0001 0000 0001 0000 0001 0000 0001 0000 0001 0000 0001 0000

10F3 Hex

Diagnosis History

Sub-index 0: Number of entries

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: Maximum Messages

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 2: Newest Message

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 5: Flags

Range: 0000 Hex to 0001 Hex Unit: -

Size: 2 bytes (U16)

Sub-index 6 to 13: Diagnosis Message 1 to 8

Range: -

Unit: -

Size: 23 bytes (VS)

Access: RO Access: RO Access: RO
Access: RW Access: RO

Default: 0D Hex

Attribute: -

PDO map: Not possible

Default: 00 Hex

Attribute: -

PDO map: Not possible

Default: -

Attribute: PDO map: Not possible

Default: 0000 Hex to 0001 Hex

Attribute: -

PDO map: Not possible

Default: -

Attribute: PDO map: Not possible

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� This objects indicates up to eight diagnosis histories. It also sets whether or not to notify emergency messages.
� Sub-index 1 (Maximum Messages) indicates the number of error messages. � Sub-index 2 (Newest Message) indicates the sub-index number for the latest diagnosis history. � Sub-index 5 (Flags) is the control flag for the diagnosis history. It sets whether or not to notify error
messages via emergency messages. Setting 0001 Hex means to notify. It is set to 0000 Hex (no emergency notification) at startup. � Eight errors are stored into the sub-index 6 to 13 sequentially. The 9th error and onward are stored into the sub-index 6 to 13 (Diagnosis message 1 to 8) again. � The Sensor Controllers of the FH/FHV series support the flag only.
2

PDO Mapping Object
The indexes from 1600 Hex to 17FF Hex are used for RxPDO mapping, and from 1A00 Hex to ABFF Hex are for Tx PDO mapping. The sub-index 1 and onward indicate information for the application object to be mapped.

31
MSB Bit 0 to 7 Bit 8 to 15 Bit 16 to 31

Indexes

16 15

Sub-indexes

87

: Bit length of the mapped object (Ex.: for 32 bits, 20 Hex is displays.)
: Sub-index of the mapped object : Index of the mapped object

0 Bit length
LSB

1600 Hex

1st receive PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Access: RO

Sub-index1-32: 1st to 32nd Output Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Default: 32 Hex PDO map: Not possible
Default: 70000101/70000201/70000901/70001001/700 01101Hex
PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � The 7000 Hex (control flag) is mapped in units of bit.

1601 Hex

2nd receive PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Output Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 2: 2nd Output Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO Access: RO Access: RO

Default: 05 Hex PDO map: Not possible
Default: 70010020 Hex PDO map: Not possible
Default: 70020120 Hex PDO map: Not possible

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Sub-index 3: 3rd Output Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 4: 4th Output Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 5: 5th Output Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO Access: RO Access: RO

Default: 70020220 Hex PDO map: Not possible
Default: 70020320 Hex PDO map: Not possible
Default: 70020420 Hex PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 7001 Hex (Vision Command Code) � 7002 Hex (Vision Command Parameter 1 to 3) In multiple-line used, objects have been prepared for each line as shown below. 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)

1602 Hex

3rd receive PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Output Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 2: 2nd Output Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 3: 3rd Output Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 4: 4th Output Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 5: 5th Output Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 6: 6th Output Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO

Default: 06 Hex PDO map: Not possible
Default: 70030120 Hex PDO map: Not possible
Default: 70030220 Hex PDO map: Not possible
Default: 70030320 Hex PDO map: Not possible
Default: 70030420 Hex PDO map: Not possible
Default: 70030540 Hex PDO map: Not possible
Default: 70030640 Hex PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 7001 Hex (Vision Command Code) � 7002 Hex (Vision Command Parameter 1 to 3) � 7003 Hex (User Input Area)

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In multiple-line used, objects have been prepared for each line as shown below.

Line 1: 1620 Hex (1st receive PDO mapping), 1621 Hex (2nd receive PDO mapping) and 1622 Hex

(3rd receive PDO mapping)

Line 2: 1640 Hex (1st receive PDO mapping), 1641 Hex (2nd receive PDO mapping) and 1642 Hex

(3rd receive PDO mapping)

Line 3: 1660 Hex (1st receive PDO mapping), 1661 Hex (2nd receive PDO mapping) and 1662 Hex

(3rd receive PDO mapping)

Line 4: 1680 Hex (1st receive PDO mapping), 1681 Hex (2nd receive PDO mapping) and 1682 Hex

(3rd receive PDO mapping)

Line 5: 16A0 Hex (1st receive PDO mapping), 16A1 Hex (2nd receive PDO mapping) and 16A2 Hex

(3rd receive PDO mapping)

2

Line 6: 16C0 Hex (1st receive PDO mapping), 16C1 Hex (2nd receive PDO mapping) and 16C2 Hex

(3rd receive PDO mapping)

Line 7: 16E0 Hex (1st receive PDO mapping), 16E1 Hex (2nd receive PDO mapping) and 16E2 Hex

(3rd receive PDO mapping)

1A00 Hex

1st transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Access: RO

Sub-index 1: 1st to 32nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Default: 32 Hex PDO map: Not possible
Default: 60000101/60000201/60000301/ 60000401/60000501/60000601/60000701/ 60000801/60000901/60000A01/60000B01/ 60001001/60001101 Hex
PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � The 6000 Hex (control flag) is mapped in units of bit.

1A01 Hex

2nd transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 2: 2nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 3: 3rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO Access: RO Access: RO Access: RO

Default: 03 Hex PDO map: Not possible
Default: 60010020 Hex PDO map: Not possible
Default: 60020120 Hex PDO map: Not possible
Default: 60030120 Hex PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6001 Hex (Echoback Command) � 6002 Hex (Response Code) � 6003 Hex (Response Data)

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1A02 Hex

3rd transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Default: 03 Hex PDO map: Not possible

Access: RO

Default: 60040020 Hex PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6004 Hex (Error Code)

1A04 Hex

5th transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 2: 2nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 3: 3rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 4: 4th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 5: 5th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 6: 6th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 7: 7th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 8: 8th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO

Default: 08 Hex PDO map: Not possible
Default: 60050120 Hex PDO map: Not possible
Default: 60050220 Hex PDO map: Not possible
Default: 60050320 Hex PDO map: Not possible
Default: 60050420 Hex PDO map: Not possible
Default: 60050520 Hex PDO map: Not possible
Default: 60050620 Hex PDO map: Not possible
Default: 60050720 Hex PDO map: Not possible
Default: 60050820 Hex PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6005 Hex (Image Processing Results Integer Data)

1A05 Hex

6th transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Access: RO

Default: 16 Hex PDO map: Not possible

Default: 60050120 Hex

2-96

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2 Methods for Connecting and Communicating with External Devices

2-1 EtherCAT Connections

2-1-27 Object Dictionary

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 2: 2nd Input Object to be mapped

Range: -

Unit: -

Default: 60050220 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 3: 3rd Input Object to be mapped

Range: -

Unit: -

Default: 60050320 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 4: 4th Input Object to be mapped

Range: -

Unit: -

Default: 60050420 Hex

Size: 4 bytes (U32) Sub-index 5: 5th Input Object to be mapped

Access: RO

PDO map: Not possible
2

Range: -

Unit: -

Default: 60050520 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 6: 6th Input Object to be mapped

Range: -

Unit: -

Default: 60050620 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 7: 7th Input Object to be mapped

Range: -

Unit: -

Default: 60050720 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 8: 8th Input Object to be mapped

Range: -

Unit: -

Default: 60050820 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 9: 9th Input Object to be mapped

Range: -

Unit: -

Default: 60050920 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 10: 10th Input Object to be mapped

Range: -

Unit: -

Default: 60050A20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 11: 11th Input Object to be mapped

Range: -

Unit: -

Default: 60050B20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 12: 12th Input Object to be mapped

Range: -

Unit: -

Default: 60050C20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 13: 13th Input Object to be mapped

Range: -

Unit: -

Default: 60050D20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 14: 14th Input Object to be mapped

Range: -

Unit: -

Default: 60050E20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 15: 15th Input Object to be mapped

Range: -

Unit: -

Default: 60050F20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 16: 16th Input Object to be mapped

Range: -

Unit: -

Default: 60051020 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6005 Hex (Image Processing Results Integer Data)

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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2 Methods for Connecting and Communicating with External Devices

2-98

1A06 Hex

7th transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 2: 2nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 3: 3rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 4: 4th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 5: 5th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 6: 6th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 7: 7th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 8: 8th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 9: 9th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 10: 10th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 11: 11th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 12: 12th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 13: 13th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 14: 14th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 15: 15th Input Object to be mapped

Range: -

Unit: -

Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO

Default: 32 Hex PDO map: Not possible
Default: 60050120 Hex PDO map: Not possible
Default: 60050220 Hex PDO map: Not possible
Default: 60050320 Hex PDO map: Not possible
Default: 60050420 Hex PDO map: Not possible
Default: 60050520 Hex PDO map: Not possible
Default: 60050620 Hex PDO map: Not possible
Default: 60050720 Hex PDO map: Not possible
Default: 60050820 Hex PDO map: Not possible
Default: 60050920 Hex PDO map: Not possible
Default: 60050A20 Hex PDO map: Not possible
Default: 60050B20 Hex PDO map: Not possible
Default: 60050C20 Hex PDO map: Not possible
Default: 60050D20 Hex PDO map: Not possible
Default: 60050E20 Hex PDO map: Not possible
Default: 60050F20 Hex

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2 Methods for Connecting and Communicating with External Devices

2-1 EtherCAT Connections

2-1-27 Object Dictionary

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 16: 16th Input Object to be mapped

Range: -

Unit: -

Default: 60051020 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 17: 17th Input Object to be mapped

Range: -

Unit: -

Default: 60051120 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 18: 18th Input Object to be mapped

Range: -

Unit: -

Default: 60051220 Hex

Size: 4 bytes (U32)

Access: RO

Sub-index 19: 19th Input Object to be mapped

PDO map: Not possible
2

Range: -

Unit: -

Default: 60051320 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 20: 20th Input Object to be mapped

Range: -

Unit: -

Default: 60051420 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 21: 21st Input Object to be mapped

Range: -

Unit: -

Default: 60051520 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 22: 22md Input Object to be mapped

Range: -

Unit: -

Default: 60051620 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 23: 23rd Input Object to be mapped

Range: -

Unit: -

Default: 60051720 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 24: 24th Input Object to be mapped

Range: -

Unit: -

Default: 60051820 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 25: 25th Input Object to be mapped

Range: -

Unit: -

Default: 60051920 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 26: 26th Input Object to be mapped

Range: -

Unit: -

Default: 60051A20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 27: 27th Input Object to be mapped

Range: -

Unit: -

Default: 60051B20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 28: 28th Input Object to be mapped

Range: -

Unit: -

Default: 60051C20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 29: 29th Input Object to be mapped

Range: -

Unit: -

Default: 60051D20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 30: 30th Input Object to be mapped

Range: -

Unit: -

Default: 60051E20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 31: 31st Input Object to be mapped

Range: -

Unit: -

Default: 60051F20 Hex

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-99

2 Methods for Connecting and Communicating with External Devices

Size: 4 bytes (U32)

Access: RO

Sub-index 32: 32nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible
Default: 60052020 Hex PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6005 Hex (Image Processing Results Integer Data)

1A07 Hex

8th transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 2: 2nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 3: 3rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 4: 4th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 5: 5th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 6: 6th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 7: 7th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 8: 8th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 9: 9th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 10: 10th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 11: 11th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 12: 12th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 13: 13th Input Object to be mapped

Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO

Default: 64 Hex PDO map: Not possible
Default: 60050120 Hex PDO map: Not possible
Default: 60050220 Hex PDO map: Not possible
Default: 60050320 Hex PDO map: Not possible
Default: 60050420 Hex PDO map: Not possible
Default: 60050520 Hex PDO map: Not possible
Default: 60050620 Hex PDO map: Not possible
Default: 60050720 Hex PDO map: Not possible
Default: 60050820 Hex PDO map: Not possible
Default: 60050920 Hex PDO map: Not possible
Default: 60050A20 Hex PDO map: Not possible
Default: 60050B20 Hex PDO map: Not possible
Default: 60050C20 Hex PDO map: Not possible

2-100

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2 Methods for Connecting and Communicating with External Devices

2-1 EtherCAT Connections

2-1-27 Object Dictionary

Range: -

Unit: -

Default: 60050D20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 14: 14th Input Object to be mapped

Range: -

Unit: -

Default: 60050E20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 15: 15th Input Object to be mapped

Range: -

Unit: -

Default: 60050F20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 16: 16th Input Object to be mapped

Range: Size: 4 bytes (U32)

Unit: -

Default: 60051020 Hex

Access: RO

PDO map: Not possible

2

Sub-index 17: 17th Input Object to be mapped

Range: -

Unit: -

Default: 60051120 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 18: 18th Input Object to be mapped

Range: -

Unit: -

Default: 60051220 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 19: 19th Input Object to be mapped

Range: -

Unit: -

Default: 60051320 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 20: 20th Input Object to be mapped

Range: -

Unit: -

Default: 60051420 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 21: 21st Input Object to be mapped

Range: -

Unit: -

Default: 60051520 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 22: 22nd Input Object to be mapped

Range: -

Unit: -

Default: 60051620 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 23: 23rd Input Object to be mapped

Range: -

Unit: -

Default: 60051720 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 24: 24th Input Object to be mapped

Range: -

Unit: -

Default: 60051820 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 25: 25th Input Object to be mapped

Range: -

Unit: -

Default: 60051920 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 26: 26th Input Object to be mapped

Range: -

Unit: -

Default: 60051A20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 27: 27th Input Object to be mapped

Range: -

Unit: -

Default: 60051B20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 28: 28th Input Object to be mapped

Range: -

Unit: -

Default: 60051C20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 29: 29th Input Object to be mapped

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-101

2 Methods for Connecting and Communicating with External Devices

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 30: 30th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 31: 31st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 32: 32nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 33: 33rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 34: 34th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 35: 35th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 36: 36th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 37: 37th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 38: 38th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 39: 39th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 40: 40th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 41: 41st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 42: 42nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 43: 43rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 44: 44th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 45: 45th Input Object to be mapped

Default: 60051D20 Hex PDO map: Not possible
Default: 60051E20 Hex PDO map: Not possible
Default: 60051F20 Hex PDO map: Not possible
Default: 60052020 Hex PDO map: Not possible
Default: 60052120 Hex PDO map: Not possible
Default: 60052220 Hex PDO map: Not possible
Default: 60052320 Hex PDO map: Not possible
Default: 60052420 Hex PDO map: Not possible
Default: 60052520 Hex PDO map: Not possible
Default: 60052620 Hex PDO map: Not possible
Default: 60052720 Hex PDO map: Not possible
Default: 60052820 Hex PDO map: Not possible
Default: 60052920 Hex PDO map: Not possible
Default: 60052A20 Hex PDO map: Not possible
Default: 60052B20 Hex PDO map: Not possible
Default: 60052C20 Hex PDO map: Not possible

2-102

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2 Methods for Connecting and Communicating with External Devices

2-1 EtherCAT Connections

2-1-27 Object Dictionary

Range: -

Unit: -

Default: 60052D20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 46: 46th Input Object to be mapped

Range: -

Unit: -

Default: 60052E20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 47: 47th Input Object to be mapped

Range: -

Unit: -

Default: 60052F20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 48: 48th Input Object to be mapped

Range: Size: 4 bytes (U32)

Unit: -

Default: 60053020 Hex

Access: RO

PDO map: Not possible

2

Sub-index 49: 49th Input Object to be mapped

Range: -

Unit: -

Default: 60053120 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 50: 50th Input Object to be mapped

Range: -

Unit: -

Default: 60053220 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 51: 51st Input Object to be mapped

Range: -

Unit: -

Default: 60053320 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 52: 52nd Input Object to be mapped

Range: -

Unit: -

Default: 60053420 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 53: 53rd Input Object to be mapped

Range: -

Unit: -

Default: 60053520 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 54: 54th Input Object to be mapped

Range: -

Unit: -

Default: 60053620 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 55: 55th Input Object to be mapped

Range: -

Unit: -

Default: 60053720 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 56: 56th Input Object to be mapped

Range: -

Unit: -

Default: 60053820 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 57: 57th Input Object to be mapped

Range: -

Unit: -

Default: 60053920 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 58: 58th Input Object to be mapped

Range: -

Unit: -

Default: 60053A20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 59: 59th Input Object to be mapped

Range: -

Unit: -

Default: 60053B20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 60: 60th Input Object to be mapped

Range: -

Unit: -

Default: 60053C20 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 61: 61st Input Object to be mapped

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-103

2 Methods for Connecting and Communicating with External Devices

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 62: 62nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 63: 63rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 64: 64th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Default: 60053D20 Hex PDO map: Not possible
Default: 60053E20 Hex PDO map: Not possible
Default: 60053F20 Hex PDO map: Not possible
Default: 60054020 Hex PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6005 Hex (Image Processing Results Integer Data)

1A08 Hex

9th transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 2: 2nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 3: 3rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 4: 4th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO Access: RO Access: RO Access: RO Access: RO

Default: 4 Hex PDO map: Not possible
Default: 60060140 Hex PDO map: Not possible
Default: 60060240 Hex PDO map: Not possible
Default: 60060340 Hex PDO map: Not possible
Default: 60060440 Hex PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6006 Hex (Image Processing Results Real Data)

1A09Hex

10th transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 2: 2nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 3: 3rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 4: 4th Input Object to be mapped

Access: RO Access: RO Access: RO Access: RO

Default: 16 Hex PDO map: Not possible
Default: 60060140 Hex PDO map: Not possible
Default: 60060240 Hex PDO map: Not possible
Default: 60060340 Hex PDO map: Not possible

2-104

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2 Methods for Connecting and Communicating with External Devices

2-1 EtherCAT Connections

2-1-27 Object Dictionary

Range: -

Unit: -

Default: 60060440 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 5: 5th Input Object to be mapped

Range: -

Unit: -

Default: 60060540 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 6: 6th Input Object to be mapped

Range: -

Unit: -

Default: 60060640 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 7: 7th Input Object to be mapped

Range: Size: 4 bytes (U32)

Unit: -

Default: 60060740 Hex

Access: RO

PDO map: Not possible

2

Sub-index 8: 8th Input Object to be mapped

Range: -

Unit: -

Default: 60060840 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6006 Hex (Image Processing Results Real Data)

1A0A Hex

11th transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 2: 2nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 3: 3rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 4: 4th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 5: 5th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 6: 6th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 7: 7th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 8: 8th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 9: 9th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO

Default: 16 Hex PDO map: Not possible
Default: 60060140 Hex PDO map: Not possible
Default: 60060240 Hex PDO map: Not possible
Default: 60060340 Hex PDO map: Not possible
Default: 60060440 Hex PDO map: Not possible
Default: 60060540 Hex PDO map: Not possible
Default: 60060640 Hex PDO map: Not possible
Default: 60060740 Hex PDO map: Not possible
Default: 60060840 Hex PDO map: Not possible
Default: 60060940 Hex PDO map: Not possible

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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2 Methods for Connecting and Communicating with External Devices

Sub-index 10: 10th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 11: 11th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 12: 12th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 13: 13th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 14: 14th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 15: 15th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 16: 16th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO

Default: 60060A40 Hex PDO map: Not possible
Default: 60060B40 Hex PDO map: Not possible
Default: 60060C40 Hex PDO map: Not possible
Default: 60060D40 Hex PDO map: Not possible
Default: 60060E40 Hex PDO map: Not possible
Default: 60060F40 Hex PDO map: Not possible
Default: 60061040 Hex PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6006 Hex (Image Processing Results Real Data)

1A0BHex

12th transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 2: 2nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 3: 3rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 4: 4th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 5: 5th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 6: 6th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 7: 7th Input Object to be mapped

Range: -

Unit: -

Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO

Default: 64 Hex PDO map: Not possible
Default: 60060140 Hex PDO map: Not possible
Default: 60060240 Hex PDO map: Not possible
Default: 60060340 Hex PDO map: Not possible
Default: 60060440 Hex PDO map: Not possible
Default: 60060540 Hex PDO map: Not possible
Default: 60060640 Hex PDO map: Not possible
Default: 60060740 Hex

2-106

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2-1 EtherCAT Connections

2-1-27 Object Dictionary

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 8: 8th Input Object to be mapped

Range: -

Unit: -

Default: 60060840 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 9: 9th Input Object to be mapped

Range: -

Unit: -

Default: 60060940 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 10: 10th Input Object to be mapped

Range: -

Unit: -

Default: 60060A40 Hex

Size: 4 bytes (U32)

Access: RO

Sub-index 11: 11th Input Object to be mapped

PDO map: Not possible
2

Range: -

Unit: -

Default: 60060B40 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 12: 12th Input Object to be mapped

Range: -

Unit: -

Default: 60060C40 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 13: 13th Input Object to be mapped

Range: -

Unit: -

Default: 60060D40 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 14: 14th Input Object to be mapped

Range: -

Unit: -

Default: 60060E40 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 15: 15th Input Object to be mapped

Range: -

Unit: -

Default: 60060F40 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 16: 16th Input Object to be mapped

Range: -

Unit: -

Default: 60061040 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 17: 17th Input Object to be mapped

Range: -

Unit: -

Default: 60061140 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 18: 18th Input Object to be mapped

Range: -

Unit: -

Default: 60061240 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 19: 19th Input Object to be mapped

Range: -

Unit: -

Default: 60061340 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 20: 20th Input Object to be mapped

Range: -

Unit: -

Default: 60061440 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 21: 21st Input Object to be mapped

Range: -

Unit: -

Default: 60061540 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 22: 22nd Input Object to be mapped

Range: -

Unit: -

Default: 60061640 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 23: 23rd Input Object to be mapped

Range: -

Unit: -

Default: 60061740 Hex

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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2 Methods for Connecting and Communicating with External Devices

Size: 4 bytes (U32)

Access: RO

Sub-index 24: 24th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 25: 25th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 26: 26th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 27: 27th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 28: 28th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 29: 29th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 30: 30th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 31: 31st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 32: 32nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible
Default: 60061840 Hex PDO map: Not possible
Default: 60061940 Hex PDO map: Not possible
Default: 60061A40 Hex PDO map: Not possible
Default: 60061B40 Hex PDO map: Not possible
Default: 60061C40 Hex PDO map: Not possible
Default: 60061D40 Hex PDO map: Not possible
Default: 60061E40 Hex PDO map: Not possible
Default: 60061F40 Hex PDO map: Not possible
Default: 60062040 Hex PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6006 Hex (Image Processing Results Real Data)

1A0C Hex

13th transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 2: 2nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 3: 3rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 4: 4th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 5: 5th Input Object to be mapped

Access: RO Access: RO Access: RO Access: RO Access: RO

Default: 5 Hex PDO map: Not possible
Default: 60050120 Hex PDO map: Not possible
Default: 60050220 Hex PDO map: Not possible
Default: 60060140 Hex PDO map: Not possible
Default: 60060240 Hex PDO map: Not possible

2-108

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2-1 EtherCAT Connections

2-1-27 Object Dictionary

Range: Size: 4 bytes (U32)

Unit: -

Access: RO

Default: 60060340 Hex PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6005 Hex (Image Processing Results Integer Data) � 6006 Hex (Image Processing Results Real Data)

1A0D Hex

14th transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Default: 10 Hex

Size: 1 byte (U8) Sub-index 1: 1st Input Object to be mapped

Access: RO

PDO map: Not possible
2

Range: -

Unit: -

Default: 60050120 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 2: 2nd Input Object to be mapped

Range: -

Unit: -

Default: 60050220 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 3: 3rd Input Object to be mapped

Range: -

Unit: -

Default: 60050320 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 4: 4th Input Object to be mapped

Range: -

Unit: -

Default: 60050420 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 5: 5th Input Object to be mapped

Range: -

Unit: -

Default: 60060140 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 6: 6th Input Object to be mapped

Range: -

Unit: -

Default: 60060240 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 7: 7th Input Object to be mapped

Range: -

Unit: -

Default: 60060340 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 8: 8th Input Object to be mapped

Range: -

Unit: -

Default: 60060440 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 9: 9th Input Object to be mapped

Range: -

Unit: -

Default: 60060540 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 10: 10th Input Object to be mapped

Range: -

Unit: -

Default: 60060640 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6005 Hex (Image Processing Results Integer Data) � 6006 Hex (Image Processing Results Real Data)

1A0E Hex

15th transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Access: RO

Default: 20 Hex PDO map: Not possible

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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2 Methods for Connecting and Communicating with External Devices

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 2: 2nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 3: 3rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 4: 4th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 5: 5th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 6: 6th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 7: 7th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 8: 8th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 9: 9th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 10: 10th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 11: 11th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 12: 12th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 13: 13th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 14: 14th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 15: 15th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 16: 16th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO

Default: 60050120 Hex PDO map: Not possible
Default: 60050220 Hex PDO map: Not possible
Default: 60050320 Hex PDO map: Not possible
Default: 60050420 Hex PDO map: Not possible
Default: 60060520 Hex PDO map: Not possible
Default: 60060620 Hex PDO map: Not possible
Default: 60060720 Hex PDO map: Not possible
Default: 60060820 Hex PDO map: Not possible
Default: 60060410 Hex PDO map: Not possible
Default: 60060420 Hex PDO map: Not possible
Default: 60060430 Hex PDO map: Not possible
Default: 60060440 Hex PDO map: Not possible
Default: 60060450 Hex PDO map: Not possible
Default: 60060460 Hex PDO map: Not possible
Default: 60060470 Hex PDO map: Not possible
Default: 60060480 Hex PDO map: Not possible

2-110

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2 Methods for Connecting and Communicating with External Devices

2-1 EtherCAT Connections

2-1-27 Object Dictionary

Sub-index 17: 17th Input Object to be mapped

Range: -

Unit: -

Default: 60060490 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 18: 18th Input Object to be mapped

Range: -

Unit: -

Default: 600604A0 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 19: 19th Input Object to be mapped

Range: -

Unit: -

Default: 600604B0 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 20: 20th Input Object to be mapped

Range: -

Unit: -

Default: 600604C0 Hex

2

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6005 Hex (Image Processing Results Integer Data) � 6006 Hex (Image Processing Results Real Data)

1A0F Hex

16th transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 2: 2nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 3: 3rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 4: 4th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 5: 5th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 6: 6th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 7: 7th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 8: 8th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 9: 9th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 10: 10th Input Object to be mapped

Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO

Default: 40 Hex PDO map: Not possible
Default: 60050120 Hex PDO map: Not possible
Default: 60050220 Hex PDO map: Not possible
Default: 60050320 Hex PDO map: Not possible
Default: 60050420 Hex PDO map: Not possible
Default: 60060520 Hex PDO map: Not possible
Default: 60060620 Hex PDO map: Not possible
Default: 60060720 Hex PDO map: Not possible
Default: 60060820 Hex PDO map: Not possible
Default: 60060920 Hex PDO map: Not possible

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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2 Methods for Connecting and Communicating with External Devices

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 11: 11th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 12: 12th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 13: 13th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 14: 14th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 15: 15th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 16: 16th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 17: 17th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 18: 18th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 19: 19th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 20: 20th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 21: 21st Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 22: 22nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 23: 23rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 24: 24th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 25: 25th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 26: 26th Input Object to be mapped

Default: 60060A20 Hex PDO map: Not possible
Default: 60060B20 Hex PDO map: Not possible
Default: 60060C20 Hex PDO map: Not possible
Default: 60060D20 Hex PDO map: Not possible
Default: 60060E20 Hex PDO map: Not possible
Default: 60060F20 Hex PDO map: Not possible
Default: 60061020 Hex PDO map: Not possible
Default: 60060140 Hex PDO map: Not possible
Default: 60060240 Hex PDO map: Not possible
Default: 60060340 Hex PDO map: Not possible
Default: 60060440 Hex PDO map: Not possible
Default: 60060540 Hex PDO map: Not possible
Default: 60060640 Hex PDO map: Not possible
Default: 60060740 Hex PDO map: Not possible
Default: 60060840 Hex PDO map: Not possible
Default: 60060940 Hex PDO map: Not possible

2-112

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2 Methods for Connecting and Communicating with External Devices

2-1 EtherCAT Connections

2-1-27 Object Dictionary

Range: -

Unit: -

Default: 60060A40 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 27: 27th Input Object to be mapped

Range: -

Unit: -

Default: 60060B40 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 28: 28th Input Object to be mapped

Range: -

Unit: -

Default: 60060C40 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 29: 29th Input Object to be mapped

Range: Size: 4 bytes (U32)

Unit: -

Default: 60060D40 Hex

Access: RO

PDO map: Not possible

2

Sub-index 30: 30th Input Object to be mapped

Range: -

Unit: -

Default: 60060E40 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 31: 31st Input Object to be mapped

Range: -

Unit: -

Default: 60060F40 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 32: 32nd Input Object to be mapped

Range: -

Unit: -

Default: 60061040 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 33: 33rd Input Object to be mapped

Range: -

Unit: -

Default: 60061140 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 34: 34th Input Object to be mapped

Range: -

Unit: -

Default: 60061240 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 35: 35th Input Object to be mapped

Range: -

Unit: -

Default: 60061340 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 36: 36th Input Object to be mapped

Range: -

Unit: -

Default: 60061440 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 37: 37th Input Object to be mapped

Range: -

Unit: -

Default: 60061540 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 38: 38th Input Object to be mapped

Range: -

Unit: -

Default: 60061640 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 39: 39th Input Object to be mapped

Range: -

Unit: -

Default: 60061740 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 40: 40th Input Object to be mapped

Range: -

Unit: -

Default: 60061840 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6005 Hex (Image Processing Results Integer Data) � 6006 Hex (Image Processing Results Real Data) In multiple-line used, objects have been prepared for each line as shown below.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

2-113

2 Methods for Connecting and Communicating with External Devices

Line 1: Line 2: Line 3: Line 4: Line 5: Line 6: Line 7:

1A20 Hex (1st transmit PDO Mapping), 1A21 Hex to 1A2F Hex (2nd to 16th transmit PDO Mapping) 1A40 Hex (1st transmit PDO mapping) and 1A41 Hex to 1A4F Hex (2nd to 16th transmit PDO mapping) 1A60 Hex (1st transmit PDO mapping) and 1A61 Hex to 1A6F Hex (2nd to 16th transmit PDO mapping) 1A80 Hex (1st transmit PDO Mapping), 1A81 Hex to 1A8F Hex (2nd to 16th transmit PDO Mapping) 1AA0 Hex (1st transmit PDO Mapping), 1AA1 Hex to 1AAF Hex (2nd to 16th transmit PDO Mapping) 1AC0 Hex (1st transmit PDO mapping) and 1AC1 Hex to 1ACF Hex (2nd to 16th transmit PDO mapping) 1AE0 Hex (1st transmit PDO Mapping), 1AE1 Hex to 1AEF Hex (2nd to 16th transmit PDO Mapping)

1A10 Hex

17th transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Size: 4 byte (U32)

Sub-index 2: 2nd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 3: 3rd Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 4: 4th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 5: 5th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index 6: 6th Input Object to be mapped

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO

Default: 06 Hex PDO map: Not possible
Default: 60070120 Hex PDO map: Not possible
Default: 60070220 Hex PDO map: Not possible
Default: 60070320 Hex PDO map: Not possible
Default: 60070420 Hex PDO map: Not possible
Default: 60070540 Hex PDO map: Not possible
Default: 60070640 Hex PDO map: Not possible

� The object gives the mapping for an application using Vision Sensor functions. � 6005 Hex (Image Processing Results Integer Data) � 6006 Hex (Image Processing Results Real Data) � 6007 Hex (User Output Area) In multiple-line used, objects have been prepared for each line as shown below.

Line 1: Line2: Line 3:

1A20 Hex (1st transmit PDO Mapping), 1A21 Hex to 1A30Hex (2nd to 17th transmit PDO Mapping) 1A40 Hex (1st transmit PDO Mapping), 1A41 Hex to 1A50 Hex (2nd to 17th transmit PDO Mapping) 1A60 Hex (1st transmit PDO mapping) and 1A61 Hex to 1A70 Hex (2nd to 17th transmit PDO mapping)

2-114

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2 Methods for Connecting and Communicating with External Devices

2-1 EtherCAT Connections

2-1-27 Object Dictionary

Line 4: Line 5: Line 6: Line 7:

1A80 Hex (1st transmit PDO Mapping), 1A81 Hex to 1A90 Hex (2nd to 17th transmit PDO Mapping) 1AA0 Hex (1st transmit PDO Mapping), 1AA1 Hex to 1AB0 Hex (2nd to 17th transmit PDO Mapping) 1AC0 Hex (1st transmit PDO mapping) and 1AC1 Hex to 1AD0 Hex (2nd to 17th transmit PDO mapping) 1AE0 Hex (1st transmit PDO Mapping), 1AE1 Hex to 1AF0Hex (2nd to 17th transmit PDO Mapping)

1BFFh

512th transmit PDO Mapping

Sub-index 0: Number of objects

Range: -

Unit: -

Default: 01 Hex

Attribute: -

2

Size: 1 byte (U8)

Access: RO

PDO map: Not possible

Sub-index 1: 1st Input Object to be mapped

Range: -

Unit: -

Default: 20020108 Hex

Attribute: -

Size: 4 byte (U32)

Access: RO

PDO map: Not possible

� This object gies the mapping for notification of errors that are detected in the Slave Unit. � The mapping includes 2002 Hex - 01 Hex: Sysmac Error Status. � When a Machine Automation Controller of the NJ series are connected, 1C13 Hex: Sync manager 3
PDO assignment is assigned to this object. This object is automatically assigned in the default settings of Sysmac Studio.

Sync Manager Communication Objects
The communication memory for EtherCAT is set by the objects from 1C00 Hex to 1C13 Hex.

1C00 Hex

Sync Manager Communication Type

Sub-index 0: Number of used Sync Manager channels

Range: -

Unit: -

Size: 1 byte (U8)

Access: RO

Sub-index 1: Communication Type Sync Manager 0

Range: -

Unit: -

Size: 4 bytes (U8)

Access: RO

Sub-index 2: Communication Type Sync Manager 1

Range: -

Unit: -

Size: 4 bytes (U8)

Access: RO

Sub-index 3: Communication Type Sync Manager 2

Range: -

Unit: -

Size: 4 bytes (U8)

Access: RO

Sub-index 4: Communication Type Sync Manager 3

Range: -

Unit: -

Size: 4 bytes (U8)

Access: RO

Default: 04 Hex

Attribute: -

PDO map: Not possible

Default: 01 Hex

Attribute: -

PDO map: Not possible

Default: 02 Hex

Attribute: -

PDO map: Not possible

Default: 03 Hex

Attribute: -

PDO map: Not possible

Default: 04 Hex

Attribute: -

PDO map: Not possible

The sync manager has the following settings. � SM0: Mailbox reception (EtherCAT Master Unit to Slave Unit) � SM1: Mailbox transmit (EtherCAT Slave Unit to Master Unit) � SM2: Process data output (EtherCAT Master Unit to Slave Unit) � SM3: Process data input (EtherCAT Slave Unit to Master Unit)

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1C10 Hex

Sync manager 0 PDO Assignment

Sub-index 0: Number of assigned PDOs

Range: 00 Hex

Unit: -

Size: 1 byte (U8)

Access: RO

Default: 00 Hex

Attribute: -

PDO map: Not possible

� This indicates the number of PDO mappings used by this sync manager. � 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: -

Size: 1 byte (U8)

Access: RO

Default: 00 Hex

Attribute: -

PDO map: Not possible

� This indicates the number of PDO mappings used by this sync manager. � Mailbox transmit sync manager does not have PDOs.

1C12 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*1

PDO map: Not possible

Sub-index 1 to 2: 1st to 2nd PDO Mapping Object Index of assigned PDO

Range: -

Unit: -

Default: by Slave Unit type

Attribute: -

Size: 2 bytes (U16)

Access: RW*1

PDO map: Not possible

*1. If a receive PDO is not provided, RO is used.

� This indicates the RxPDOs used by this sync manager.

1C13 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*1

PDO map: Not possible

Sub-index 1 to 5: 1st to 5th PDO Mapping Object Index of assigned PDO

Range: -

Unit: -

Default: by Slave Unit type

Attribute: -

Size: 2 bytes (U16)

Access: RW*1

PDO map: Not possible

*1. If a transmit PDO is not provided, RO is used.

� This indicates the TxPDOs used by this sync manager.

Manufacturer Specific Objects
This section describes the CiA401 generic I/O module device profile and the specific objects, implemented in EtherCAT Slave Units for the Sensor Controller. Common Objects for Sysmac Devices Manufacture Specific area 1

2100 Hex

Error History Clear

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RW

Default: 00000000 Hex

Attribute: A

PDO map: Not possible

� This object clears the diagnosis history at 10F3 Hex (Diagnosis History).

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� It clears history only when a specific value are written. The specific value is elcl.

MSB l 6C Hex

c 63 Hex

Writing values other than these is invalid.

l 6C Hex

LSB e 65 Hex

2002 Hex

Sysmac Error

Sub-index 0: Number of entries

Range: Size: 1 byte (U8)

Unit: -

Default: 02 Hex

Attribute: -

Access: RO

PDO map: Not possible

2

Sub-index 1: Sysmac Error Status

Range: -

Unit: -

Default: 00 Hex

Attribute: -

Size: 1 byte (U8)

Access: RW

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

� This mapping is used to notify and clear Sysmac Error Status. � Sub-index 1: Sysmac Error Status
� This object is used to notify errors detected in the Slave Unit. � When a Machine Automation Controller of the NJ series are connected, map this object to a PDO. � Sub-index 2: Sysmac Error Status Clear � This object is used by the Controller (a Sysmac Device) to reset errors occurring in Slave Units.

Additional Information
In the default Sysmac Studio settings, sub-index 1 (Sysmac Error Status) is automatically mapped to a PDO because 1BFF hex (512th transmit PDO Mapping) is assigned

2200 Hex

Communication Error Setting

Range: 00 Hex to 0F Hex

Unit: number of sequences

Size: 1 byte (U8)

Access: RW

Default: 01 Hex

Attribute: C

PDO map: Not possible

� Object implemented only on Slave Units operating in the DC mode. � The number of consecutive times for detecting communications errors is set with this object. � The setting range is from 00 to 0F Hex and the number of detections is the set number of times + 1. � Although the value is rewritable in the DC mode operation, the operation is performed with the value
set when the operation is shifting from the pre-operational state to safe-operational state. Note that at this point, the rewritten value is read.

Additional Information
With the default setting of 01 hex, an error is detected if communications errors occur twice in a row.

2201 Hex

Sync Not Received Timeout Setting

Range: 0000 Hex to 0258 Hex Unit: s

Size: 2 bytes (U16)

Access: RW

Default: 0000 Hex

Attribute: C

PDO map: Not possible

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� Object implemented only on Slave Units operating in the DC mode. � This object is used to set the standby time until the first synchronization interrupt signal (SYNC0) is
input after shifting to the safe-operational state where a DC mode is confirmed. � If the first interrupt signal (SYNC0) is not input at all within this set time, a synchronization error oc-
curs. � The setting range is from 0000 Hex to 0258 Hex (600 [s]) and operation is performed at 120 [s]
when 0000 Hex is set. � Although the value is rewritable in the DC mode operation, the operation is performed with the value
set when the operation is 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-index 0: Number of entries

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index1: Command Completion Bit

Range: True (1) or False (0) Unit: -

Size: 1 bit (BOOL)

Sub-index 2: BUSY Bit

Range: True (1) or False (0) Unit: -

Size: 1 bit (BOOL)

Sub-index 3: Trigger Ready Bit

Range: True (1) or False (0) Unit: -

Size: 1 bit (BOOL)

Sub-index 4: Total Judgment Bit

Range: True (1) or False (0) Unit: -

Size: 1 bit (BOOL)

Sub-index 5: RUN Mode Bit

Range: True (1) or False (0) Unit: -

Size: 1 bit (BOOL)

Sub-index 6: Trigger Ack Bit

Range: True (1) or False (0) Unit: -

Size: 1 bit (BOOL)

Sub-index 7: Command Ready Bit

Range: True (1) or False (0) Unit: -

Size: 1 bit (BOOL)

Sub-index 8: Shutter Output Bit

Range: True (1) or False (0) Unit: -

Size: 1 bit (BOOL)

Sub-index 9: Flow Command Completion Bit

Range: True (1) or False (0) Unit: -

Size: 1 bit (BOOL)

Sub-index 10: Flow Command Busy Bit

Range: True (1) or False (0) Unit: -

Size: 1 bit (BOOL)

Sub-index 11: Flow Command Wait Bit

Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO Access: RO

Default: 00 Hex PDO map: Not possible
Default: False (0) PDO map: Possible
Default: by the status when starting PDO map: Possible
Default: by the status when starting PDO map: Possible
Default: False (0) PDO map: Possible
Default: by the status when starting PDO map: Possible
Default: by the status when starting PDO map: Possible
Default: by the status when starting PDO map: Possible
Default: by the status when starting PDO map: Possible
Default: by the status when starting PDO map: Possible
Default: by the status when starting PDO map: Possible

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Range: True (1) or False (0) Unit: -

Default: by the status when starting

Size: 1 bit (BOOL)

Access: RO

PDO map: Possible

Sub-index 12 to 15: Control Reserve Bit 12 to 15

Range: True (1) or False (0) Unit: -

Default: False (0)

Size: 1 bit (BOOL)

Access: RO

PDO map: Possible

Sub-index 16: Error Status Bit

Range: True (1) or False (0) Unit: -

Default: by the status when starting

Size: 1 bit (BOOL)

Access: RO

PDO map: Possible

Sub-index 17: Result Notification Bit

Range: True (1) or False (0) Unit: -

Default: False (0)

Size: 1 bit (BOOL)

Access: RO

PDO map: Possible

2

Sub-index 18 to 32: Control Reserve Bit 18 to 32

Range: True (1) or False (0) Unit: -

Default: False (0)

Size: 1 bit (BOOL)

Access: RO

PDO map: Possible

� This object is used to get the status of the Sensor Controller. � Command Completion bit: ON during command execution. � BUSY bit: ON during command or measurement execution. � Trigger Ready bit: ON when Trigger signal can be input. � Overall Judgment bit: ON when the overall judgment is NG. � Run Mode bit: The signal turns ON when the Sensor Controller is in Run mode (In a measurement
capable state with RUN signal output checked in the Layout settings for the currently displayed line). � Trigger Ack bit: The signal turns ON when the Sensor Controller receives the Trigger signal. � Command Ready bit: ON when a control command can be executed. � Shutter Output bit: ON when the imaging elements have completed exposure. � Flow Command Completion bit: ON when execution of a command that was executed during execu-
tion of PLC Link, Fieldbus, or normal flow control has been completed. � Flow Command Busy bit: ON during execution of a command that was input during execution of
PLC Link, Fieldbus, or normal flow control. � Flow Command Wait bit: ON while waiting for command input during execution of PLC Link, Field-
bus, normal flow control. � Error Status bit: ON when the Sensor Controller has detected an error. � Result Notification bit: ON when the Sensor Controller completes data output. � When you use the Sysmac Studio, the sub-index 1 including the above all bits is mapped.

6001 Hex

Command Code Echo Back

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

� The executed command code is stored.

Default: 00000000 Hex PDO map: Possible

6002 Hex

Response Code

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Default: 00000000 Hex PDO map: Possible

� The command execution results are stored. (OK: 00000000 Hex, NG: FFFFFFFF Hex)

6003 Hex

Response Data

Sub-index 0: Number of entries

Range: -

Unit: -

Default: 01 Hex

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Size: 1 byte (U8) Sub-index 1: Response Data Range: Size: 4 bytes (BOOL)

Unit: -

Access: RO

PDO map: Not possible

Access: RO

Default: 00000000 Hex PDO map: Possible

� The response data of results from command execution are stored. (E.g.: The scene number is stored when the command "Get scene number" is performed.)

6004 Hex

Error Code

Range: -

Size: 4 bytes (U32)

Unit: -

Access: RO

Default: 00000000 Hex PDO map: Possible

6005 Hex

DINT Result Data

Sub-index 0: Number of entries

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1 to 64: DINT Result Data 0-63

Range: -

Unit: -

Size: 4 bytes (BOOL)

� The output data is stored.

Access: RO

Default: 00 Hex PDO map: Not possible

Access: RO

Default: 00000000 Hex PDO map: Possible

6006 Hex

LREAL Result Data

Sub-index 0: Number of entries

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1 to 32: LREAL Result Data 0-31)

Range: -

Unit: -

Size: 8 bytes (U8)

� The output data is stored.

Access: RO Access: RO

Default: 00 Hex PDO map: Not possible
Default: 00000000 Hex PDO map: Possible

6007 Hex

User Output Area

Sub-index 0: Number of entries

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: User Output Area 0

Range: -

Unit: -

Size: 4 bytes (INT32)

Sub-index 2: User Output Area 1

Range: -

Unit: -

Size: 4 bytes (INT32)

Sub-index 3: User Output Area 2

Range: -

Unit: -

Size: 4 bytes (INT32)

Sub-index 4: User Output Area 3

Range: -

Unit: -

Size: 4 bytes (INT32)

Sub-index 5: User Output Area 4

Range: -

Unit: -

Access: RO

Default: 00 Hex PDO map: Not possible

Access: RO

Default: 00000000 Hex PDO map: Possible

Access: RO

Default: 00000000 Hex PDO map: Possible

Access: RO

Default: 00000000 Hex PDO map: Possible

Access: RO

Default: 00000000 Hex PDO map: Possible

Default: 00000000 Hex

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Size: 4 bytes (INT32)

Sub-index 6: User Output Area 5

Range: -

Unit: -

Size: 4 bytes (INT32)

� The User Output Area is stored.

Access: RO

PDO map: Possible

Access: RO

Default: 00000000 Hex PDO map: Possible

7000 Hex

Control Flag

Sub-index 0: Number of entries

Range: -

Unit: -

Default: 00 Hex

Size: 1 byte (U8) Sub-index1: Command Request Bit

Access: RO

PDO map: Not possible

2

Range: True (1) or False (0) Unit: -

Default: False (0)

Size: 1 bit (BOOL)

Access: RW

PDO map: Not possible

Sub-index 2: Trigger Bit

Range: True (1) or False (0) Unit: -

Default: False (0)

Size: 1 bit (BOOL)

Access: RW

PDO map: Possible

Sub-index 3 to 8: Control Reserve Bit 3 to 8

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 Bit

Range: True (1) or False (0) Unit: -

Default: False (0)

Size: 1 bit (BOOL)

Access: RW

PDO map: Possible

Sub-index 10 to 15: Control Reserve Bit 10 to 15

Range: True (1) or False (0) Unit: -

Default: False (0)

Size: 1 bit (BOOL)

Access: RW

PDO map: Possible

Sub-index 16: Error Clear Bit

Range: True (1) or False (0) Unit: -

Default: False (0)

Size: 1 bit (BOOL)

Access: RW

PDO map: Possible

Sub-index 17: Result Set Request Bit

Range: True (1) or False (0) Unit: -

Default: False (0)

Size: 1 bit (BOOL)

Access: RW

PDO map: Possible

Sub-index 18 to 32: Control Reserve Bit 18 to 32

Range: True (1) or False (0) Unit: -

Default: False (0)

Size: 1 bit (BOOL)

Access: RW

PDO map: Possible

� This object controls the Sensor Controller. � Command Request bit: Turned ON to execute a command. � Trigger bit: Turned ON to execute a measurement. � Flow Command Request bit: Turned ON to execute a command during execution of PLC Link, Field-
bus, or normal flow control. � Error Clear bit: Turned ON to clear the Error Status bit (3001 Hex, sub-index 17). � Result Set Request bit: Turned ON to request data output. � When you use the Sysmac Studio, he sub-index 1 including the above all bits are mapped.

7001 Hex

Command Code

Range: -

Unit: -

Size: 4 bytes (BOOL)

Access: RW

� A command code such as Switch Scene is stored.

Default: 00000000 Hex PDO map: Possible

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7002 Hex

Command parameter

Sub-index 0: Number of entries

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: Command Parameter 0

Range: -

Unit: -

Size: 4 bytes (INT32)

Sub-index 2: Command Parameter 1

Range: -

Unit: -

Size: 4 bytes (INT32)

Sub-index 3: Command Parameter 2

Range: -

Unit: -

Size: 4 bytes (INT32)

Sub-index 4: Command Parameter 3

Range: -

Unit: -

Size: 4 bytes (INT32)

Access: RO

Default: 00 Hex PDO map: Not possible

Access: RW

Default: 00000000 Hex PDO map: Possible

Access: RW

Default: 00000000 Hex PDO map: Possible

Access: RW

Default: 00000000 Hex PDO map: Possible

Access: RW

Default: 00000000 Hex PDO map: Possible

� The command parameter is stored. (E.g. The scene number is stored when the command "Switch scene" is performed.)

Precautions for Correct Use
Since Command Parameter 3 is the reserved area, it is unavailable. Use Command Parameter 0 to 2.

7003 Hex

User Input Area

Sub-index 0: Number of entries

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: User Input Area 0

Range: -

Unit: -

Size: 4 bytes (INT32)

Sub-index 2: User Input Area 1

Range: -

Unit: -

Size: 4 bytes (INT32)

Sub-index 3: User Input Area 2

Range: -

Unit: -

Size: 4 bytes (INT32)

Sub-index 4: User Input Area 3

Range: -

Unit: -

Size: 4 bytes (INT32)

Sub-index 5: User Input Area 4

Range: -

Unit: -

Size: 8 bytes (U8)

Sub-index 6: User Input Area 5

Range: -

Unit: -

Size: 8 bytes (U8)

� The User Input Area is stored.

Access: RO

Default: 00 Hex PDO map: Not possible

Access: RW

Default: 00000000 Hex PDO map: Possible

Access: RW

Default: 00000000 Hex PDO map: Possible

Access: RW

Default: 00000000 Hex PDO map: Possible

Access: RW

Default: 00000000 Hex PDO map: Possible

Access: RW

Default: 00000000 Hex PDO map: Possible

Access: RW

Default: 00000000 Hex PDO map: Possible

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8000 Hex

Image Processing Results Output

Sub-index 0: Number of entries

Range: -

Unit: -

Default: 03 Hex

Size: 1 byte (U8)

Access: RO

PDO map: Not possible

Sub-index 1: Switch of handshake mode

Range: -

Unit: -

Default: 00 Hex

Size: 1 bit (BOOL)

Access: RW

PDO map: Possible

Sub-index2: Result Valid period

Range: -

Unit: -

Default: 02 Hex

Size: 4 bytes (INT32) Sub-index 3: Result Notification Time

Access: RW

PDO map: Possible

2

Range: -

Unit: -

Default: 01 Hex

Size: 4 bytes (INT32)

Access: RW

PDO map: Possible

In multiple-line used, objects have been prepared for each line as shown below.

Line 1 Line 2 Line 3 Line 4 Line 5 Line 6 Line 7

: 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 H(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) 7040 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)

F000 Hex

Modular Device Profile

Sub-index 0: Number of entries

Range: -

Unit: -

Size: 1 byte (U8)

Sub-index 1: Index distance

Range: -

Unit: -

Size: 2 bytes (U16)

Sub-index 2: Maximum number of modules

Range: -

Unit: -

Size: 2 bytes (U16)

Sub-index 3: General configuration

Range: -

Unit: -

Access: RO

Default: 05 Hex PDO map: Not possible

Access: RO

Default: 10 Hex PDO map: Not possible

Access: RO

Default: 08 Hex PDO map: Not possible

Default: 00 Hex

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Size: 4 bytes (U32)

Sub-index 4: General information

Range: -

Unit: -

Size: 4 bytes (U32)

Sub-index5: Module PDO Group of device

Range: -

Unit: -

Size: 2 bytes (U16)

Access: RO

PDO map: Not possible

Access: RO

Default: 00 Hex PDO map: Not possible

Access: RO

Default: 00 Hex PDO map: Not possible

F010 Hex

Module Profile List

Sub-index 0: Number of entries

Range: -

Unit: -

Size: 1 byte (U8)

Access: RO

Sub-index 1: Profile information of the module on position 1

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 2: Profile information of the module on position 2

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 3: Profile information of the module on position 3

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 4: Profile information of the module on position 4

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 5: Profile information of the module on position 5

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 6: Profile information of the module on position 6

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 7: Profile information of the module on position 7

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Sub-index 8: Profile information of the module on position 8

Range: -

Unit: -

Size: 4 bytes (U32)

Access: RO

Default: 08 Hex PDO map: Not possible
Default: 00 Hex PDO map: Not possible
Default: 00 Hex PDO map: Not possible
Default: 00 Hex PDO map: Not possible
Default: 00 Hex PDO map: Not possible
Default: 00 Hex PDO map: Not possible
Default: 00 Hex PDO map: Not possible
Default: 00 Hex PDO map: Not possible
Default: 00 Hex PDO map: Not possible

F030 Hex

Configured Module Ident List1

Sub-index 0: Number of entries

Range: -

Unit: -

Default: 08 Hex

Size: 1 byte (U8)

Access: RO

PDO map: Not possible

Sub-index 1: Module Ident of the module configured on position 1

Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RW

PDO map: Not possible

Sub-index 2: Module Ident of the module configured on position 2

Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RW

PDO map: Not possible

Sub-index 3: Module Ident of the module configured on position 3

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Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RW

PDO map: Not possible

Sub-index 4: Module Ident of the module configured on position 4

Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RW

PDO map: Not possible

Sub-index 5: Module Ident of the module configured on position 5

Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RW

PDO map: Not possible

Sub-index 6: Module Ident of the module configured on position 6

Range: Size: 4 bytes (U32)

Unit: -

Default: 00 Hex

Access: RW

PDO map: Not possible

2

Sub-index 7: Module Ident of the module configured on position 7

Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RW

PDO map: Not possible

Sub-index 8: Module Ident of the module configured on position 8

Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RW

PDO map: Not possible

F050 Hex

Detected Module Ident List1

Sub-index 0: Number of entries

Range: -

Unit: -

Default: 08 Hex

Size: 1 byte (U8)

Access: RO

PDO map: Not possible

Sub-index 1: Module Ident of the module configured on position 1

Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 2: Module Ident of the module configured on position 2

Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 3: Module Ident of the module configured on position 3

Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 4: Module Ident of the module configured on position 4

Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 5: Module Ident of the module configured on position 5

Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 6: Module Ident of the module configured on position 6

Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 7: Module Ident of the module configured on position 7

Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

Sub-index 8: Module Ident of the module configured on position 8

Range: -

Unit: -

Default: 00 Hex

Size: 4 bytes (U32)

Access: RO

PDO map: Not possible

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2-2 Communicating by PLC Link

This section describes the communication settings, communication specifications (PLC I/O memory areas and communication commands used in PLC communications), and timing charts during communications, which are required for PLC Link communications between the Sensor Controller and an external device.

2-2-1 Communications Processing Flow
The Sensor Controller communicates with external devices using Ethernet or RS-232C/422 through PLC Link communications. In Ethernet communications, PLC uses UDP/IP or TCP/IP protocol in PLC Link.

Precautions for Correct Use
� PLC Link communications can be performed via Ethernet or RS-232C/422, but not both at the same time.
� The Sensor Controller will be a client when you connect with PLC Link via TCP/IP protocol. � Multiple Sensor Controllers of the FH/FHV series and multiple lines cannot be connected with
UDP/IP communications. For multiple Sensor Controllers, or multiple lines, use TCP/IP. � Do not duplicate settings of FINS/UDP ports in CJ/NJ series to the FH/FHV series Output
port number when you use UDP/IP communication to connect OMRON PLC CJ series or NJ/NX series via Ethernet. � If you connect multiple FH/FHV Sensor Controllers to a FINS/UDP port, PLC communication may be disabled. A PLC link error may occur. � When PLC CJ series or Machine Automation Controllers of the NJ/NX series produced by OMRON are connected to the Sensor Controllers of the FH/FHV series, use TCP. If you used UDP, PLC Link communications will not be established properly and a PLC Link error may occur.

PLC Link communications allow the PLC to use command and response control method, and data output method after measurements. (Both methods can be performed at once.) In PLC Link communications, the following three communication areas are set in the PLC.

Command/response method
Data output after measurement

(1) Command Area
(2) Response Area
(3) Data Output Area

This area is used that you write control commands to perform for the Sensor Controller.
This area is used to read the performed results of the control commands written in the Command Area.
This area is used to read the data output after measurement was performed.

The above three communication ares are assigned to the PLC's I/O memory by setting the area type and address during setting the communication specifications for the Sensor Controller.

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2 Methods for Connecting and Communicating with External Devices

Command/ response method
Data output after measurements

PLC (master)
1. Command Area You write the following control commands for the Vision Sensor.
� Control signals � Command code � Command parameters
2. Response Area The Vision Sensor writes the execution results to the PLC.

Sensor Controller (slave)

Commands

The control commands that are written to the Command Area are executed.

... Responds when a command is received.

Execution

Measurement results are written Responses to the Response Area of the PLC.

� Status signals

� Command code � Response code

2

� Response data

3. Data Output Area
The Vision Sensor writes the output data to the PLC.

External outputs*1

Read characters are written to the Output Area.

� Measurement Flow
Execution of processing item (1)

Communications

Data is written to the Communications Module.
Execution of processing item*2 to read character data

Module

... Operations are performed by executing the measurement flow.

Execution of processing item*3 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 Result Set Request (DSA) signal to request the output data.
*2 : The following processing items ara used to read characters: Character inspection, Barcode, 2Dcode, and OCR
*3 : For details of the Output Units outputting measurement data, refer to Settings Required for Data Output on page 1-21.
Additional Information
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.
Precautions for Correct Use
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 overall 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. For details, refer to Asynchronous Output on page 2-151.

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2-2-2 Communications Settings
The following settings are required to use PLC Link.

1. Communication Module settings (Startup settings)

2. Communications specifications settings

3. Output data settings (processing item registration)

4. Communications test

���

The communication method to be used is determined by select-

ing a communication module.

For details, refer to 2-2-3 Communications Module Settings

(Startup Settings) on page 2-129.

���

The communications specifications are set for the communica-

tions method of the Communication Module selected in step 1.

Assign the communications area to communicate with the exter-

nal device.

For details, refer to 2-2-4 Communication Specifications Settings

on page 2-131.

���

The data to output to the Data Output Area is registered in the

Output Unit.

The Output Unit is placed in the processing flow in the same way

as for other processing items.

For details, refer to 2-2-5 Output Data Settings (Processing Item

Registration) on page 2-152.

���

If communications are not working properly, check the communi-

cations setup from step 2 and perform a communications test to

determine whether the Sensor Controller can be detected on the

network.

For details, refer to 2-2-7 Testing Communications on page

2-163.

If that does not solve the problem, refer to the troubleshooting

section for each communication protocol.

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2-2-3 Communications Module Settings (Startup Settings)
The communication method used for communication with the Sensor Controller is selected from the communication modules.
1 On the Main window, click Tool - System Settings to open the system settings. 2 On the Multiview Explorer on the left, select System settings - Startup - Startup setting and
then click the Communication tab.
2

2-2-3 Communications Module Settings (Startup Settings)

3 Select one of the following Communication Modules based on the communication method used
to connect with the Sensor Controller and the Unit to be connected, and then click Apply.

Communications Module Serial (Ethernet)
PLC Link (SYSMAC CS/CJ/CP/One) (UDP) PLC Link (SYSMAC CS/CJ/CP/One) (TCP) PLC Link (MELSEC QnU/Q/ QnAS) (UDP) PLC Link (MELSEC QnU/Q/ QnAS) (TCP) PLC Link (JEPMC MP)
Serial (RS-232C/422)
PLC Link (SYSMAC CS/CJ/CP/One) PLC Link (MELSEC QnU/Q/ QnAS)

Description
Performs PLC Link communications via an Ethernet connection.
Select this communication module to communicate with an OMRON PLC using the UDP communication protocol. Select this communication module to communicate with an OMRON PLC using the TCP communication protocol. Select this communication module to communicate with a Mitsubishi Electric PLC using the UDP communication protocol. Select this communication module to communicate with a Mitsubishi Electric PLC using the TCP communication protocol. Select this Communications Module to communicate with a Yaskawa Electric PLC. Performs PLC Link communications using an RS-232C/422 connection. Select this communication module to communicate with an OMRON PLC. Select this communication module to communicate with a Mitsubishi Electric PLC.

Additional Information
Normally select UDP communication module when serial is set as Ethernet. Select TCP communication module if that is the recommended method for your particular communication environment.
4 Click Data save in the Toolbar.

5 On the Main window, click Function - System restart.
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6 Click OK in the System restart dialog box to restart the Sensor Controller.
When the Sensor Controller was restarted, the set Communication Module will operate with the default settings.
7 Set the IP address and other parameters for external devices such as a PLC.
Precautions for Correct Use After you set the Communication 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 Communication Module settings will not be enabled
Additional Information You can save the Communication Module settings to a file. Use the System data or System + Scene group 0 data option for saving settings to a file. For details, Refer to Saving Settings Data to the Controller RAM Disk or an External Storage Device in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

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2-2-4 Communication Specifications Settings

2 Methods for Connecting and Communicating with External Devices

2-2-4 Communication Specifications Settings
Here, set the communication specifications such as the link areas, baud rate, and data length. The communication settings are performed for Ethernet and RS-232C separately. If communications were not established even though the settings have been performed, check the setting details and communication status. For details, refer to 2-2-7 Testing Communications on page 2-163.

Precautions for Correct Use

� The settings dialog box for the communication specifications will change depending on the

Communication Module that you use.

2

Before you set the communication specifications, select the Communication Module to use

with the Sensor Controller in the startup settings.

For details, refer to 2-2-3 Communications Module Settings (Startup Settings) on page 2-129.

After you selected the Communication Module, save the settings to the Sensor Controller and

restart it.

If you do not restart the Sensor Controller, the selected Communication Module will not be

enabled.

� Use the same communication 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, click Tool - System Settings to open the 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 communication setting area, set each items.
In the case of Ethernet (PLC Link (SYSMAC CS/CJ/CP/One) (UDP)):

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Additional Information
� Sensor Controllers of the FH-1000/2000/3000/5000 series with four or eight Camera inputs have two Ethernet ports. Set the settings for the two Ethernet ports as follows: � Communication Module Settings: Use the same settings 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. Note that the FH prioritizes the bottom port, so when there is a high network load, communication on the top port may be delayed or in some cases communication data may be lost. By using both Ethernet ports simultaneously, you can use the bottom port for PLC Link, Non-procedure, EtherNet/IP, or PROFINET communications with a PLC and the top port for FTP or remote operation communications with an external device.
� The following Sensor Controller type has one Ethernet port: - FH-L/FHV series - FH-1000/3000 series with two camera inputs In this case, the IP address of the Ethernet port is set in Address setting 2

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2-2-4 Communication Specifications Settings

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Setting item

Setting value [Factory default]

Description

Address Settings Address Settings is only for the following series: FH-1000 series (4- and 8-camera types), FH-2000 series, FH-3000 series (4- and 8-camera types), FH-5000 series

Set the IP address for the upper Ethernet port on the Sensor Controller.

� Obtain an IP ad-

Set the IP address for the Sensor Controller.

dress automatically. When Obtain an IP address automatically is

� [Use the following IP selected, the IP address of the Sensor Con-

address]

troller will be automatically obtained.

2

When Use the following IP address is select-

ed, 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: 0 to 254 [10.5.5.100]

Enter the IP address for the Sensor Controller.

Subnet mask

0.0.0.0 to 255.255.255.255 [255.255.255.0]

Enter 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 [10.5.5.100]

Enter 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 [10.5.5.100]

Enter the DNS server address.

Preferred WINS server

a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [0.0.0.0]

Enter the WINS server address.

Alternate WINS server

a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [0.0.0.0]

Enter the WINS server address.

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Setting item

Setting value [Factory default]

Address Settings 2 Address Settings is only for the following series: FH-1000 series (2-camera type), FH-2000 series, FH-3000 series (2-camera type), FH-5000/FH-L/FHV series

� Obtain 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: 0 to 254 [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: 0 to 255 [10.5.6.100]

Preferred WINS server

a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [0.0.0.0]

Alternate WINS server

a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [0.0.0.0]

Description Set the IP address for the lower Ethernet port on the Sensor Controller.
Same as "Address Settings".
Enter the WINS server address. Enter the WINS server address.

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2-2-4 Communication Specifications Settings

2 Methods for Connecting and Communicating with External Devices

Setting item

Setting value [Factory default]

Description

Input and Output settings

Output IP Address/TCP Server*1
Input/Output port No.

a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 254 [0.0.0.0] / [10.5.5.101]*1
0 to 65535 [9600] / [9876]*2

Enter the IP address for the output destination.

Set the port number to use for the data input

2

and output with the Sensor Controller.

*1. When the TCP is used for the connection, TCP Server is displayed. Factory default settings are [10.5.5.101].
*2. When the TCP is used for the connection, Factory default settings are [9876].

Precautions for Correct Use
� If the operation mode is set to Multi-line Random-trigger Mode, set a different I/O port number for each line.
� 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 were specified, communications may not be performed correctly.
� Be sure to change the output IP address from its factory default value in accordance with your network environment.

3 Click PLC Link.
The PLC Link view is displayed.
4 Set the following items.
Some setting items vary depending on the selected communication module.

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Communicating with an OMRON PLC (When PLC Link (Sysmac CS/CJ/CP/One) is selected for the communication module.)

Setting item Command Area
Areas
Address Response Area

Setting value [Factory default]

Description

� [Channel Area (CIO)]
� Work Area (WR) � Holding Bit Area
(HR) � Auxiliary Bit Area
(AR) � Data Memory Areas
(DM) � Extended Data
Memory Areas (EM) (EM0 to EMC)
0 to 99999 [0]

Set the Command Area. The range of the available EM area varies depending on the PLC types to be connected.
Set the first channel address of the Command Area.

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Setting item
Areas
Address Data Output Area
Areas
Address Setting item
Output Control

Setting value [Factory default]

Description

� [Channel Area

(CIO)] � Work Area (WR) � Holding Bit Area

(HR)

Set the Response Area.

� Auxiliary Bit Area

The range of the available EM area varies

(AR)

depending on the PLC types to be connect-

� Data Memory Areas ed.

(DM)

� Extended Data

2

Memory Areas (EM)

(EM0 to EMC)

0 to 99999

Set the first channel address of the Re-

[100]

sponse Area.

� [Channel Area (CIO)]
� Work Area (WR) � Holding Bit Area
(HR) � Auxiliary Bit Area
(AR) � Data Memory Areas
(DM) � Extended Data
Memory Areas (EM) (EM0 to EMC)
0 to 99999 [200]

Set the Data Output Area. The range of the available EM area varies depending on the PLC types to be connected.
Set the first channel address of the Data Output Area.

Setting value [Factory default]
� None � [Handshaking]

Description
Set whether to provide an interlock with the PLC when the data is performed. None: Data is output regardless of the status for signals from he PLC. The GATE is always OFF. Handshaking: Data is output after the DSA signal from the PLC was checked.

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Setting item

Setting value [Factory default]

Description

Asynchronous Output *2

� Selected � [Not selected]

Selected: Measurement processing and data output processing 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 processing are synchronized so that all data output processing is completed at the measurement end. This increases the overall processing time for the measurement flow. For details, refer to Asynchronous Output on page 2-151.

Set the time until when a timeout error will occur because the PLC Link communications are not established with incorrect communication settings or communication cables bro-

Retry interval [ms]

0 to 999999 [10000]

ken.*1 After a timeout error occurred, communications with the destination device will be attempted with the interval time set in the Retry interval. For details, refer to Data Output Control with Handshaking on page 1-25.

Retry Interval 2 [ms]

0 to 999999 [10000]

When the PLC Link communications fail due to a temporary response delay affected by heavy network loads and the PLC internal status, the command will be re-transmitted to the destination device after the time set in the Retry Interval 2 passed. Set the shorter time in the Retry Interval 2 than that in the Retry Interval. Normally use the default values.

Polling Cycle [ms]

-1 to 999999 [0]

-1: When this value is set, polling will not be performed in normal operation. This setting eliminates influence to measurement processing time due to communications (polling) in normal operation. Although commands will not be performed, data output and flow control can be performed. 0 to 999999: Set the interval at which the Sensor Controller of the FH/FHV series checks that the Command Execute (EXE) signal from an external device such as PLC, switches from OFF to ON.

*1. In the communications using Handshaking, a timeout error will also occur if any of the following operations were not performed within the time set this Retry interval as well..

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2 Methods for Connecting and Communicating with External Devices

� If the DSA signal were not turned ON even after a certain time passed from when measurement has been completed.
� If the DSA signal did not switch from ON to OFF even after a certain time passed from when the GATE signal has switched from OFF to ON.
� If the DSA signal did not switch from OFF to ON even after a certain time passed from when the GATE signal has switched from ON to OFF.
*2:

Precautions for Correct Use

Always set the output control to Handshaking for asynchronous output. If you set the output control to None, operation will be fixed at the following values: Output time: 100 [ms], Output

2

period: 200 [ms].

If you need a shorter output time and output period when the output control is set to None, un-

check the asynchronous output option.

Communicate with a Mitsubishi Electric PLC (When PLC Link (MELSEC/QnU/Q/QnAS) is selected for the communication module.)

Setting item Command Area
Areas
Address Response Areas
Areas
Address Data Output Area
Areas
Address

Setting value [Factory default]

Description

� [Data register] � File register � Link register
0 to 99999 [0]

Set the Command Area.
Set the first channel address of the Command Area.

� [Data register] � File register � Link register
0 to 99999 [100]

Set the Response Area.
Set the first channel address of the Response Area.

� [Data register] � File register � Link register
0 to 99999 [200]

Set the Data Output Area.
Set the first channel address of the Data Output Area.

Setting item Output Control

Setting value [Factory default]
� None � [Handshaking]

Description
Set whether to provide an interlock with the PLC when the data is performed. None: Data is output regardless of the status for signals from he PLC. The GATE is always OFF. Handshaking: Data is output after the DSA signal from the PLC was checked.

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2-140

Setting item

Setting value [Factory default]

Description

Asynchronous Output *2

� Selected � [Not selected]

Selected: Measurement processing and data output processing 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 processing are synchronized so that all data output processing is completed at the measurement end. This increases the overall processing time for the measurement flow. For details, refer to Asynchronous Output on page 2-151.

Set the time until when a timeout error will occur because the PLC Link communications are not established with incorrect communication settings or communication cables bro-

Retry interval [ms]

0 to 999999 [10000]

ken.*1 After a timeout error occurred, communications with the destination device will be attempted with the interval time set in the Retry interval. For details, refer to Data Output Control with Handshaking on page 1-25.

Retry Interval 2 [ms]

0 to 999999 [10000]

When the PLC Link communications fail due to a temporary response delay affected by heavy network loads and the PLC internal status, the command will be re-transmitted to the destination device after the time set in the Retry Interval 2 passed. Set the shorter time in the Retry Interval 2 than that in the Retry Interval. Normally use the default values.

Polling Cycle [ms]

-1 to 999999 [0]

-1: When this value is set, polling will not be performed in normal operation. This setting eliminates influence to measurement processing time due to communications (polling) in normal operation. Although commands will not be performed, data output and flow control can be performed. 0 to 999999: Set the interval at which the Sensor Controller of the FH/FHV series checks that the Command Execute (EXE) signal from an external device such as PLC, switches from OFF to ON.

*1. In the communications using Handshaking, a timeout error will also occur if any of the following operations were not performed within the time set this Retry interval as well..

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2 Methods for Connecting and Communicating with External Devices

� If the DSA signal were not turned ON even after a certain time passed from when measurement has been completed.
� If the DSA signal did not switch from ON to OFF even after a certain time passed from when the GATE signal has switched from OFF to ON.
� If the DSA signal did not switch from OFF to ON even after a certain time passed from when the GATE signal has switched from ON to OFF.
*2:

Precautions for Correct Use

Always set the output control to Handshaking for asynchronous output. If you set the output control to None, operation will be fixed at the following values: Output time: 100 [ms], Output

2

period: 200 [ms].

If you need a shorter output time and output period when the output control is set to None, un-

check the asynchronous output option.

2-2-4 Communication Specifications Settings

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Communicating with a Yaskawa Electric PLC (When PLC Link (JEPMC MP) is selected for the Communication module.)

Setting item Command Area
Areas
Address Response Areas
Areas
Address Data Output Area
Areas
Address

Setting value [Factory default]

Description

Data register
0 to 99999 [0]

The Command Area is fixed to the Data register.
Set the first channel address of the Command Area.

Data register
0 to 99999 [100]

The Response Area is fixed to the Data register.
Set the first channel address of the Response Area.

Data register
0 to 99999 [200]

The Data Output Area is fixed to the Data register.
Set the first channel address of the Data Output Area.

Setting item Output Control
Asynchronous Output *2

Setting value [Factory default] � None � [Handshaking]
� Selected � [Not selected]

Description
Set whether to provide an interlock with the PLC when the data is performed. None: Data is output regardless of the status for signals from he PLC. The GATE is always OFF. Handshaking: Data is output after the DSA signal from the PLC was checked.
Selected: Measurement processing and data output processing 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 processing are synchronized so that all data output processing is completed at the measurement end. This increases the overall processing time for the measurement flow. For details, refer to Asynchronous Output on page 2-151.

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Setting item

Setting value [Factory default]

Description

Set the time until when a timeout error will occur because the PLC Link communications are not established with incorrect communication settings or communication cables bro-

Retry interval [ms]

0 to 999999 [10000]

ken.*1

After a timeout error occurred, communica-

tions with the destination device will be at-

tempted with the interval time set in the Retry

interval.

For details, refer to Data Output Control with

2

Handshaking on page 1-25.

Retry Interval 2 [ms]

0 to 999999 [10000]

When the PLC Link communications fail due to a temporary response delay affected by heavy network loads and the PLC internal status, the command will be re-transmitted to the destination device after the time set in the Retry Interval 2 passed. Set the shorter time in the Retry Interval 2 than that in the Retry Interval. Normally use the default values.

Polling Cycle [ms]

-1 to 999999 [0]

-1: When this value is set, polling will not be performed in normal operation. This setting eliminates influence to measurement processing time due to communications (polling) in normal operation. Although commands will not be performed, data output and flow control can be performed. 0 to 999999: Set the interval at which the Sensor Controller of the FH/FHV series checks that the Command Execute (EXE) signal from an external device such as PLC, switches from OFF to ON.

*1. In the communications using Handshaking, a timeout error will also occur if any of the following operations were not performed within the time set this Retry interval as well.. � If the DSA signal were not turned ON even after a certain time passed from when measurement has been completed. � If the DSA signal did not switch from ON to OFF even after a certain time passed from when the GATE signal has switched from OFF to ON. � If the DSA signal did not switch from OFF to ON even after a certain time passed from when the GATE signal has switched from ON to OFF.

*2:

Precautions for Correct Use
Always set the output control to Handshaking for asynchronous output. If you set the output control to None, operation will be fixed at the following values: Output time: 100 [ms], Output period: 200 [ms]. If you need a shorter output time and output period when the output control is set to None, uncheck the asynchronous output option.

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5 Click Apply to apply the settings.
Click Close to close the System Settings dialog box.
Connecting via RS-232C
1 On the Main window, click Tool - System Settings to open the system settings.
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 communication setting area, set each items.

Setting item Interface
Baud rate [bps]*1
Data length [bit]*2 parity Stop bit [bit]

Set value [Factory default]
� [RS-232C � RS-422*3
� 2400 � 4800 � [9600] � 19200 � 38400 � 57600 � 115200 � [7] �8 � None � Odd � [Even] �1 � [2]

Description Align the communication specifications with the PLC. When you connect an OMRON's PLC, set it to Host Link communications.
Align the communication specifications with the PLC.
Align the communication specifications with the PLC.

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Setting item

Set value [Factory default]

Description

Flow control

� [None] � Xon/Xoff

Timeout [s]

� 1 to 120 � [5]

None:

The software does not perform the flow control. If the time in

which there is no response from external devices reaches

the timeout setting time, a timeout error occurs and an error

message is displayed in the window. Moreover, the parallel

interface ERROR signal turns ON.

Xon/Xoff

The software performs the flow control. Data is transmitted

according to the Xon/Xoff codes from external devices.

Set the time in which a timeout error will occur.

2

*1. If a baud rate of 38400 bps or higher were selected, communications may not be established well depending on the cable length because communication speeds or 20 Kbps are not defined in RS-232C standards. In this case, set it to 19200 bps or lower baud rate.
*2. With the RS-232C MELSEC Q series, set the data length to 8. *3. RS-422 is unavailable in the MELSEC Q series and the FH series.

3 Click PLC Link.
The PLC Link view is displayed.

4 Set the following items.
Some setting items vary depending on the selected communication module.

2-2-4 Communication Specifications Settings

Communicating with an OMRON PLC (When PLC Link (Sysmac CS/CJ/CP/One) is selected for the communication module.)

Setting item Command Area

Setting value [Factory default]

Description

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Setting item
Areas
Address Response Area
Areas
Address Data Output Area
Areas
Address

Setting value [Factory default]
� [Channel Area (CIO)] � Work Area (WR) � Holding Bit Area (HR) � Auxiliary Bit Area (AR) � Data Memory Areas (DM) � Extended Data Memory Areas
(EM) (EM0 to EMC)
0 to 99999 [0]

Description
Set the Command Area.
Set the first channel address of the Command Area.

� [Channel Area (CIO)] � Work Area (WR) � Holding Bit Area (HR) � Auxiliary Bit Area (AR) � Data Memory Areas (DM) � Extended Data Memory Areas
(EM) (EM0 to EMC)
0 to 99999 [100]

Set the Response Area.
Set the first channel address of the Response Area.

� [Channel Area (CIO)] � Work Area (WR) � Holding Bit Area (HR) � Auxiliary Bit Area (AR) � Data Memory Areas (DM) � Extended Data Memory Areas
(EM) (EM0 to EMC)
0 to 99999 [200]

Set the Data Output Area.
Set the first channel address of the Data Output Area.

Setting item Output Control

Setting value [Factory default]
� None � [Handshaking]

Description
Set whether to provide an interlock with the PLC when the data is performed. None: Data is output regardless of the status for signals from he PLC. The GATE is always OFF. Handshaking: Data is output after the DSA signal from the PLC was checked.

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Setting item

Setting value [Factory default]

Description

Asynchronous Output *2

� Selected � [Not selected]

Selected:

Measurement processing and data output

processing 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

processing are synchronized so that all data

output processing is completed at the meas-

2

urement end.

This increases the overall processing time

for the measurement flow.

For details, refer to Asynchronous Output on

page 2-151.

Set the time until when a timeout error will occur because the PLC Link communications are not established with incorrect communication settings or communication cables bro-

Retry interval [ms]

0 to 999999 [10000]

ken.*1 After a timeout error occurred, communications with the destination device will be attempted with the interval time set in the Retry interval. For details, refer to Data Output Control with Handshaking on page 1-25.

Retry Interval 2 [ms]

0 to 999999 [10000]

When the PLC Link communications fail due to a temporary response delay affected by heavy network loads and the PLC internal status, the command will be re-transmitted to the destination device after the time set in the Retry Interval 2 passed. Set the shorter time in the Retry Interval 2 than that in the Retry Interval. Normally use the default values.

Polling Cycle [ms]

-1 to 999999 [0]

-1: When this value is set, polling will not be performed in normal operation. This setting eliminates influence to measurement processing time due to communications (polling) in normal operation. Although commands will not be performed, data output and flow control can be performed. 0 to 999999: Set the interval at which the Sensor Controller of the FH/FHV series checks that the Command Execute (EXE) signal from an external device such as PLC, switches from OFF to ON.

*1. In the communications using Handshaking, a timeout error will also occur if any of the following operations were not performed within the time set this Retry interval as well..

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� If the DSA signal were not turned ON even after a certain time passed from when measurement has been completed.
� If the DSA signal did not switch from ON to OFF even after a certain time passed from when the GATE signal has switched from OFF to ON.
� If the DSA signal did not switch from OFF to ON even after a certain time passed from when the GATE signal has switched from ON to OFF.
*2:

Precautions for Correct Use
Always set the output control to Handshaking for asynchronous output. If you set the output control to None, operation will be fixed at the following values: Output time: 100 [ms], Output period: 200 [ms]. If you need a shorter output time and output period when the output control is set to None, uncheck the asynchronous output option.

Communicate with a Mitsubishi Electric PLC (When PLC Link (MELSEC/QnU/Q/QnAS) is selected for the communication module.)

Setting item Command Area
Areas
Address Response Areas
Areas
Address Data Output Area
Areas
Address

Setting value [Factory default]

Description

� [Data register] � File register � Link register
0 to 99999 [0]

Set the Command Area.
Set the first channel address of the Command Area.

� [Data register] � File register � Link register
0 to 99999 [100]

Set the Response Area.
Set the first channel address of the Response Area.

� [Data register] � File register � Link register
0 to 99999 [200]

Set the Data Output Area.
Set the first channel address of the Data Output Area.

Setting item Output Control

Setting value [Factory default]
� None � [Handshaking]

Description
Set whether to provide an interlock with the PLC when the data is performed. None: Data is output regardless of the status for signals from he PLC. The GATE is always OFF. Handshaking: Data is output after the DSA signal from the PLC was checked.

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Setting item

Setting value [Factory default]

Description

Asynchronous Output *2

� Selected � [Not selected]

Selected:

Measurement processing and data output

processing 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

processing are synchronized so that all data

output processing is completed at the meas-

2

urement end.

This increases the overall processing time

for the measurement flow.

For details, refer to Asynchronous Output on

page 2-151.

Set the time until when a timeout error will occur because the PLC Link communications are not established with incorrect communication settings or communication cables bro-

Retry interval [ms]

0 to 999999 [10000]

ken.*1 After a timeout error occurred, communications with the destination device will be attempted with the interval time set in the Retry interval. For details, refer to Data Output Control with Handshaking on page 1-25.

Retry Interval 2 [ms]

0 to 999999 [10000]

When the PLC Link communications fail due to a temporary response delay affected by heavy network loads and the PLC internal status, the command will be re-transmitted to the destination device after the time set in the Retry Interval 2 passed. Set the shorter time in the Retry Interval 2 than that in the Retry Interval. Normally use the default values.

Polling Cycle [ms]

-1 to 999999 [0]

-1: When this value is set, polling will not be performed in normal operation. This setting eliminates influence to measurement processing time due to communications (polling) in normal operation. Although commands will not be performed, data output and flow control can be performed. 0 to 999999: Set the interval at which the Sensor Controller of the FH/FHV series checks that the Command Execute (EXE) signal from an external device such as PLC, switches from OFF to ON.

*1. In the communications using Handshaking, a timeout error will also occur if any of the following operations were not performed within the time set this Retry interval as well..

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� If the DSA signal were not turned ON even after a certain time passed from when measurement has been completed.
� If the DSA signal did not switch from ON to OFF even after a certain time passed from when the GATE signal has switched from OFF to ON.
� If the DSA signal did not switch from OFF to ON even after a certain time passed from when the GATE signal has switched from ON to OFF.
*2:
Precautions for Correct Use
Always set the output control to Handshaking for asynchronous output. If you set the output control to None, operation will be fixed at the following values: Output time: 100 [ms], Output period: 200 [ms]. If you need a shorter output time and output period when the output control is set to None, uncheck the asynchronous output option.
5 Click Apply to apply the settings.
Click Close to close the System Settings dialog box.

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Asynchronous Output

In Asynchronous output, measurement flow and data output processing are performed in parallel. The data output processing does not affect the measurement flow processing. Clear the option for Asynchronous output when you want to perform output in the same way as for FZ4 and former models. This enables synchronous output, which means that the subsequent measurement flow is continuously performed only after the data output processing for the current measurement follow was completed. Although all data output processing finishes at measurement end, this increases the overall processing time for the measurement flow.

"Asynchronous output" Not Selected

"Asynchronous output" Selected

2

Sensor Controller

Processing

order

Measurement flow

1. Data output processing started.

0. Camera Image Input . . . .
5. Data Output

2. Data output processing finished.
Communications Module

3. Search executed.

6. Search . . . .

The next processing item is not executed until the data output processing is finished.

Sensor Controller

Processing order
Measurement flow

0. Camera Image Input

Data output processing

1. Data output processing started.

. . . . 5. Data Output

Communications Module

2. Search executed.

6. Search . . . .

Data output processing is executed in parallel with the measurement flow processing.

Precautions for Correct Use
Always set the output control to Handshaking for asynchronous output. If you set the output control to None, operation will be fixed at the following values: Output time: 100 [ms], Output period: 200 [ms]. If you need a shorter output time and output period when the output control is set to None, uncheck the asynchronous output option.

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2-2-5 Output Data Settings (Processing Item Registration)
Here, set the output items and output format to be used in PLC Link. This processing item is not available in the FHV series. When you set output data in the FHV series, refer to 2-2-6 Setting Output Data (Numerical Values and Character Strings) on page 2-157.
Additional Information 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. (Reference Manual (Cat. No. Z341).) � Character Inspection
Refer to Character Inspection in the Vision System FH/FHV Series Processing Items � Barcode
Refer to Barcode in the Vision System FH/FHV Series Processing Items � 2DCode
Refer to 2DCode in the Vision System FH/FHV Series Processing Items � OCR
Refer to OCR in the Vision System FH/FHV Series Processing Items
Registering Processing Items
Register the processing items for data output in the measurement flow.
1 Click Edit flow in the Toolbar. 2 Select the Data Output processing item in the processing item tree.
3 Click Append.
The Data Output processing item is added at the bottom of the unit list (flow).

4 Click Data Output icon and set the data output items and data format.
For details of the settings, refer to the following.
Registering the Items to Output on page 2-154

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Additional Information
� 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 overwritten by the output data that is output after it. Use one of the following methods to read each set of output data.

Offset
Controlling data output with handshaking

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.

For details, refer to Output Format (Data Output) on page 2-324.

2

If handshaking is used to control data output, the timing of output-

ting 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.

For details on handshaking, refer to Data Output Control with

Handshaking on page 1-25.

� 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.) For details, refer to Outputting the Measurement Data on page 1-18.

2-2-5 Output Data Settings (Processing Item Registration)

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Registering the Items to Output
Set the output data with expressions.
1 Click Data Output icon in the measurement unit list (flow). 2 In the Item tab area, click Setting.

3 In the list, click the output data number to set the expression.
The selected output data number is displayed under the list.
4 Click next to the expression text box and set the expression.
Specify the processing items, measurement results, and measurement data in the expression. Arithmetic or function calculations can be applied to the measurement data to output. For details of the calculation settings, refer to Calculation in the Vision System FH/FHV Series Processing Items Reference Manual (Cat. No. Z341).
5 Click for the Comment text box and enter the description for the expression.
The entered comment will be displayed in the detailed results area on the Main window. For example, Test was entered as the comment for the expression 0, Test will be displayed instead of Expression 0 in the detailed results areas on the Main window.
6 When you want to output more than nine items, click under the Number of output data
items and change the number of output items for the Output Unit. By default you can output up to eight items, but you can change this to output a maximum of 256 output data items (Max. 1,024 bytes).
7 Repeat step 3 to 5 to set expressions for all of the required output data numbers.

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Additional Information
If you delete one of the expressions that is set for output data 0 through 255, 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 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)

First word

Bit

15

to

0

2

+10

DATA1 (Reference SX)

+11

+12

DATA2 (Reference SY)

+13

+14

DATA3 (Reference angle ST)

Output 1 is deleted.

+15

Output Item Settings

Data Output Destination (Data Output Area)

First word +10

Bit

15

to

0

DATA1 (Reference SX)

+11

+12

DATA3 (Reference angle ST)

+13

+14

+15

The output numbers assigned to the expressions remain the same, but the data output location is shifted forward for data 3.

2-2-5 Output Data Settings (Processing Item Registration)

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Output Format (Data Output)
1 Click 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 communication method.

Setting item
Communication method

Setting value [Factory default]
[RS-232C/RS-422]
Ethernet

Description
Communications are performed via the RS-232C/RS-422 connection. Communications are performed via the Ethernet connection.

4 Set the output format for the data to be output.

Setting item PLC Link setting
Decimal output format
Offset

Setting value [Factory default]
� [Fixed point] � Floating point
0 to 99999 [0]

Description
Specifies the output format for the PLC Link. Use the floating point when you need precision up to four digits decimal point. � Fixed point
Data is output multiplied by 1,000. ex.: For 123.456, it will be 0x0001E240. � Floating point Data is output in floating point format. ex.: For -123.4567, it will be 0xc2f6e979. Set the number of offset channels in the Data Output Area.

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2-2-6 Setting Output Data (Numerical Values and Character Strings) Registering Processing Items
Register the processing items for data output in the measurement flow.
1 In the Main window, click Edit flow in the Toolbar. 2 Click Result output (I/O) in the processing item tree.
2
3 Click Append.
The Result output (I/O) processing item is added at the bottom of the unit list (flow).

4 Click Result output (I/O)
output data.

icon in the unit list (flow) or Set to set the output device and the

2-2-6 Setting Output Data (Numerical Values and Character Strings)

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Setting the Output Device
Here, set a communication method when data is output.
1 Click Result output (I/O) icon in the unit list (flow) or Set to set the output device and the
output data. The Result output (I/O) setting window is displayed.

2 Click Output setting.
The Output setting window is displayed.

3 Click
use.

at the right side of the Output device text box to select the communication method to

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Precautions for Correct Use � The displayed output device is determined based on the selection of Communication
module in the System settings in the item tab. � Executing measurements without an output device selected causes a failure (NG: No meas-
urement) in the judgment of the processing unit.
Setting the Output Data
Here, set the data to output such as processing item data or fixed character strings.
2
1 In the item tab area, click Output data.
The Result output (I/O) setting window is displayed.

2-2-6 Setting Output Data (Numerical Values and Character Strings)

(a)

(c) (b)

(c)

a) Setting data display area The No. (output number), Offset (indicating the byte position from the beginning), Data type (integer, double, string), Data, Value, and Title (data description) are displayed in this area. A value is displayed when a variable is assigned to data.
b) Output data display area Contents in the output data display area in binary (Hex) are displayed in this area.
c) Button

Button

Description Moves the selected data up one position. Moves the selected data down one position. Adds new data to the selected data position. Deletes the selected data. The following data moves up after the deletion. Edits the selected data.

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Button

Description Saves the current settings and returns to the previous view.

Discards the current settings and returns to the previous view.

2 In the list, select the output data number to set the output and then click Insert.
The following Output data editing dialog box is displayed.

Setting item

Setting value [Factory default]

Description

Data type

� Integer � Double � String

Sets the data type.

Data

There are two input methods.*1

-

� Enter strings directly

� Assign variables

Title

-

Enters the description for data.

String settings

Valid when String is selected in the Data type.

Size

0 to 4,095 [10]

Sets the number of characters.

Character code

[0]

Sets the code page according to the language to be used.

*1. Any arithmetic expression cannot be used. If it is used, it will be handled as character strings.

� Character code: Specify the following code page for each language.

Language Japanese
German Italian Vietnamese

Code page 932

Language English

1252
1252 1258

French
Spanish Polish

Code page 1252
1252 1252 1250

Language
Chinese (simplified) Chinese (traditional) Korean

Code page 936
950 949

� The default 0 is no language-dependent letters in ANSI code page. � If non-existing code page is selected, corresponding data is handled as invalid data (NULL).

3 Click at the right side of the Data type text box to select the data to output.
Integer, Double, or String are selectable.

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Data type

Description

Integer

� Entered data is handled as four-byte data. � Allowable entering range is a range of signed INT. � When string variables are specified for data, character strings like digits which
can be converted into numerical values will be converted and output.When dec-

imal digits are included, they are truncated.Moreover, they are handled as "0" if

they are not convertible.

Double

� Entered data is handled as eight-byte data.

� The allowable entering range is a range of eight-byte floating decimal value.

� When string variables are specified for data, character strings like digits which

can be converted into numerical values will be converted and output. Moreover, they are handled as "0" if they are not convertible.

2

� Entered data is set based on specified Size.

Example: Size is four and the entered data is ABCD.

ABCD ABC+NULL � The number of allowable entering characters is up to 4,095.

String

If this limit is exceeded, nothing is displayed and output. � When NULL is included in the entered character string, the character string fol-

lowing NULL is not output. � The following escape sequence codes can be entered. The entered escape se-

quence codes are handled as fixed character strings.

\N: Carriage return, \r: Line feed, \t: Tab, \xXX: ASCII code specified by "XX"

(numerical value), \": Double quotation mark, \\: Backslash

4 Enter data into Data text box.
Data that can be output with one data No. is a range only to be handled as one string.
1) When directly entering an output content into the Data text box. A string enclosed with " " (double quotation marks) handled as one string and the rest following it is not output. Example: "AA"TEST only "AA" is output.
2) In the case where assignment variable is assigned o data: Directly enter a variable name (Scene variable: SC.~) or specify a variable in Variable

assignment window displayed by clicking . � Only one variable is valid for one data No.
Example: SC.A$+SC.B$ Only SC.A$ is output. � When a fixed string, e.g. AA, is entered before a variable, the subsequent variable is also
handled as a fixed string. Example: AA+SC.AA& "AA+SC.AA&" � When "String" is selected in the "Data type" but "Integer" or "Double" is set to the variable, then the variable is converted to a string and then output.

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5 Enter Title that indicates the content of output data. 6 When String is selected in Data type, the following items in String setting area also needs to be
set. Example:

7 Click OK in the end of entering data to close the settings.

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2-2-7 Testing Communications
Here, check whether or not the PLC Link communication settings are correct. If communications cannot be established after the setup, use the following procedures to check the setting details and the communication status.

Communicating via Ethernet

l Before Testing Communications
Here, Serial (Ethernet) - PLC Link (SYSMAC CS/CJ/CP/One) (UDP) communication module is

2

used as an example to describe the procedures.

When checking the communication settings, stop the program on the PLC.

l Checking Communication Settings
Use the following procedures to check whether or not the communication 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) (UDP)].

2. Set the IP address of the Sensor Controller. The default settings are as follows: Address setting: 10.5.5.100 Address setting 2: 10.5.6.100

3. Sets IP address for PLC communication to the [Output IP address].
4. Set the port number to use for data I/O with the PLC in [Input port/Output port No.]. Set the same number as the destination PLC.
Precautions for Correct Use
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 will be displayed on the Sensor Controller.

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5. Click the [PLC Link settings] tab. 6. Set the area settings.
Match these settings with those on the destination PLC.

7. Set the output control. Set whether to provide an interlock with
the PLC when performing data output.
8. This completes the Controller settings.

l Checking the Communication Status
Use the ping command to check whether or not the Sensor Controller exists on the Ethernet network. With it, check that the Sensor Controller IP address has been correctly set and is correctly connected to the Ethernet network.

Additional Information
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 a computer with an Ethernet cable.
Set the high-order digits of the computer IP address to the same values as the Sensor Control-
ler and the low-order one digit to a different value.

Sensor Controller Computer

Device

Example 10.5.5.100 (default) 10.5.5.101

2 Open the Windows command prompt on the computer and perform the ping command.
At the > prompt, type ping, followed by a space and the Sensor Controller IP address, and then press Enter. Example: C:\>ping 10.5.5.100

3 After a few seconds, Reply from followed by the IP address of the Sensor Controller (e.g.,
10.5.5.100) are displayed, it means that the Sensor Controller is connected to the Ethernet net-
work properly.

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2-2-7 Testing Communications

2 Methods for Connecting and Communicating with External Devices
Example: Reply from 10.5.5.100: byte=32 Time<1 ms TTL=128
If anything other than Reply from is displayed: The Sensor Controller is not connected to the Ethernet network for some reason. Check the following. � Are the high-order three digits of the IP addresses for the computer and the Sensor Control-
ler the same? � Is the Ethernet cable correctly connected?
2
4 Use the ping command to check the communication status of the PLC as well.
After you have confirmed the communication status as described above, transmit a measurement command to the Sensor Controller in practice to check the communication operations as the Vision Sensor.
Communicating via RS-232C/422
l Before Testing Communications
Here, Serial (RS-232C/422) - PLC Link (SYSMAC CS/CJ/CP/One) (UDP) communication module is used as an example to describe the procedures. When checking the communication settings, stop the program on the PLC.
l Checking Communication Settings
Use the following procedures to check whether or not the communication settings are correct.
1. On the Main Window, select [Tool] - [System Settings]. Select [System data] from the tree on the left, and then select [Communication] - [RS-232C/422 (PLC Link (SYSMAC CS/CJ/CP/One))].
2. Set these settings based on the communications specifications.

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2 Methods for Connecting and Communicating with External Devices
3. Click the [PLC Link settings] tab.
4. Set the area settings.Set these settings based on the connected PLC.
5. Set the output control. Set whether to provide an interlock with the PLC when performing data output.
6. This completes the Sensor Controller settings.
l Checking the Communication Status
1 Connect the Sensor Controller and PLC with a RS-232C/422 cable. 2 When the cable is not connected, check that an error message of PLC Link Error will be dis-
played on the Sensor Controller screen.
3 When the cable is connected properly, check that the error message of PLC Link Error will dis-
appear. (At the longest, the message should disappear after the time set as the "Retry interval" passed.) If the error message of PLC Link Error did not disappear, the PLC Link settings are incorrect.
Check the following. � Are the communication parameters for connected devices properly set? � Is the cable correctly connected? � Are all cables wired correctly?
After you have confirmed the communication status as described above, transmit a measurement command to the Sensor Controller in practice to check the communication operations as the Vision Sensor.

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2-2-8 Memory Allocation

2 Methods for Connecting and Communicating with External Devices

2-2-8 Memory Allocation
Here, describe allocation for each area for Command Area, Response Area, and Data Output Area.
l Command Area (PLC to Sensor Controller)

First chan-

Bit

nel in

Command 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Area

Event name

+0

X E X E

E

2

X E

Control in-

put

+1

D (2CH)

S

A

+2

+3

CMD-CODE

Command Code (2CH)

+4

+5

+6

+7 +8
CMD-PARAM
+9 +10

Command parameters (Variable length)

.

Signal EXE
DSA
XEXE CMD-CODE CMD-PARAM

Signal name Command Request Bit
Data Output Request Bit
Flow Command Request Bit Command Code Command parameters

Function
Performs a command. For details, refer to 2-2-11 Command List on page 2-175. Requests the next data output. For details, refer to 2-2-5 Output Data Settings (Processing Item Registration) on page 2-152. Performs a flow command. Stores the command code. Store the command parameters.

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l Response Area (Sensor Controller to PLC)
Additional Information The order in which data is stored depends on the manufacturer of the connected PLC. For details, refer to A-1-1 Parameter Notation Examples for Command Control on page A-2.

First chan-

Bit

nel in Re-

sponse 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Area

Name

+0

X W A I T

X B U S Y

X F L G

B U S Y

F L G Control in-
put

+1

G (2CH)

A

T

E

+2

+3

CMD-CODE

Command Code (2CH)

+4

+5

RES-CODE

Response Code (2CH)

+6

+7

+8 +9
RES-DATA
+10 .

Response Data (Variable length)

.

Signal FLG GATE BUSY
XFLG
XBUSY
XWAIT CMD-CODE RES-CODE

Signal name Command Completion Bit Data Output Completion Bit Command Busy Bit
Flow Command Completion Bit
Flow Command Busy Bit
Flow Command Wait Bit Command Code Response Code

Function
Turns ON when command execution is completed. Turns ON when data output is completed. Performs when command execution is in progress. Turns ON when flow command execution is complete. Turns ON when flow command execution is in progress. Turns ON when flow command execution is possible. Returns the executed command code. Stores the response for the executed command.

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Signal RES-DATA

Signal name Response Data

Function
Stores the response data for the executed command.

2

2-2-8 Memory Allocation

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l Data Output Area (Sensor Controller to PLC)
Data to be output into the Data Output Area is not automatically allocated. Data to be output is individually allocated to an Output Unit

First chan-

Bit

nel in Data

Output 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Area

Name

+0

DATA0

+1

Output data 0

+2 DATA1
+3

Output data 1

+4 DATA2
+5

Output data 2

+6

+7

DATA3

Output data 3

+8 DATA4
+9

Output data 4

+10 DATA5
+11

Output data 5

+12 DATA6
+13

Output data 6

+14

DATA7*1

Output data 7

Signal

Signal name

Function

DATA 0 to 7

Output data 0 to 7*1 The data set in the output processing item is output. When more than one processing item exists, data is overwritten on
this area by performing handshaking.

*1. For PLC Link, the number of data items to be output at once can be extended up to 256. Set the number of output data items for each Output Data 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. For details, refer to Memory Display Image on PLC I/O in the Vision System FH/FHV Series User's Manual (Cat. No. Z365)..

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2-2-9 I/O Signals

2 Methods for Connecting and Communicating with External Devices

2-2-9 I/O Signals

l Input Signals

Signal

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

EXE

The user (PLC) turns The user (PLC)

this signal ON when is- switches this signal

The user (PLC) turns suing a command (in- from ON to OFF when

Command Request Signal

this signal ON when is- struct the execution) to the Sensor Controller

suing a command to

the Sensor Controller turns the Command

2

the Sensor Controller. based on the command Completion (FLG) sig-

code and command parameters.

nal ON.*1

DSA (Used only for handshaking output control)

Data Output Request Signal

During handshaking, the user (PLC) issues this signal to the Sensor Controller to request to output externally the measured results performed in the measurement flow. When this signal is ON while an Output Unit (Data Output Unit) in the measurement flow is performed, the Sensor Controller outputs the data of the processing item.

� The user (PLC) turns this signal ON when requesting the measurement data to output externally.
� This signal is turned ON at the same time as the Trigger (STEP) or Command Request (EXE) signal switches from OFF to ON. When more than one Output Units is used to output data, turn ON this signal again after the GATE signal for the first data output turns OFF. For details, refer to 2-2-14 Timing Chart on page 2-184.

The user (PLC) switches this signal from ON to OFF when the Sensor Controller turns the Request Completion (EXE) sig-
nal ON.*2

XEXE

Flow Command Request Bit

This signal is turned on when a command will be performed while PLC Link flow control is performed.

This signal switches from OFF to ON when an entered command execution is instructed while PLC Link flow control is performed.

This signal switches from ON to OFF when the Flow Command Completion (XFLG) signal is turned ON.

*1. If this EXE signal does not switch from ON to OFF within the "Retry interval" time set in the Ethernet PLC Link or RS-232C/422 - PLC Link settings after the Command Completion (FLG) signal was turned ON, a timeout error will occur, and the FLG and BUSY signals are forced to be turned OFF.
*2. If this DSA signal does not switch from ON to OFF within the "Retry interval" time set in the Ethernet PLC Link or RS-232C/422 - PLC Link settings after the Result Completion (GATE) signal was turned ON, a timeout error will occur, and the measurement data prepared for output will be discarded.

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l Output Signals

Signal BUSY FLG

Signal name
Busy Signal
Command Completion Signal

Function

ON/OFF timing

OFF to ON

ON to OFF

This signal indicates that external inputs such as a command cannot be accepted. Be sure to issue commands under the condition which this signal is OFF. Note: � This will not be de-
tected while commands received through any other protocol are processed. (Ex.: This signal remains OFF during measurements with the STEP signal in the Parallel communications.) If you use more than one protocol and need to detect command execution, use the BUSY signal in Parallel. � "ON" of this signal does not mean that a command is currently performed. To check whether a command is being executed, check the Command Completion (FLG) signal.

The Sensor Controller of the FH/FHV series turns the signal ON when it receives a command from the user (PLC). (After the EXE signal switches from OFF to ON.)

This signal is turned OFF when the user (PLC) turns the Command Request (EXE) signal.

The Sensor Controller of the FH/FHV series uses this signal to inform the PLC that a command has been completed.

The signal is turned ON when the Sensor Controller of the FH/FHV series completes execution of a received command.

This signal is turned OFF when the user (PLC) switches the Command Request (EXE) signal from ON to OFF.

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2-2-9 I/O Signals

2 Methods for Connecting and Communicating with External Devices

Signal

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

� The signal is turned

ON after the Sensor

The signal informs the

Controller of the

PLC of the timing to

FH/FHV series per-

GATE (Used only for handshaking output control)

Data Output Completion Signal

load output data. "ON" of this signal indicates that the Sensor Controller is outputting the data. The user (PLC) starts to load data when the signal turns ON.

forms the Output Unit (Data Output Unit) in the measure-
ment flow *1 and is ready for the data output. � Without handshak-

This signal is turned OFF when the user (PLC) switches the Result Set Request (DSA) signal from ON to OFF.

2

ing, this signal al-

ways remains OFF.

This signal indicates

This signal is turned ON when a command

This signal is turned

XFLG

Flow Command Completion Bit

that a command performed has been completed during PLC Link flow control performed.

performed has been completed (XBUSY switched from ON to OFF) during PLC Link

OFF when the Flow Command Busy (XEXE) signal switches from ON to OFF.

flow control performed.

XBUSY

Flow Command Busy Bit

The signal indicates that a command input is in execution during PLC Link flow control performed.

The signal switches from OFF to ON when a command input is in execution during PLC Link flow control performed.

This signal automatically switches from ON to OFF when the Flow command Busy Bit (XEXE) has switched from On to OFF.

XWAIT

Flow Command Wait Bit

This signal indicates that a command input can be accepted during PLC Link flow control performed.

This signal switches from OFF to ON when a command can be entered during PLC Link flow control performed.

This signal switches from ON to OFF when a command cannot be entered during PLC Link flow control performed.

*1. This occurs when the Output Unit is performed after the measurement flow was performed in order from

the top, not the moment which measurement execution was completed.

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2 Methods for Connecting and Communicating with External Devices

2-2-10 Output Items

Measurement Results for which Output is Possible (Data Output)
The following data can be output using the processing items related to the Result Output. Measurement values are also referred using processing units such as expressions.

Measurement items Judgment
Data 0 to 255

Character string JG
D000 to D255

Description Judgment result Results of expressions that are set for output data 0 to 255.

External Reference Tables (Fieldbus Data Output)
By specifying a number, the following data can be referred using control commands or processing items having a set and/or get processing unit data function.

Number
0
136 137 138 139 140 141 142 143 144 to 147
149
150 151 152 153 1000 to 1255

Data name Judgment

Set/Get Get only

Communication method

Set/Get

Output format
Digits of integer Digits of decimal Minus
Field separator

Set/Get
Set/Get Set/Get Set/Get
Set/Get

Record separator
0 (zero) suppress Output IP Address 1 to 4 (Only for Ethernet) Output IP Address Setting (Only for Ethernet) page 2-174 Output format (Fixed or Floating point) Offset Number of output data items (Only for PLC Link) Plus

Set/Get Set/Get Set/Get
Set/Get
Set/Get Set/Get Set/Get Set/Get

Data 0 to 255

Get only

Data range 0: No judgment (unmeasured) 1: Judgment result OK -1: Judgment result NG 0: Ethernet 1: RS-232C/RS-422 0: ASCII 1: Binary 1 to 10 0: 0 to 4: 4 0: -, 1: 8 0: OFF, 1: Comma, 2: Tab, 3: Space, 4: Delimiter 0: OFF, 1: Comma, 2: Tab, 3: Space, 4: Delimiter 0: No, 1: Yes
Destination IP Address
0: Reference to system 1: Individual specification
0: Fixed point 1: Floating point 0 to 99999
8 to 256
0: No, 1: + ASCII -99999999.9999 to 999999999.9999 Binary -2147483.648 to 2147483.647

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2-2-11 Command List

2 Methods for Connecting and Communicating with External Devices

Additional Information If you are using external reference numbers 5 to 12 on an FZ4 or earlier model, use 1000 to 1007 on the FH/FHV.
2-2-11 Command List
The following tables list the commands used in PLC Link communications. For details, refer to A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET on page A-15.
2
l Execution Commands

First word in Response Area

+3

+2

0010

1010

0010

1020

0010

1030

0010

1040

0010

2010

0010

3010

0010 0010 0010

4010 5010 5020

0010

5030

0010 0010 0010 0010

7010 7020 7030 8010

0010

8020

0010 0010 0010 0010 0010

9010 A010 A020 B010 F010

Function
Performs measurement one time. Performs continuous measurement. Ends continuous measurements. Performs test measurement for the specified unit. Clears all measurement result values. Saves the current system data and scene group data in the Sensor Controller. Registers the model again. Shifts the image display position by the specified amount. Zooms the image display in or out by the specified factor. Returns the display position and display magnification to their default values. Copies the scene data. Deletes the scene data. Moves the scene data. Registers the specified image data as a registered image. Loads the specified registered image as the measurement image. Responds to the Response Area +6 and +7 with the data set in the Command Area +4 and +5. Adds a user account to a specified group ID. Deletes a specified user account. Branches to the start of the measurement flow (processing unit 0). Restarts the Sensor Controller.

Reference
page A-15 page A-15 page A-16 page A-16 page A-17
page A-19
page A-20 page A-21 page A-21
page A-22
page A-24 page A-25 page A-25 page A-26
page A-27
page A-27
page A-28 page A-29
page A-30
page A-30

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2 Methods for Connecting and Communicating with External Devices

l Commands to Get Status

First word in Response Area

+3

+2

0020

1000

0020

2000

0020

4000

0020

5010

0020

5020

0020

5030

0020

7010

0020

7020

0020

8010

0020 0020 0020 0020 0020

8020 8030 9000 9010 A000

Function
Gets the current scene number. Gets the current scene group number. Gets the number of the layout that is currently displayed. Gets the number of the Unit that is currently displayed in the specified image display window. Gets the sub-image number that is currently displayed in the specified image display window. Gets the image mode for the specified image display window. Gets the input status (prohibited/permitted) for the Communications Modules. Gets the output status (prohibited/permitted) to an external device. Gets the ON/OFF status for the specified parallel I/O terminal. Gets the ON/OFF status of all parallel terminals except for DI terminals. Gets the ON/OFF status of all parallel DI terminals. Gets the user name for the user account currently logged in. Gets the group ID for the account currently logged in. Gets the current state of the operation log.

Reference
page A-31 page A-31 page A-32 page A-33
page A-33
page A-35
page A-35
page A-36
page A-38
page A-40 page A-42 page A-43 page A-45 page A-45

l Commands to Set Status

2-176

First word in Response Area

+3

+2

0030

1000

0030

2000

0030

4000

0030

5010

0030

5020

0030 0030 0030 0030

5030 7010 7020 8010

0030

8020

Function
Switches to the specified scene number. Switches to the scene group with the specified number. Sets the layout number and switches the image. Sets the number of the Unit to display in the specified image display window. Sets the number of the sub-image to display in the specified image display window. Sets the image mode for the specified image display window. Permits/prohibits inputs to the Communications Modules. Permits/prohibits outputs to external devices. Sets the ON/OFF status of the specified parallel I/O terminal. Sets the ON/OFF status of all parallel terminals except for DO terminals.

Reference
page A-46 page A-46 page A-48 page A-49
page A-49
page A-50 page A-51 page A-52 page A-52
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2-2 Communicating by PLC Link

2-2-11 Command List

First word in Response Area

+3

+2

0030

8030

0030

9000

0030

A000

Function
Sets the ON/OFF status of all parallel DO terminals. Switches the currently logged in account. Sets the state of the operation log.

l Commands to Read Data

Reference
page A-57 page A-58 page A-60

First word in Response Area

Function

2
Reference

+3

+2

0040

1000

Gets the specified processing unit data.

page A-60

0040

2000

Gets the date and time.

page A-61

0040

3000

Gets the Sensor Controller version information.

page A-62

0040

4000

Gets settings related to image logging.

page A-62

0040

4010

Gets the image logging folder name.

page A-64

0040

4020

Gets the data logging folder name.

page A-65

0040

4030

Gets the screen capture folder name.

page A-66

0040

4040

Gets the prefix for the file name in which logged images are saved.

page A-66

0040

4050

Gets the conditions set for data logging.

page A-67

0040

4060

Gets the parallel DI terminal offset data that is set.

page A-67

l Commands to Write Data

First word in Response Area

+3

+2

0050

1000

0050

2000

0050

4000

0050

4010

0050

4020

0050

4030

0050

4040

0050 0050

4050 4060

Function
Sets the specified unit data. Sets the date and time. Changes the settings related to image logging. Sets the name for the image logging folder. Sets the name for the data logging folder. Sets the name for the screen capture folder. Sets the prefix for the file name in which logged images are saved. Sets the data logging conditions. Sets the parallel DI terminal offset data.

Reference
page A-68 page A-69 page A-70 page A-71 page A-72 page A-72
page A-73
page A-73 page A-75

l File Load Commands

First word in Response Area

+3

+2

0060

1000

Loads the scene data.

Function

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Reference page A-76
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2 Methods for Connecting and Communicating with External Devices

First word in Response Area

+3

+2

0060

2000

0060

3000

0060

5000

Function
Loads the scene group data. Loads the system data. Loads the system + scene group 0 data.

l File Save Commands

Reference
page A-76 page A-77 page A-78

First word in Response Area

+3

+2

0070

1000

0070

2000

0070

3000

0070

4000

0070 0070 0070 0070

4010 4020 5000 6000

Function
Saves the scene data. Saves the scene group data. Saves the system data. Saves the image data stored in the the Sensor Controller's memory. Saves all image data in the Sensor Controller's memory with ifz format in external storage. Saves the last logging image. Saves the system + scene group 0 data that is currently used by the Sensor Controller in a file. Captures the screen.

Reference
page A-78 page A-80 page A-80 page A-81
page A-82 page A-82 page A-83 page A-84

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2-2-12 Command Response Processing

2-2-12 Command Response Processing
About control command response processing, the following timing chart describes the ON/OFF timing of signals related to commands to be input.

l Timing Chart for Command Execution

The Command Request (EXE) signal is used as the trigger to input and execute various com-

mands such as measurement execution stored in advance in the PLC memory.

The Command Completion (FLG) signal turns ON when execution of the control command is com-

pleted. Use this as the trigger to turn OFF the Command Request (EXE) signal.

2

Command ON

code OFF

The user (PLC) turns OFF the EXE signal (6) when the FLG signal turns ON.

Command Area

Command ON parameters OFF

* 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 Request ON (EXE) signal OFF

* Retry interval

Response Area

Command code
BUSY signal

ON OFF ON OFF

ON Response code
OFF

(3)
Control command execution

(7)
The BUSY signal automatically turns OFF when the EXE signal turns OFF.

Response data
Command Completion (FLG) signal

ON OFF ON OFF

(1) (2)

(7)

(4)

(5)

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.

(1) The PLC sets the command code and command parameters. (2) After checking that the BUSY signal and the Command Completion (FLG) signal have turned OFF, the
PLC turns ON the Command Request (EXE) signal again to instruct the Sensor Controller to perform it. (3) When receiving the instruction, the Sensor Controller performs the command and turns ON the BUSY signal. (4) When completing the execution, the Sensor Controller sets the command code, response code, and response data. (5) The Command Completion (FLG) signal is turned ON. (6) The PLC (user) turns OFF the Command Request (EXE) signal when the Command Completion (FLG) signal turns ON. (7) When detecting that the Command Request (EXE) signal is OFF, the Sensor Controller 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: 0 to 999999 [ms] for Ethernet PLC Link, or Timeout: 1 to 120 [s] for RS-232C/422-PLC Link).

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l Timing Chart for Execution of Continuous Measurement Commands (Without handshaking)
Continuous execution is used to repeatedly execute measurement by starting the next measurement operation (image input and measurement processing) as soon as single measurement operation (image input and measurement processing) is completed. Continuous measurement is started when the Start Continuous Measurements command is executed and ended when the End Continuous Measurements command is executed. Although the BUSY signal remains OFF during continuous measurement, the Sensor Controller can receive only the End Continuous Measurements command in this state.

Command Area

ON Command code
OFF
Command ON parameters OFF

Start Continuous Measurements command (6)(*1)

End Continuous Measurements command
(13)(*1)

Command Request ON (EXE) signal OFF

*2 Retry interval

Response Area

Command code BUSY signal

ON OFF ON OFF

(3)
Control command execution

(11)
Measurement

ON

Response code

OFF

The FLG signal automatically

(14)

Command ON

turns OFF when the EXE signal

Completion (FLG) signal OFF

turns OFF.

(1) (2)(3)

(4)

The FLG signal turns ON when execution of the control command is completed.

(5) (7) (8)

(9) (10)(11)(12)

Continuous measurements Continuous measurements

are started.

are ended.

*1 : When detecting that the Command Completion (FLG) signal turned ON, the PLC (user) turns OFF the Command Request (EXE) signal.
*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.
<Operation to Start Continuous Measurements>
(1) The PLC (user) sets the Start Continuous Measurements command code. (2) The Command Request (EXE) signal is then turned ON and the instruction is sent to the Sensor Con-
troller. (3) When receiving the instruction, the Sensor Controller starts to prepare continuous measurement by
turning ON the BUSY signal. (4) When completing the preparations for continuous measurement, the Sensor Controller sets the com-
mand code and response code. when preparations for continuous measurement have been completed. (5) The Command Completion (FLG) signal is turned ON. (6) The PLC (user) turns OFF the Command Request (EXE) signal when the Command Completion (FLG) signal turns ON. (7) After detecting that the Command Request (EXE) signal has turned OFF, the Sensor Controller starts continuous measurement.

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2-2-12 Command Response Processing

2 Methods for Connecting and Communicating with External Devices

(8) The Command Completion (FLG) signal and the BUSY signal are then automatically turned OFF. *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 Measurement>

(9) The PLC (user) sets the Start Continuous Measurements command code.

(10) The Command Request (EXE) signal is then turned ON and the instruction is sent to the Sensor

Controller.

Continuous measurement are ended.

2

Additional Information

Continuous measurement is not ended in the middle of measurement. When the End Continuous Measurements command was executed, continuous measurement is ended after the measurement in execution was completed.

(11) The Sensor Controller sets the command code and response code when the continuous measurement stop.
(12) The Command Completion (FLG) signal is turned ON. (13) When detecting that the Command Completion (FLG) signal turns ON, the PLC (user) turns OFF
the Command Request (EXE) signal. (14) After detecting that the Command Request (EXE) signal has turned OFF, the Sensor Controller au-
tomatically turns OFF Command Completion (FLG) signal.

Precautions for Correct Use
� The measurement during continuous measurement is 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.
� When continuous measurement is ended, the measurement results from the last measurement will be displayed.

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2-2-13 Data Output
This section describes the ON/OFF timing for signals related to measurement data output after measurement completion using the following timing chart.

l Without handshaking

Data Output Unit execution

Response Area Data Output Area

Result Completion ON (GATE) signal OFF
ON Output data
OFF

First data output Second data output

If the offset function is not used, the first

(1)

(2) data output will be overwritten by the

second data output.

(1) The Sensor Controller outputs data when the Data Output Unit starts execution. (2) Data is output each time that the Data Output Unit is performed for the second time or other Data Out-
put Unit is performed. In that time, the output data for the first time is overwritten. Therefore, use the offset function of PLC Link when performing multiple Data Output Units without handshaking. For details, refer to Output Format (Data Output) on page 2-324.
l With handshaking
The Result Completion (GATE) signal switches from OFF to ON when the PLC (user) switches the Result Set Request (DSA) signal from OFF to ON. At that time, data that is possible to output will be output.*1 The PLC (user) switches the DSA signal from ON to OFF under the conditions whether it has received the output data and the Result Completion (GATE) signal has been turned ON. In the case where multiple Data Output Units perform the data output, the PLC (user) needs to turn the Result Set Request (DSA) signal ON again to instruct next data output when the Sensor Controller switched the Result Completion (GATE) signal from ON to OFF.

*1: Data prepared for output which an Output Unit has been already performed in the measurement flow.

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2 Methods for Connecting and Communicating with External Devices

Data Output Unit execution

Retry interval

*
The EXE signal is turned ON at the same time. Wait for the first
output data.

Wait for the second output data.

The PLC turns ON the Result Set Request (DSA) signal at the same time as the STEP or Command Request (EXE) signal and waits for the first output data.
The PLC reads the data when the Result Completion (GATE) signal turns ON and it turns OFF the Result Set Request (DSA) signal.

Data Output ON Request

* *

(DSA) signal OFF

Result Completion (GATE) signal

ON OFF

The PLC turns ON the Result Set Request again when the Result Completion (GATE) signal turns OFF and waits for the second data output.

The Sensor Controller automatically turns OFF the Result Completion (GATE) signal when it detects that the Result

2

Set Request (DSA) signal has turned OFF.

ON Output data
OFF

First data output (1) (2)(3) (4) (5)

Second data output (6)

*: A timeout error will occur if the following state exceeds the time, Retry interval for Ethernet - PLC Link setting and Timeout for S-232C/422-PLC Link setting, set in the PLC Link settings. � If the DSA signal is not turned ON after a certain time passed from when measurement is finished. (Turn the DSA signal ON at the same time as the measurement trigger command is issued.) � If the DSA signal did not switch from ON to OFF even after a certain time passed from when the GATE signal has switched from OFF to ON. � If the DSA signal did not switch from OFF to ON even after a certain time passed from when the GATE signal has switched from ON to 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 Data Output Unit can be surely received.
(2) The Sensor Controller performs the Data Output Unit in the measurement flow. Since the Result Set Request (DSA) signal is ON, the Result Completion (GATE) signal becomes 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.
(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.

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2-2-14 Timing Chart
This section describes the ON/OFF timing for signals related to the sequence of operation from control command input until measurement data output after measurement completion using the following timing chart.

l Example 1: Inputting a Measurement Command after Switching a Scene without Handshaking

Command ON code OFF

Select Scene command

Measurement command

Command Area

Command ON parameters OFF

Command Request ON (EXE) signal OFF

ON BUSY signal
OFF

Response Area

Command Completion (FLG) signal

ON OFF

Scene No. (5)

Select Scene command execution *

(3)

(6)

(11)
Measurement command execution *

(9)

(12)

(6)

(12)

Result Completion ON (GATE) signal OFF

Data Output Area

ON Output data
OFF
(1) (2)

(4)

(7) (8)

(10)

Data Output Unit execution

(1)

The PLC sets the command code and command parameters for the Switch Scene.

(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. A request is sent to the Sensor Controller.

(3)

The Sensor Controller turns ON the BUSY signal and switches the scene when the request is re-

ceived.

(4)

The Command Completion (FLG) signal is turned ON when the scene switching is completed.

(5)

The PLC (user) turns the Command Request (EXE) signal OFF when the Command Completion

(FLG) signal is switched from OFF to ON.

(6)

When the Sensor Controller detects that the Command Request (EXE) signal is OFF, it automati-

cally turns OFF the Command Completion (FLG) signal and the BUSY signal.

(7)

The measurement command code and command parameters are set from the PLC.

(8)

The Command Request (EXE) signal is turned ON to execute the measurement command.

Additional Information
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 theAdd time setting for the Scene switch time. Refer to Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

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2-2-14 Timing Chart

(9) The Sensor Controller turns ON the BUSY signal and executes measurement processing when the request is received.

(10) The Command Completion (FLG) signal is turned ON when the measurement processing was completed.

(11) The PLC (user) turns the Command Request (EXE) signal OFF 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.

When the Command Request (EXE) signal does not switch from ON to OFF within the Retry interval

time set in the Ethernet - PLC Link or the Timeout time set in the RS-232C/422 - PLC Link settings,

a timeout error will occur, and the FLG and BUSY signals are forced to be turned OFF.

2

l Example 2: Outputting Data with more than one Output Unit Without Handshaking

ON Command code
OFF

Measurement command

Command Area

Command ON parameters OFF

Command Request ON (EXE) signal OFF

Response Area

ON BUSY signal
OFF

Command Completion (FLG) signal

ON OFF

Measurement command execution
(3)

(7) *
(8)
(8)

Data Output Area

Result Completion ON (GATE) signal OFF
ON Output data
OFF
(1)

First data output

Second data output

(2)
(4) Data Output Unit, first execution

(6)
(5) Data Output Unit, second execution

The data is overwritten by the second data output.

(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. A request is sent to the Sensor Controller. (3) The Sensor Controller turns ON the BUSY signal and executes measurement processing 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 Area. 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 when the measurement processing was completed. (7) The PLC (user) turns the Command Request (EXE) signal OFF when the Command Completion (FLG) signal turns ON.

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(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.
When the Command Request (EXE) signal does not switch from ON to OFF within the Retry interval time set in the Ethernet - PLC Link or the Timeout time set in the RS-232C/422 - PLC Link settings, a timeout error will occur, and the FLG and BUSY signals are forced to be turned OFF.

Additional Information
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.

Method Offset (PLC Link Communications Only)
Controlling Data Output with Handshaking

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. For details, refer to Output Format (Data Output) on page 2-156. This function is enabled when you are performing data output from more than one Data Output Unit.
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 memory in the PLC. For details, refer to Data Output Control with Handshaking on page 1-25.

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.

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2-2 Communicating by PLC Link

2-2-15 PLC Link Troubleshooting

l Cannot Input to the Sensor Controller (RS-232C/422 Only)

Problem

Cause

Action

No response is received after sending communication commands.

The wiring is incorrect.
The RS-232C settings are incorrect.

Check the wiring. Check the cable connections.
Correct the settings.

No response is received after

Commands are sent while the BUSY signal is ON.

Send commands while the BUSY signal is OFF.

2

sending communications commands. (Communications were

A cable is broken.

Check the cable connections.

properly working previously.)

A connector has been disconnected.

Check the connector connections.

l No Data is Output from Sensor Controller

Problem
The GATE signal does not turn ON.

Ethernet

Data is not out-

put at all.

RS-232C/422

Ethernet
Data is sometimes output and sometimes not.
RS-232C/422

Cause Handshaking is disabled. (The GATE signal is not output when handshaking is not set in PLC Link.) The DSA signal is not ON (when handshaking is enabled.) The output IP address is incorrect.
Wrong wiring or A cable is broken. A connector has been disconnected. No Data Output processing items are set in the measurement flow. The Output option is not selected in the Adjustment window.
The measurement commands have not been accepted.
A cable is broken. The Output option is not selected in the Adjustment window.
The measurement commands have not been accepted.

Action
Set handshaking for the output control in the communication settings.
Turn the DSA signal ON from the PLC. Set the output IP address correctly. Check the wiring. Check the cable.
Check the connector connections.
Place Data Output processing items in the measurement flow. Place a check to the Output option in the Adjustment window. If the BUSY signal stays OFF after a measurement command is issued, the measurement command may have not been accepted. Issue measurement commands only when both of the BUSY and FLG signals are OFF. Check the cable. Place a check to the Output option in the Adjustment window. If the BUSY signal stays OFF after a measurement command is issued, the measurement command may have not been accepted. Issue measurement commands only when both of the BUSY and FLG signals are OFF.

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Problem

Cause

The read or collated string is not output.

Character output has not been set.

Although more than one Data Output item is set in the measurement flow, data is received from only the last Data Output Unit in the flow.

The data output by the Data Output Unit has been overwritten by the next Data Output Unit.

Action
Set character output in the output parameters for the character output processing items such as Character Inspection, Barcode, 2DCode. (The output for the read or collated string is set in the above processing items, not in the Data Output processing items.)
Use handshaking to control the data output or use an offset to store all data.

l A Timeout Error Occurred

Problem
A handshaking timeout error occurred.

Cause
The timing to switch the DSA signal is too slow. The following patterns are considered. � The DSA signal is not turned
ON even after measurement has been completed. � The DSA signal is not switched from ON to OFF even after the GATE signal has been turned ON. � The DSA signal is not turned ON even after the GATE signal has been turned OFF.
The DSA signal is not output or detecting its state by the Sensor Controller is late.

Action
Turn the DSA signal ON or OFF within the time set as the timeout.
Check the timing when the PLC program instructs to output the DSA signal. The signal may not be received correctly due to noise.

l Slow Operation

Problem It takes around 10 seconds to perform any PLC Link command.
Response and data output is slow.

Cause
Communications have timed out.
You try to use a wrong combination for communication protocols such as PLC Link and EtherNet/IP or PLC Link and PROFINET.
Asynchronous output is selected without output control.

Action Set the PLC cycle time as short as possible.
Use a proper combination for communication protocols.
To select asynchronous output, set the output control to [Handshaking]. Clear the option for Asynchronous output if no output control.

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l A PLC Link Error Occurred

Problem
A message of "PLC Link Error" is displayed.

Cause
You try to use a wrong combination for communication protocols such as PLC Link and EtherNet/IP or PLC Link and PROFINET.
The communication settings such as the port settings have been changed on the PLC.

Action Use a proper combination for communication protocols.
Restart the PLC.

l The Sensor Controller cannot Communicate with a PLC Properly. (Only for

2

Ethernet)

Problem
The Sensor Controller cannot communicate with an external device such as a PLC properly. (Only for Ethernet)

Cause
The communication settings such as IP address have been changed after the Device information storage tool was performed. (The IP addresses for external devices on the network may have overlapped the IP addresses stored in the Sensor Controller.)

Action
Check that the communication settings such as IP address are correct. (Tool menu - System setting - Communication Ethernet) Perform the Device information storage tool again. The communication settings in the software will be copied in the Sensor Controller.

2-2-15 PLC Link Troubleshooting

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2-3 Communicating by EtherNet/IP
This section describes the communication settings, communication specifications, input/output formats, and the communication timing charts during communications, which are required for EtherNet/IP communications between the Sensor Controller and an external device.
2-3-1 Introduction to EtherNet/IP
EtherNet/IP is an industrial multi-vendor network using Ethernet. The specifications are open standards managed by the ODVA (Open DeviceNet Vendor Association). EtherNet/IP is used in a wide range of industrial devices. Since EtherNet/IP uses standard Ethernet technology, it can be mixed with various general-purpose Ethernet devices.
EtherNet/IP has mainly the following features. � High-speed and high-capacity data exchange through tag data links (Cyclic communication)
The EtherNet/IP protocol supports Implicit communications, which allows cyclic communication socalled tag data links with EtherNet/IP devices. � Tag data links at communication cycle specified for each application regardless of the number of nodes Since data is exchanged over the network at the update period set for each connection, the update period for communications will not increase even if the number of nodes is increased. (The concurrency of data in connections is maintained.) Moreover, the update period can be set for each connection, each application can communicate at its optimum update period. (ex.: Interprocess interlocks can be transferred at high-speed, while production instructions and the status monitor information for production processes are transferred at low-speed.
Precautions for Correct Use
� 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.
� 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.
� Use Ethernet connector 2 (the bottom connector) to perform EtherNet/IP communications with the following series: � FH-1000 series (4 and 8 camera type) � FH-2000 series � FH-3000 series (4 and 8 camera type) � FH-5000 series You cannot use EtherNet/IP communications with Ethernet connector 1 (the top connector).
� Connection using Multi-line Random Trigger Mode is not possible with some PLCs. In Multiline Random Trigger Mode, the sensor controller assigns a connection to each line. On some PLCs, multiple connections cannot be set. Check and verify the PLC specifications prior to use.
� When using EtherNet/IP communications in Multi-line Random-trigger mode with three lines or more, recommend using FH-3000/5000 series because it is likely to be a high-load state.

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2-3-2 Data Exchange with EtherNet/IP

2 Methods for Connecting and Communicating with External Devices

2-3-2 Data Exchange with EtherNet/IP

Communications with EtherNet/IP
Data is cyclically exchanged between Ethernet devices on the EtherNet/IP network with tag data links below.

Originator

Target

PLC

Sensor Controller

2

Connection from Sensor Controller to PLC

Input tag set name: A Tag: D0

Connection

Output tag set name: Input_101
Tag: Input_101

Connection from PLC to Sensor Controller

Output tag set name: B Tag: D100

Connection

Input tag set name: Output_100
Tag: Output_100

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 used to exchange data across a connection are specified as tags. Memory locations or variables can be specified to tags. These grouped tags are called an output tag set and input tag set respectively.
Additional Information
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. For details of EtherNet/IP message communications, refer to 2-3-19 Communicating with the Sensor Controller using EtherNet/IP Message Communications on page 2-252.

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EtherNet/IP Communication Cycle (RPI)
The tag data link communications by EtherNet/IP update data at a communication interval called RPI (Requested Packet Interval). All data exchange between the Sensor Controller and an external device such as a PLC is performed at the set RPI.

PLC

Communications

transmission path

RPI

(EtherNet/IP)

Output signal from the Sensor Controller
ON
OFF

Sensor Controller

Data is updated at the set

RPI

packet interval (RPI).

As changes in each signal from the Sensor Controller are also affected by the RPI, the target device sometimes may not detect such changes depending on the RPI timing. Therefore, set the relationship between the output signals from the Sensor Controller and the RPI as follows.

Duration of change in Sensor Controller signal > RPI

Precautions for Correct Use Set the RPI to 4 [ms] or higher.

When 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 < RPI

RPI Sensor Controller

Output period Output time Output control

30 ms 50 ms 30 ms (ON: 30 ms, OFF: 20 ms) None

PLC

Communications transmission path (EtherNet/IP)

30 ms

Output signal

from the Sensor Controller

ON

30 ms

OFF

50 ms

Sensor Controller

30 ms
30 ms 50 ms

The packet interval (RPI) is too long.

The PLC cannot detect some of the output signals from the Sensor Controller.

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Example 2: Duration of Change in Sensor Controller Signal > RPI

RPI Sensor Controller

Output period Output time Output control

10 ms 50 ms 30 ms (ON: 30 ms, OFF: 20 ms) None

PLC

Communications

The packet interval (RPI) is correct.

transmission path

(EtherNet/IP)

10 ms 10 ms 10 ms 10 ms

2

Output signal

from the Sensor

ON

Controller

30 ms

OFF

50 ms

Sensor Controller

The RPI is shorter than the signal time (GATE OFF: 20 [ms]), so the PLC can detect all output signals from the Sensor Controller.

Additional Information
Set the communications settings as follows: � Sensor Controller communications settings: Set Output period and Output time in the Ether-
Net/IP settings. For details, refer to Setting the EtherNet/IP Output Specifications on page 2-202. � RPI setting: Set the RPI using Support Software that can set tag data link settings (e.g., Network Configurator). For details, refer to 2-3-8 Setting Tag Data Link on page 2-206.

2-3-2 Data Exchange with EtherNet/IP

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2-3-3 EtherNet/IP Communications
With commands and responses via communications between the PLC and the Sensor Controller using EtherNet/IP tag data link, the PLC can control the Sensor Controller and make it output data after measurements. The Sensor Controller supports EtherNet/IP conformance tests. The settings for tag data links are performed with the support software dedicated to it. When you connect to an OMRON Controller to communicate with it via EtherNet/IP, use the Network Configurator to perform the tag data link settings such as tag, tag set, and connection setting. This section describes how to use the Network Configurator to perform tag data link settings. For details of the tag data link settings using Network Configurator, refer to the following manuals. � NJ-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) � CS/CJ series EtherNet/IP Units Operation Manual (Cat. No. W465) � CJ-series EtherNet/IP Units Operation Manual for NJ-series CPU Unit (Cat. No. W495)
Precautions for Correct Use
� 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, 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.
� When the measurement interval is short, the measurement processing load is high, or command processing for operations such as scene group changing is time-consuming, the Sensor Controller prioritizes measurement processing and control processing over communication processing. As a result, communication between an external device and the Sensor Controller may be temporarily interrupted, and a communication error may occur. In this case, set the communication error timeout time longer than the Sensor Controller's processing time, or lengthen the measurement interval. Set the communication error timeout time in the tag data link connection settings*1as follows: Timeout value > Measurement time on Sensor Controller. *1: Use Support Software, such as the Network Configurator, to change the tag data link connection settings. For details of setting the tag data links using the Network Configurator, refer to 2-3-8 Setting Tag Data Link on page 2-206.

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2-3-4 Communications Processing Flow
In EtherNet/IP communications, the following five communication areas are set in the PLC.

(1) Command Area

This area is used that you write control com-

Input tag set for the (Command/response method)

mands to perform for the Sensor Controller.

Sensor Controller

(2) User Input Area 0

This area is used that you write the data that you defined for the Sensor Controller.

(3) Response Area (Command/response method)

This area is used that the Sensor Controller writes the results which the control commands written in the Command Area were performed.

Output connection to PLC

(4) Data Output Area (Data output after measurement)

This area is used that the Sensor Controller writes the output data accompanied with the measurement after measurement performed.

2

(5) User Output Area

This area is used that the Sensor Controller writes the data that you defined.

The above five areas are set by Support Software that can perform tag data link settings such as Sysmac Studio Ver. 1.10 or later, or Network Configurator. How to specify is either I/O memory addresses or variable names. For details of the tag data link settings by Network Configurator, refer to 2-3-8 Setting Tag Data Link on page 2-206. Moreover, when a non-OMRON PLC or EtherNet/IP unit is connected, download the EDS file for the Sensor Controller from our OMRON website and follow the procedures in the user's manual for the external devices to be connected and in the instruction for the software to set tag data link.

The flow of EtherNet/IP communications between a PLC and the Sensor Controller is as follows.

2-3-4 Communications Processing Flow

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Input connection to the Sensor Controller

PLC

FH Sensor Controller

Output tag set Output tags

Input tag set

(1) Command Area
You write the following control commands for the Sensor Controller. � Control inputs � Command code � Command parameters

Commands

The control commands that are written to the Command Area are executed.

(2) I/O ports in the User Input Area
Write the data defined by User to Sensor Controller.

Input

Sensor Controller process using the written data.*4

... Responds when a command is received.
20 bytes
32 bytes

Output connection to PLC

Input tag set Input tags*1
(3) Response Area
The Sensor Controller writes the execution results to the PLC.

Output tag set

Execution

Responses

Measurement results are written to the Response Area of the PLC. � Control outputs � Command code � Response code � Response data

... Responds when a command is received.
16 bytes

(4) Data Output Area The Sensor Controller writes the output data to the PLC.
External outputs*2

Communications Module

.....

Measurement flow
Execution of processing item

Execution of processing item for the Output Unit.*3
Data is written to the Communications Module.

... Operations are performed by executing the measurement flow.
32 bytes

The FH Sensor Controller writes the values measured by processing item.

Output connection to PLC

(5) I/O ports in the User Output Area
Write the data defined by User to Sensor Controller.

Output

Sensor Controller writes the data defined by User to the I/O ports in the User Output Area.*4

32 bytes

*1 : The Response Area (3) and Data Output Area (4) are assigned to continuous memory addresses or to variables.
*2 : You can use output controls (handshaking) to prevent output data from being externally output from the communications buffer until the PLC (master) turns ON the Result Set Request (DSA) signal to request the output data.
*3 : For details of the Output Units outputting measurement data, refer to Settings Required for Data Output on page 1-21.
*4 : Use the Macro Customization Function to input and output to the User Area. For details of the Macro Customization Function, refer to EtherNet/IP communication of the IO Module List in the Vision System FH/FHV Macro Customize Functions Programming Manual (Cat. No. Z367).

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2-3-5 Communications Settings
The following settings are required to use EtherNet/IP communications.

1. Communication Module settings (Startup settings)

���

The communication method to be used is determined by select-

ing a communication module.

For details, refer to 2-3-6 Communications Module Settings

(Startup Settings) on page 2-198.

���

For the communications method of the Communication Module

2. Communications specifications settings

selected in step 1, set the communication specifications and

whether or not to use the User Area.

2

For details, refer to 2-3-7 Communication Specifications Settings

on page 2-199.

���

The tag data link settings are performed to exchange data with

the external device.

3. Tag data link settings

This section describe an example of how to set the settings for tag data links with an OMRON PLC using the Network Configurator.

For details, refer to 2-3-8 Setting Tag Data Link on page 2-206.

���

The data to output to the Data Output Area is registered in the

4. Output data settings (processing item registration)

Output Unit. The Output Unit is placed in the processing flow in the same way as for other processing items. For details, refer to 2-3-9 Output Data Settings (Processing Item

Registration) on page 2-211.

���

If communications are not working properly, check the communi-

cations setup from step 2 and perform a communications test to

determine whether the Sensor Controller can be detected on the

5. Communications test

network. For details, refer to 2-3-11 Testing Communications on page

2-222.

If that does not solve the problem, refer to the troubleshooting

section for each communication protocol.

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2-3-6 Communications Module Settings (Startup Settings)
The communication method used for communication with the Sensor Controller is selected from the communication modules.
1 On the Main window, click Tool - System Settings to open the system settings. 2 On the Multiview Explorer on the left, select System settings - Startup - Startup setting and
then click the Communication tab.

3 In the Communication Module Selection Area, select EtherNet/IP in the Fieldbus, and then
click Apply.
4 Click Data save in the Toolbar.
5 On the Main window, click Function - System restart. 6 Click OK in the System restart dialog box to restart the Sensor Controller.
When the Sensor Controller was restarted, the set Communication Module will operate with the default settings.
7 Set the IP address and other parameters for external devices such as a PLC.
Precautions for Correct Use After you set the Communication 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 Communication Module settings will not be enabled
Additional Information You can save the Communication Module settings to a file. Use the System data or System + Scene group 0 data option for saving settings to a file. For details, Refer to Saving Settings Data to the Controller RAM Disk or an External Storage Device in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

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2-3-7 Communication Specifications Settings
Set the output handshaking and output controls for communications.
Precautions for Correct Use � Set the Communications Module to EtherNet/IP in the startup settings before setting the com-
munications specifications. For details, refer to 2-3-6 Communications Module Settings (Startup Settings) on page 2-198. 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 Commu- 2
nications Modules for lines 1 and higher must also be set to EtherNet/IP. � When using Multi-line Random-trigger Mode, specify different addresses for the sending and
receiving areas for each line. � After the tag data link was set, the Sensor Controller automatically restarts to reflect the set-
ting.
Setting IP Address
1 On the Main window, click Tool - System Settings to open the system settings. 2 In the tree view on the left, select System Settings - Communication - Ethernet Normal
(xyz) ("xyz" depends on the Communication Module). The Ethernet view is displayed.
3 Set each item.
� UDP case

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Additional Information
� Sensor Controllers of the FH-1000/2000/3000/5000 series with four or eight Camera inputs have two Ethernet ports. Set the settings for the two Ethernet ports as follows: � Communication Module Settings: Use the same settings 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. Note that the FH prioritizes the bottom port, so when there is a high network load, communication on the top port may be delayed or in some cases communication data may be lost. By using both Ethernet ports simultaneously, you can use the bottom port for PLC Link, Non-procedure, EtherNet/IP, or PROFINET communications with a PLC and the top port for FTP or remote operation communications with an external device.
� The following Sensor Controller type has one Ethernet port: - FH-L/FHV series - FH-1000/3000 series with two camera inputs In this case, the IP address of the Ethernet port is set in Address setting 2

Setting item

Setting value [Factory default]

Address Settings Address Settings is only for the following series: FH-1000 series (4- and 8-camera types), FH-2000 series, FH-3000 series (4- and 8-camera types), FH-5000 series

� Obtain an IP address automatically.
� [Use the following IP address]

IP Address Subnet mask Default gateway

a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 254 [10.5.5.100]
0.0.0.0 to 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 [10.5.5.100]

Description
Set the IP address for the upper Ethernet port on the Sensor Controller.
Set the IP address for 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.
Enter the IP address for the Sensor Controller.
Enter the subnet mask address.
Enter the default gateway address.

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2-3-7 Communication Specifications Settings

Setting item

Setting value [Factory default]

Description

DNS server

a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [10.5.5.100]

Enter the DNS server address.

a.b.c.d

a: 1 to 223

Preferred WINS server

b: 0 to 255 c: 0 to 255

Enter the WINS server address.

2

d: 0 to 255

[0.0.0.0]

Alternate WINS server

a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [0.0.0.0]

Enter the WINS server address.

Setting item

Setting value [Factory default]

Address Settings 2 Address Settings is only for the following series: FH-1000 series (2-camera type), FH-2000 series, FH-3000 series (2-camera type), FH-5000/FH-L/FHV series

� Obtain 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: 0 to 254 [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: 0 to 255 [10.5.6.100]

Description Set the IP address for the lower Ethernet port on the Sensor Controller.
Same as "Address Settings".

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Setting item Preferred WINS server Alternate WINS server

Setting value [Factory default]
a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [0.0.0.0]
a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [0.0.0.0]

4 Click Apply to finish the settings.
Click Close to close the System Settings dialog.

Description Enter the WINS server address. Enter the WINS server address.

Precautions for Correct Use
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.

Setting the EtherNet/IP Output Specifications
1 On the Main window, click Tool - System Settings to open the system settings. 2 Select System Settings Communication EtherNet/IP.
The Ethernet view is displayed.
3 Set each item.

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Setting item

Setting value [Factory default]

Judge output polarity

� ON at OK � [ON at NG]

Error output polarity

� [ON at error] � OFF at error

Output control

� [None] � Handshaking

Output period 2.0 to 5000.0

[ms]

[10.0]

Output time [ms]

1.0 to 1000.0 [5.0]

Description

ON at OK: ON when the judgment result is OK. For the overall judgment, ON when all judgment results are OK. ON at NG: ON when the judgment result is NG. For the overall judgment, ON when one of the judgment results is NG.

ON at error: ON when an error occurs.

2

OFF at error:

OFF when an error occurs.

Set whether to synchronize with the external device when data is output. Normally, select Handshaking. For details, refer to2-3-17 Data Output on page 2-247. None: The Sensor Controller outputs measurement results without synchronizing with external devices. Handshaking: The Sensor Controller outputs measurement results with synchronizing with external devices.

Valid only when Output control is set to None. Set the cycle by which measurement results are output. � Set the period so that the interval is longer than
the Output time, but less than the measurement interval. � Adjust this value based on the RPI (packet interval) communication cycle in the EtherNet/IP connection settings for the PLC to be connected. For details, refer toEtherNet/IP Communication Cycle (RPI) on page 2-192.

Valid only when Output control is set to None. Set the cycle by which measurement results are output. Set the ON time for the GATE signal. Set the time required for an external device to get measurement results. Adjust this value based on the RPI (packet interval) communication cycle in the EtherNet/IP connection settings for the PLC to be connected. For details, refer toEtherNet/IP Communication Cycle (RPI) on page 2-192.

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Setting item

Setting value [Factory default]

Timeout [s]

0.5 to 120.0 [10.0]

Output data size

Result Data Format 0 (32 bytes) Result Data Format 1 (64 bytes) Result Data Format 2 (128 bytes) Result Data Format 3 (256 bytes)

User area

� [None] � ON

Description
Valid only when Output control is set to Handshaking. A timeout error occurs when no response from external devices is received at the following timing within the time that has been set. In the following cases, a timeout error occurs when the state of each signal does not change within the time that has been set. � If the DSA signal were not turned ON even after
a certain time passed from when measurement has been completed. � The DSA signal turns OFF after the GATE flag has turned ON. � The DSA signal turns ON after the GATE flag has turned OFF.
Set the data size to output as measurement results for each line. The settings are reflected at the restart after they were stored. There are four types in the output data size: 32, 64, 128, and 256 bytes. Result Data Format 0 (32 bytes) Out put data 0 to 7 of 4 bytes can be used and total size of the output data is 32 bytes. Result Data Format 1 (64 bytes) Out put data 0 to 15 of 4 bytes can be used and total size of the output data is 64 bytes. Result Data Format 2 (128 bytes) Out put data 0 to 31 of 4 bytes can be used and total size of the output data is 128 bytes. Result Data Format 3 (256 bytes) Out put data 0 to 63 of 4 bytes can be used and total size of the output data is 256 bytes.
Set whether or not to use the User Area (user input and output areas) � Data type of User Input Area 0 to 3 is DINT. Da-
ta type of User Input Area 4 to 5 is LREAL. � Data type of User Output Area 0 to 3 is DINT.
Data type of User Output Area 4 to 5 is LREAL.

Precautions for Correct Use
About Output data size and User Area All line's Output data size and User Area are necessary to be equal when you select the Multiline random trigger in Operation mode.
4 Click Apply to apply the settings.
Click Close to close the System Settings dialog box.

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Precautions for Correct Use PLC Connection Timeout Interval Set the PLC connection timeout interval so that it is longer than the measurement processing time. For the timeout value, refer to2-3-3 EtherNet/IP Communications on page 2-194.
2

2-3-7 Communication Specifications Settings

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2-3-8 Setting Tag Data Link
This section describes how to set data links for EtherNet/IP. The communication areas in the PLC to data-link with the Sensor Controller are specified as tags (tag sets), and the connections are set for tag data link communications. When you connect to an OMRON Controller to communicate with it via EtherNet/IP, use the Network Configurator to perform the tag data link settings such as tag, tag set, and connection setting. Here, describes how to set tag data links using the Network Configurator. For details of the tag data link settings using Network Configurator, refer to the following manuals. � NJ-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) � CS/CJ series EtherNet/IP Units Operation Manual (Cat. No. W465) � CJ series EtherNet/IP Units Operation Manual for NJ-series CPU Unit (Cat. No. W495)
Precautions for Correct Use
� When connecting to a CPU Unit of NJ series or CJ series, 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 our OMRON's website.
� After the tag data link was set, the Vision Sensor is automatically restarted to apply the settings.

Settings Tags, Tag Sets, and Connection
Here, set each communication area in the PLC as tag data link connections as shown in the following table.
l Tag and Tag Set Settings in the PLC

Setting item
Type of tags and tag sets Name of tags and tag sets

Command Area

Description Response Area and Output Area

Output tag set

Input tag set

I/O memory addresses or variable I/O memory addresses or variable names names*1

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Setting item

Command Area

Description Response Area and Output Area

Data size

The size will be the sum of the size of the

Response Area, Data Output Area, and

User Output Area.

Result Data Format 0 is selected:

� 48 bytes (When the User Area is not

used.)

� 80 bytes (When the User Area is used.)

Result Data Format 1 is selected:

The size will be the sum of the size of the � 80 bytes (When the User Area is not

Command Area and the User Input Area. used.)

2

� 20 bytes (When the User Area is not � 112 bytes (When the User Area is

used.)

� 52 bytes (When the User Area is

Result Data Format 2 is selected:

used.)

� 144 bytes (When the User Area is not

used.)

� 176 bytes (When the User Area is

used.)

Result Data Format 3 is selected:

� 272 bytes (When the User Area is not

used.)

� 304 bytes (When the User Area is

used.)

*1. Specify the top of the I/O memory address in the Response Area. The Output Area is allocated continuously following the Response Area. When a variable name is used for it, the specified variable is allocated as including both the Response Area and Output Area. For information about how to access each signal in the communication area assigned to the variable from the user program, refer to Accessing Communication Areas Using Variables by NJ Series Controllers on page 2-229.

2-3-8 Setting Tag Data Link

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l Settings the Sensor Controller (Device parameters Settings)
1 Right-click the Sensor Controller on the network in the Network Configurator and select
Parameter Edit.
2 As the Edit Device Parameter dialog box will open, perform the settings as necessary.

Parameter name

Description

Setting value

0001 Input Size*1

The size will be the sum of the size of the Response Area, Data Output Area, and User Output Area.

Set one of the following values. Result Data Format 0 is selected: � 48 bytes (When the User Area is not used.) � 80 bytes (When the User Area is used.) Result Data Format 1 is selected: � 80 bytes (When the User Area is not used.) � 112 bytes (When the User Area is used.) Result Data Format 2 is selected: � 144 bytes (When the User Area is not used.) � 176 bytes (When the User Area is used.) Result Data Format 3 is selected: � 272 bytes (When the User Area is not used.) � 304 bytes (When the User Area is used.)

0002 Output Size*2

The size will be the sum of the size of the Command Area and the User Input Area.

Set one of the following values. � 20 bytes (When the User Area is not used.) � 52 bytes (When the User Area is used.)

0003 RPI*3

The required packet interval

10,000

*1. Although the data size can be set up to 502 bytes, use the above setting. *2. Although the data size can be set up to 502 bytes, use the above setting. *3. The packet interval (RPI) is set in the connection settings between the PLC and the Sensor Control-
ler. No additional setting is required here.

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2-3-8 Setting Tag Data Link

l Connection Settings

Setting item

Description

Originator device (PLC)

Input tag set Connection type
Output tag set

PLC_tag_set_name - [48 bytes]*1 Any (default: Point to Point connection) PLC_tag_set_name - [20 bytes]*1

Target device (Sensor Controller)

Output tag set Input tag set

Input_101 - [48 Bytes]*1 Output_100 - [20 Bytes]*1

Packet interval (RPI) Timeout value

Any (default: 50.0)*2

Any (default: Packet interval (RPI) x 4)

2

Set this value so that it is longer than the measure-

ment processing time of the Sensor Controller.

*1. Tags and tag sets in the PLC need to be the same. *2. Adjust the value based on the communication settings of the Sensor Controller such as the output period
and output time. For details, refer to EtherNet/IP Communication Cycle (RPI) on page 2-192.

Precautions for Correct Use
� If the CIO memory area that holds contents were not specified when I/O memory addresses are specified for communication areas, the information in each communication area will be cleared when the operating mode of the PLC is changed.
� The settings for the following Assembly Object are required to specify instances without using the EDS file.

Assembly Object Settings:

Setting item

Setting value

Instance

100

101

102

103

104

105

Description

Size

Output connection (for normal control and for line 0 in Multi-line Random-trigger Mode)

The sum of the size of the Command Area and the User Input Area.
*1

Input connection (for normal control and for line 0 in Multi-line Randomtrigger Mode) for line 0)

The sum of the size of the Response Area, Data Output Area, and User Output Area.
*2

The sum of the size of the Command

Output connection (for line 1 in Multi- Area and the User Input Area.

line Random-trigger Mode)

*1

Input connection (for line 1 in Multiline Random-trigger Mode)

The sum of the size of the Response Area, Data Output Area, and User Output Area.
*2

The sum of the size of the Command

Output connection (for line 2 in Multi- Area and the User Input Area.

line Random-trigger Mode)

*1

Input connection (for line 2 in Multiline Random-trigger Mode)

The sum of the size of the Response Area, Data Output Area, and User Output Area.
*2

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Setting item

Setting value

106

Description

Size

The sum of the size of the Command

Output connection (for line 3 in Multi- Area and the User Input Area.

line Random-trigger Mode)

*1

The sum of the size of the Response

107

Input connection (for line 3 in Multiline Random-trigger Mode)

Area, Data Output Area, and User Output Area.

*2

The sum of the size of the Command

108

Output connection (for line 4 in Multi- Area and the User Input Area.

line Random-trigger Mode)

*1

The sum of the size of the Response

109

Input connection (for line 4 in Multiline Random-trigger Mode)

Area, Data Output Area, and User Output Area.

*2

The sum of the size of the Command

110

Output connection (for line 5 in Multi- Area and the User Input Area.

line Random-trigger Mode)

*1

111

Input connection for line 5)

The sum of the size of the Response Area, Data Output Area, and User Output Area.
*2

The sum of the size of the Command

112

Output connection for line 6 in Multi- Area and the User Input Area.

line Random-trigger Mode)

*1

The sum of the size of the Response

113

Input connection for line 6 in Multiline Random-trigger Mode)

Area, Data Output Area, and User Output Area.

*2

The sum of the size of the Command

114

Output connection for line 7 in Multi- Area and the User Input Area.

line Random-trigger Mode)

*1

The sum of the size of the Response

115

Input connection (for line 7in Multiline Random-trigger Mode)

Area, Data Output Area, and User Output Area.

*2

*1. 20 bytes (When the User Area is not used.) 52 bytes (When the User Area is used.)
*2. Result Data Format 0 is selected: 48 bytes (When the User Area is not used.) 80 bytes (When the User Area is used.) Result Data Format 1 is selected: 80 bytes (When the User Area is not used.) 112 bytes (When the User Area is used.) Result Data Format 2 is selected: 144 bytes (When the User Area is not used.) 176 bytes (When the User Area is used.) Result Data Format 3 is selected: 272 bytes (When the User Area is not used.) 304 bytes (When the User Area is used.)

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2 Methods for Connecting and Communicating with External Devices

2-3-9 Output Data Settings (Processing Item Registration)
Here, set the output items and output format to be used with EtherNet/IP. This processing item is not available in the FHV series. When you set output data in the FHV series, refer to 2-3-10 Setting Output Data (Numerical Values and Character Strings) on page 2-216.

Registering Processing Items

Register the processing items for data output in the measurement flow.

1 Click Edit flow in the Toolbar.

2

2 Select the Fieldbus Data Output processing item in the processing item tree.

3 Click Append.
The Fieldbus Data Output processing item is added at the bottom of the unit list (flow).

4 Click the Fieldbus Data Output icon and set the data output items and data format.
For details of the settings, refer to the following. Registering the Items to Output on page 2-213
Precautions for Correct Use
Fieldbus Data Output Perform the communication settings before the settings of Fieldbus Data Output. Note that if you changed the communication settings after the settings of Fieldbus Data Output, the changed settings will not be displayed on the Fieldbus Data Output setting display.

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Additional Information
� The number of outputtable items for single data output processing item is 8 to 64 depending on data output settings in each line. If you need to output more data items, use more than one Output Unit. However, the data is output to the same destination, so if you do not control the output, the data that was output first will be overwritten by the followed data. Use the following method to read each set of output data.

When the output control uses handshaking, the output timing of the data

can be controlled by I/O signals.

Controlling Data Output Each time the data is output, read the output data and move it to a different

with Handshaking

part of the I/O memory in the PLC.

For details of handshaking, refer to Data Output Control with Handshaking

on page 1-25.

� Data is output in the order that processing items for output are 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.)

For details, refer to Outputting the Measurement Data on page 1-18.

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Registering the Items to Output
Set the output data with expressions.
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, click the output data number to set the expression.
2

2-3-9 Output Data Settings (Processing Item Registration)

The selected output data number is displayed under the list.
4 Click next to the expression text box and set the expression.
Specify the processing items, measurement results, and measurement data in the expression. Arithmetic or function calculations can be applied to the measurement data to output. For details of the calculation settings, refer to Calculation in the Vision System FH/FHV Series Processing Items Reference Manual (Cat. No. Z341).
5 Click for the Comment text box and enter the description for the expression.
The entered comment will be displayed in the detailed results area on the Main window. For example, Test was entered as the comment for the expression 0, Test will be displayed instead of Expression 0 in the detailed results areas on the Main window.
6 Repeat step 3 to 5 to set expressions for all of the required output data numbers.

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Additional Information

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 ex-

pressions after the deleted number forward.

For details of the Data Output Area, refer to 2-3-12 Memory Allocation on page 2-224.

Example: If the Expression for Output 1 Is Deleted

Output Item Settings

Data Output Destination (Data Output Area)

Output 1 is deleted.

First word
+8 +9 +10 +11 +12 +13

Bit

15

to

0

DATA1 (Reference SX)

DATA2 (Reference SY)

DATA3 (Reference angle ST)

Output Item Settings

Data Output Destination (Data Output Area)

First word
+8 +9 +10 +11 +12 +13

Bit

15

to

0

DATA1 (Reference SX)

DATA3 (Reference angle ST)

The output numbers assigned to the expressions remain the same, but the data output location is shifted forward for data 3.

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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.
2

Setting item
Decimal output format

Setting value [Factory default]
� [Fixed point] � Floating point

Description
� Fixed point Data is output multiplied by 1,000. ex.: For 123.456, it will be 0x0001E240.
� Floating point Data is output in floating point format. ex.: For -123.4567, it will be 0xc2f6e979.

2-3-9 Output Data Settings (Processing Item Registration)

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2-3-10 Setting Output Data (Numerical Values and Character Strings) Registering Processing Items
Register the processing items for data output in the measurement flow.
1 In the Main window, click Edit flow in the Toolbar. 2 Click Result output (I/O) in the processing item tree.
3 Click Append.
The Result output (I/O) processing item is added at the bottom of the unit list (flow).

4 Click Result output (I/O)
output data.

icon in the unit list (flow) or Set to set the output device and the

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Setting the Output Device
Here, set a communication method when data is output.
1 Click Result output (I/O) icon in the unit list (flow) or Set to set the output device and the
output data. The Result output (I/O) setting window is displayed.
2

2-3-10 Setting Output Data (Numerical Values and Character Strings)

2 Click Output setting.
The Output setting window is displayed.

3 Click
use.

at the right side of the Output device text box to select the communication method to

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Precautions for Correct Use � The displayed output device is determined based on the selection of Communication
module in the System settings in the item tab. � Executing measurements without an output device selected causes a failure (NG: No meas-
urement) in the judgment of the processing unit.
Setting the Output Data
Here, set the data to output such as processing item data or fixed character strings.
1 In the item tab area, click Output data.
The Result output (I/O) setting window is displayed.

(a)

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(c) (b)

(c)

a) Setting data display area The No. (output number), Offset (indicating the byte position from the beginning), Data type (integer, double, string), Data, Value, and Title (data description) are displayed in this area. A value is displayed when a variable is assigned to data.
b) Output data display area Contents in the output data display area in binary (Hex) are displayed in this area.
c) Button

Button

Description Moves the selected data up one position. Moves the selected data down one position. Adds new data to the selected data position. Deletes the selected data. The following data moves up after the deletion. Edits the selected data.

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Button

Description Saves the current settings and returns to the previous view.

Discards the current settings and returns to the previous view.

2 In the list, select the output data number to set the output and then click Insert.
The following Output data editing dialog box is displayed.

2

2-3-10 Setting Output Data (Numerical Values and Character Strings)

Setting item

Setting value [Factory default]

Description

Data type

� Integer � Double � String

Sets the data type.

Data

There are two input methods.*1

� Enter strings directly

� Assign variables

Title

Enters the description for data.

String settings

Valid when String is selected in the "Data type".

Size

0 to 4,095 [10]

Sets the number of characters. The number of characters that can be output depends on the data size setting for the tag and tag-set settings in the PLC.

Character code

[0]

Sets the code page according to the language to be used.

*1. Any arithmetic expression cannot be used. If it is used, it will be handled as character strings.

� Character code: Specify the following code page for each language.

Language Japanese
German Italian Vietnamese

Code page

Language

932

English

1252
1252 1258

French
Spanish Polish

Code page 1252
1252 1252 1250

Language
Chinese (simplified) Chinese (traditional) Korean

Code page 936
950 949

� The default 0 is no language-dependent letters in ANSI code page. � If non-existing code page is selected, corresponding data is handled as invalid data (NULL).

3 Click at the right side of the Data type text box to select the data to output.
Integer, Double, or String are selectable.

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Data type Integer Double
String

Description
� Entered data is handled as four-byte data. � Allowable entering range is a range of signed INT. � When string variables are specified for data, character strings like digits which
can be converted into numerical values will be converted and output.When decimal digits are included, they are truncated.Moreover, they are handled as "0" if they are not convertible.
� Entered data is handled as eight-byte data. � The allowable entering range is a range of eight-byte floating decimal value. � When string variables are specified for data, character strings like digits which
can be converted into numerical values will be converted and output. Moreover, they are handled as "0" if they are not convertible.
� Entered data is set based on specified Size. Example: Size is four and the entered data is ABCD. ABCD ABC+NULL
� The number of allowable entering characters is up to 4,095. If this limit is exceeded, nothing is displayed and output.
� When NULL is included in the entered character string, the character string following NULL is not output.
� The following escape sequence codes can be entered. The entered escape sequence codes are handled as fixed character strings. \N: Carriage return, \r: Line feed, \t: Tab, \xXX: ASCII code specified by "XX" (numerical value), \": Double quotation mark, \\: Backslash

4 Enter data into Data text box.
Data that can be output with one data No. is a range only to be handled as one string.
1) When directly entering an output content into the Data text box. A string enclosed with " " (double quotation marks) handled as one string and the rest following it is not output. Example: "AA"TEST only "AA" is output.
2) In the case where assignment variable is assigned o data: Directly enter a variable name (Scene variable: SC.~) or specify a variable in Variable

assignment window displayed by clicking . � Only one variable is valid for one data No.
Example: SC.A$+SC.B$ Only SC.A$ is output. � When a fixed string, e.g. AA, is entered before a variable, the subsequent variable is also
handled as a fixed string. Example: AA+SC.AA& "AA+SC.AA&" � When "String" is selected in the "Data type" but "Integer" or "Double" is set to the variable, then the variable is converted to a string and then output.

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2
5 Enter Title that indicates the content of output data. 6 When String is selected in Data type, the following items in String setting area also needs to be
set. Example:

2-3-10 Setting Output Data (Numerical Values and Character Strings)

7 Click OK in the end of entering data to close the settings.
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2-3-11 Testing Communications
Here, check whether or not the EtherNet/IP communication settings are correct. If communications cannot be established after the setup, use the following procedures to check the setting details and the communication status.
Before Testing Communications
Here, Serial (Ethernet) - Normal (UDP) communication module is used as an example to describe the procedures. When checking the communication settings, stop the program on the PLC.
Checking Communication Settings
Use the following procedures to check whether or not the communication settings are correct.
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.)
2. Set the IP address of the Sensor Controller. The default settings are as follows: Address setting: 10.5.5.100 Address setting 2: 10.5.6.100

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3. On the Main Window, select [Tool] - [System Settings]. Select [System Settings] - [Communication] - [EtherNet/IP] from the tree view on the left.
4. Click the [Settings] tab.
5. Set the output control. Set whether to provide an interlock with the PLC when performing data output.
* Output Period Set the cycle by which measurement results are output. 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 relationships: RPI < 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].)
6. This completes the Controller settings. The PLC settings are set next.
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Checking the Communication Status
Use the ping command to check whether or not the Sensor Controller exists on the Ethernet network. With it, check that the Sensor Controller IP address has been correctly set and is correctly connected to the Ethernet network.

Additional Information

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.

2

1 Connect the Sensor Controller and a computer with an Ethernet cable.
Set the high-order digits of the computer IP address to the same values as the Sensor Control-
ler and the low-order one digit to a different value.

Sensor Controller Computer

Device

Example 10.5.5.100 (default) 10.5.5.101

2 Open the Windows command prompt on the computer and perform the ping command.
At the > prompt, type ping, followed by a space and the Sensor Controller IP address, and then press Enter. Example: C:\>ping 10.5.5.100

3 After a few seconds, Reply from followed by the IP address of the Sensor Controller (e.g.,
10.5.5.100) are displayed, it means that the Sensor Controller is connected to the Ethernet network properly. Example: Reply from 10.5.5.100: byte=32 Time<1 ms TTL=128

If anything other than Reply from is displayed: The Sensor Controller is not connected to the Ethernet network for some reason. Check the following. � Are the high-order three digits of the IP addresses for the computer and the Sensor Control-
ler the same? � Is the Ethernet cable correctly connected?
4 Use the ping command to check the communication status of the PLC as well.
After you have confirmed the communication status as described above, transmit a measurement command to the Sensor Controller in practice to check the communication operations as the Vision Sensor.

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2-3-12 Memory Allocation
This section describes the assignments of the Command Area for the input connection to the Sensor Controller and the Response Area and Output Area for the output connection to the PLC.

Input Connection to the Sensor Controller (PLC (Originator) to Sensor Controller (Target))
For the input connections to the Sensor Controller, specifies the control inputs, command codes, command parameters, and User Input Area, which are the Command Area parameters.

l Command Area

Set the first

Bit

channel in

Command 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Area.

Name

+0

E

R

C

L

R

X E X E

S T E P

Control input E (2 CH) X E

+1

D

S

A

+2

+3

CMD-CODE

Command Code (2 CH)

+4

+5 +6
CMD-PARAM
+7 +8

Command parameters (Max. 6 CH)

+9

+10
User Input Area 0
+11

User Input Area 0

+12
User Input Area 1
+13

User Input Area 1

+14
User Input Area 2
+15

User Input Area 2

+16
User Input Area 3
+17

User Input Area 3

+18

+19
User Input Area 4
+20

User Input Area 4

+21

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Set the first

Bit

channel in

Command 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Area.

Name

+22

+23
User Input Area 5
+24

User Input Area 5

+25

Signal EXE

Signal name

Function

Command Execu- Performs a command. For details, refer to2-3-15 Command List

2

tion Bit

on page 2-239.

DSA

Data Output Request Bit

Requests the next data output. For details, refer to2-3-9 Output Data Settings (Processing Item Registration) on page 2-211.

STEP

Measure Bit

Performs measurement one time.

XEXE

Flow Command Request Bit

Instructs a command execution during the execution of the 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 parame- Stores the command parameters. ters

User Input Area 0 to 5

User Input Area 0 5

This area is used that you write the data that you defined for the Sensor Controller. � Data type of User Input Area 0 to 3 is DINT. Data type of

User Input Area 4 to 5 is LREAL.

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. The execution results such as control outputs, command codes, response codes, and response data are output to the Response Area, and the output data from the Sensor Controller or the User Output Area is output to the Data Output Area.
Additional Information
The order in which data is stored depends on the manufacturer of the connected PLC. For details, refer to A-1-1 Parameter Notation Examples for Command Control on page A-2.

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l Response Area

First chan-

Bit

nel in Re-

sponse 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Area

Name

E

+0

R

X W A I T

X B U S Y

X F L G

A C K

R U N

O R

B U S Y

Control outF put L (2 CH) G

G

+1

A T

E

+2
CMD-CODE
+3

Command Code (2 CH)

+4
RES-CODE
+5

Response Code (2CH)

+6
RES-DATA
+7

Response Data (2 CH)

l Data Output Area
When the User Area is used, data set as the number of output data in the EtherNet/IP output specifications are output followed by the data of the User Output Area. Therefore, the first channel of the User Output Area will be changed according to the number of output data. The following table indicates the mapping of the Data Output Area and User Output Area when Result Data Format 0 (32 bytes) is selected as the number of the output data.

First chan-

Bit

nel in Data

Output 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Area

Name

+8 DATA0
+9

Output data 0

+10 DATA1
+11

Output data 1

+12

+13

DATA2

Output data 2

+14 DATA3
+15

Output data 3

+16 DATA4
+17

Output data 4

+18 DATA5
+19

Output data 5

+20 DATA6
+21

Output data 6

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First chan-

Bit

nel in Data

Output 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Area

Name

+22

+23

DATA7

Output data 7

+24 User Output Area 0
+25

User Output Area 0

+26

+27

User Output Area 1

+28 User Output Area 2
+29

User Output

2

Area 2

+30 User Output Area 3
+31

User Output Area 3

+32

+33 User Output Area 4
+34

User Output Area 4

+35

+36

+37 User Output Area 5
+38

User Output Area 5

+39

Signal FLG GATE BUSY
OR
XFLG
XBUSY XWAIT RUN ACK ERROR CMD-CODE RES-CODE RES-DATA

Signal name Command Completion Bit Data Output Completion Bit
Command Busy Bit
Overall judgment
Flow Command Completion Bit
Flow Command Busy Bit Flow Command Wait Bit Run Mode
Command Reception bit
Error Signal Command Code Response Code Response Data

Function
Turns ON when command execution is completed.
Turns ON when data output is completed.
Turns ON when command execution is in progress and turns OFF automatically when the execution was competed. Turns ON when the overall judgment is NG. (The OR signal is output only when the Output option is selected in the Adjustment window.) Turns ON when execution of an entered command during the execution for the Fieldbus flow control is completed, i.e. XBUSY: ON to OFF). Turns ON when an entered command is in execution during the execution of the Fieldbus flow control. Turns ON when a command can be entered during the execution of the Fieldbus flow control. Turns ON when the Sensor Controller is in Run Mode. Turns ON when Measurement Bit (STEP) or Command Execution Bit is turned ON. Turns OFF after the command execution was completed and either the STEP Bit or EXE Bit is OFF. Turns ON when the Sensor Controller detects an error signal. Returns the executed command code. Stores the response data for the executed command. Stores the response data for the executed command.

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Signal DATA0 to 7
User Output Area 0 to 5

Signal name Output data 0 to 7
User Output Area 0 to 5

Function
Outputs the data set in the output processing item. When more than one processing item exists, data is overwritten on this area by performing handshaking.
This area is used that the Sensor Controller writes the data that you defined using Macro customize functions. � Data type of the User Output Area 0 to 3 is DINT. Data type
of the User Output Area 4 to 5 is LREAL.

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Accessing Communication Areas Using Variables by NJ Series Controllers
In Controllers of the NJ series, I/O memory addresses assigned to each communication area can be accessed from the user program only via variables. Follow the procedures below.

l Accessing with Network Variables

Customize and define variables based on the structure of each communication area of the Sensor

Controller. Use Sysmac Studio to define the variables.

2

For operations of Sysmac Studio, refer to Sysmac Studio Version1 Operation manual (Cat. No.

W504).

1 Define the data types for the variables.
Define the data types for the variables based on the structure of each communication area of the Sensor Controller.
1) Definition of data type to access a signal First, define the data type for a BOOL array to access the control signals and status signals. Here, define the data type called U_EIPFlag. Name of data type: U_EIPFlag Kind of derived data type: Union

Name of data type U_EIPFlag
F

Data type UNION ARRAY[0..31]OF BOOL

W

DWORD

Specifies an array of BOOL data from 0 to 31.
32-bit bit string data

2) Definition of data type for each communication area access Define data types to access each communication area for the Command Area and Response and Output Areas respectively. Here, define two kinds of data type: S_EIPOutput and S_EIPInput.
3) � Data type to access the Command Area Name of data type: S_EIPOutput Kind of derived data type: Structure

Name of data type S_EIPOutput
ControlFlag CommandCode CommandParam1 CommandParam2 CommandParam3

Data type STRUCT U_EIPFlag DWORD DINT DINT DINT

The data type that was defined above (1) 32-bit bit string data 32-bit integer data 32-bit integer data 32-bit integer data

� Assignment example for the variable data type according to the Command Area. For details, refer to Input Connection to the Sensor Controller (PLC (Originator) to Sensor Controller (Target)) on page 2-224.

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S_EIP Output

Control Flag
Command Code
Command Param1
Command Param2
Command Param3

Bit

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

+0 Control Input
+1

+2 Control code
+3

+4

Parameter 1

+5

+6

Parameter 2

+7

+8

Parameter 3

+9

� Data type to access the Response and Output Areas Name of data type: S_EIPInput Kind of derived data type: Structure

Name of data type S_EIPInput
StatusFlag CommandCodeEcho ResponseCode ResponseData OutputData

Data type STRUCT U_EIPFlag DWORD DWORD DINT ARRAY[0..7]OF DINT

The data type that was defined above (1) 32-bit bit string data 32-bit bit string data 32-bit integer data Specifies an array of DINT data from 0 to 7.

� Assignment example for the variable data type according to the Response and Output Areas. For details, refer toOutput Connection to PLC (Sensor Controller (Originator) to PLC (Target)) on page 2-225.

S_EIP Input

Status Flag Command CodeEcho Response Code Response Data
Output Data

Response Area
Bit

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

+0

Control output

+1

+2

Command code

+3

+4

Response code

+5

+6

Response data

+7

Output Area
Bit

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

+8

DATA0

+9

+22

DATA7

+23

2 Define variables
Define variables to perform data links for data in each communication area through EtherNet/IP
communications.

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For these variables, the data types defined in step 1 are used.

Variable EIPOutput EIPInput

Variable type

Network publish attribute

Data type

Global variable

Output

S_EIPOutput

Global variable

Input

S_EIPInput

Application
For data links for the Command Area For data links for the Response and Output Areas

3 Export the variables defined by Sysmac Studio.

2

Export the defined variables to use on the Network Configurator.

An CSV file is created for exporting.

4 Set Network Configurator
1) Import the CSV file, which was exported by Sysmac Studio, to Network Configurator. The imported variables are automatically registered as tags.
2) Configure the connections as shown below.

Originator device (PLC) settings Input tag set: EIPOutput Output tag set: EIPInput

Target device (Sensor Controller) settings Output tag set: Input101 Input tag set: Output100

5 Access each communication area from user program
The defined variables are used to access each communication area of the Sensor Controller
as shown below.

� Command Area

Signal name EXE STEP XEXE ERCLR DSA Command Code Command parameter 1 Command parameter 2 Command parameter 3

Variable name EIPOutput.ControlFlag.F[0] EIPOutput.ControlFlag.F[1] EIPOutput.ControlFlag.F[8] EIPOutput.ControlFlag.F[15] EIPOutput.ControlFlag.F[16] EIPOutput.CommandCode EIPOutput.CommandParam1 EIPOutput.CommandParam2 EIPOutput.CommandParam3

� Response Area

FLG BUSY OR RUN ACK

Signal name

Variable name EIPInput.StatusFlag.F[0] EIPInput.StatusFlag.F[1] EIPInput.StatusFlag.F[3] EIPInput.StatusFlag.F[4] EIPInput.StatusFlag.F[6]

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Signal name XFLG XBUSY XWAIT ERR GATE Command Code Response Code Response Data

Variable name EIPInput.StatusFlag.F[8] EIPInput.StatusFlag.F[9] EIPInput.StatusFlag.F[10] EIPInput.StatusFlag.F[15] EIPInput.StatusFlag.F[16] EIPInput.CommandCodeEcho EIPInput.ResposeCode EIPInput.ResposeData

� Output area

Output data 1 Output data 8

Signal name
. . .

Variable name
EIPInput.OutputData[0] . . .
EIPInput.OutputData[7]

l Specify the I/O memory addresses to access each communication area
By setting AT specifications to variables, assigned destination to each communication area can be specified in the unit of the I/O memory address.

1 Setting the tag sets (by Network Configurator)
Directly specify the tag names in the PLC by using the I/O memory addresses that each communication area is assigned to. (The output tags are specified for the input connections to the Sensor Controller and the input tags are specified for the output connections to the PLC.)

Setting example

Output tag Input tag

Tag kind

D0 D100

Assigned I/O memory address

2 Setting Variables (by Sysmac Studio)
Define variables with AT (assigned destination) specifications to the I/O memory addresses as-
signed to each communication area as shown below.

Setting example

Variable a b c d

D0.0 D0.1 D0.15 D1.0

AT specification

3 Setting Connections
Configure the connections as shown below.

Originator device (PLC) settings Input tag set: D0

Target device (Sensor Controller) settings Output tag set: Input101

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Originator device (PLC) settings Output tag set: D100

Target device (Sensor Controller) settings Input tag set: Output100

Command Area (PLC Output Tag D0)

I/O memory address
D0

15 ERCLR

D1

1 STEP

0 EXE DSA

Variables Used to Access the Command Area in the PLC from the User Program
Settings

Variable name

AT specification

Data type

a (Assigned to the EXE signal.) b (Assigned to the STEP signal.) c (Assigned to the ERCLR signal.) d (Assigned to the DSA signal.)

D0.0 D0.1 D0.15 D1.0

BOOL BOOL BOOL BOOL

2

2-3-12 Memory Allocation

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2-3-13 I/O Signals
The following tables list the signals used to control I/O for EtherNet/IP.

Input Signals

Signal EXE
DSA (Used only for handshaking output control)
ERCLR

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

Command Request Signal

The user (PLC) turns this signal ON when issuing a command to the Sensor Controller.

The user (PLC) turns this signal ON when issuing a command (instruct the execution) to the Sensor Controller based on the command code and command parameters.

The user (PLC) switches this signal from ON to OFF when the Sensor Controller turns the Command Completion (FLG) sig-
nal ON.*1

� The user (PLC) turns this signal ON when requesting the measurement data to out-

Data Output Request Signal

During handshaking, the user (PLC) issues this signal to the Sensor Controller to request to output externally the measured results performed in the measurement flow. When this signal is ON while an Output Unit (Fieldbus Data Output Unit) in the measurement flow is performed, the Sensor Controller outputs the data of the processing item.

put externally.*3 � This DSA signal is
turned ON at the same time as the Trigger (STEP) or Command Request (EXE) signal switches from OFF to ON. When more than one Output Units is used to output more than eight data, turn ON this DSA signal again after the GATE signal for the first data output turns OFF. For details, refer to2-3-18 Timing Chart on page 2-249.

The user (PLC) switches this signal from ON to OFF when the Sensor Controller turns the GATE signal
ON.*2

Error Clear Bit

This is turned ON when the Error (ERR) signal from the Sensor Controller will be cleared.

The user (PLC) switches the signal from OFF to ON when the Error (ERR) signal from the Sensor Controller is turned OFF.

This signal is turned OFF when the user (PLC) detected the Error (ERR) signal turned OFF.

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Signal

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

XEXE

Flow Command Request

This is turned on when a command will be performed while PLC Link, Fieldbus, or parallel flow control are performed.

The user (PLC) switches the signal from OFF to ON when it instructs an entered command execution during the execution of the Fieldbus flow control.

This signal switches from ON to OFF when the Flow Command Completion (XFLG) signal is turned ON.

STEP

This signal turns ON

from the PLC) to per- The user (PLC)

Measurement Trigger

This is turned on when measurements will be performed.

form measurement after confirming that the BUSY signal and the Command Execution

switches this signal from ON to OFF after detecting that the Sensor Controller turned

2

Completion (FLG) sig- the BUSY signal ON.

nal have turned OFF.

*1. If the Command Request (EXE) signal does not switch from ON to OFF within 10 seconds after the Command Completion (FLG) signal was turned ON, a timeout error will occur, and the FLG signal is forced to be turned OFF.
*2. If the Data Output Request (DSA) signal does not switch from OFF to ON within the time set at the "Timeout" in the EtherNet/IP settings after the Data Output Completion (GATE) signal turned ON, a timeout error will occur and the measurement data prepared for output will be discarded.
*3. If the Data Output Request (DSA) signal does not switch from OFF to ON within the time set at the "Timeout" in the EtherNet/IP settings after the measurement processing started by the Measurement Trigger (STEP) signal or the Command Request (EXE) signal turned ON, a timeout error will occur and the measurement data prepared for output will be discarded.

Output Signals

Signal BUSY FLG

Signal name
Busy
Command Execution Completion

Function
This signal indicates that external inputs such as commands cannot be accepted. Issue a command when this signal is OFF.
*1*2*3
The Sensor Controller uses this signal to inform the PLC that command execution has been completed.

ON/OFF timing

OFF to ON

ON to OFF

This signal turns ON when the Sensor Controller receives a command from the user (PLC). (After the EXE signal switches from OFF to ON.)

The signal turns OFF when the command execution is completed.

The signal turns ON when the Sensor Controller completes execution of a received command.

This signal is turned OFF when the user (PLC) switches the Command Request (EXE) signal from ON to OFF.

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Signal
GATE
ERR RUN OR ACK

Signal name
Data Output Completion Signal
Error Signal
Run Mode Overall judgment Command Reception

Function
The signal informs the PLC of the timing to load output data. "ON" of this signal indicates that the Sensor Controller is outputting the data. The user (PLC) starts to load the data when the signal turns ON.
The signal indicates that the Sensor Controller detects the following errors. For details of the errors, refer to Error Messages and Troubleshooting in the Vision System FH/FHV Series User's Manual (Cat. No. Z365)..
The signal indicates that the Sensor Controller in RUN Mode.
The signal indicates the overall judgment results. The signal indicates that a command is received. Even BUSY is not output due to a heavy load, it surely detects the completion of the command processing execution.

ON/OFF timing

OFF to ON

ON to OFF

� Without handshaking The signal turns ON when the Sensor Controller performs the Output Unit (Fieldbus Data Out-
put Unit)*4 in the measurement flow and is ready for the data output. � With handshaking The signal turns ON when the Sensor Controller performs the Output Unit (Fieldbus Data Out-
put Unit) *4 in the measurement flow and is ready for the data output and the Data Output Request (DSA) signal is ON.

� Without handshaking The signal turns OFF after the Output Time set in the EtherNet/IP settings has passed.
� With handshaking This signal is turned OFF when the user (PLC) switches the Data Output Request (DSA) signal from ON to OFF.

The signal turns ON if the Sensor Controller detects an error.

The signal turns OFF when the error is fixed and the user (PLC) turns the Error Clear (ERCLR) signal ON.

The signal turns ON when the Sensor Controller is in Run Mode.
The signal turns ON when the overall judgment is NG.

The signal turns OFF when the Sensor Controller is in Adjustment Mode.
The signal turns OFF when the overall judgment is OK.

The signal is turned ON when Measure Bit (STEP) or Command Execution Bit (EXE) is received.

The signal switches from ON to OFF after the execution completed and either the STEP Bit or EXE Bit is OFF.

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Signal

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

XFLG

Flow Command Execution Completion

The signal indicates that a command performed during execution of the Fieldbus flow control has been completed.

The signal is turned ON when a command performed has been completed (XBUSY switched from ON to OFF) during execution of Fieldbus flow control.

The signal switches from ON to OFF when the Flow Command Busy (XBUSY) signal switches form OFF to ON during the execution for the Fieldbus flow control.

XBUSY

Flow Command Busy Bit

The signal indicates that a command entered during the execution of the Fieldbus flow control is in execution.

The signal switches from OFF to ON when a command entered during the execution for the Fieldbus flow control is in execution.

The signal switches from ON to OFF when a command execution entered during the execution of the Fieldbus flow control has been completed.

2

XWAIT

Flow Command Wait Bit

The signal indicates that a command entered can be accepted during the execution of the Fieldbus flow control.

The signal switches from OFF to ON when a command can be input during the execution of the Fieldbus flow control.

This signal switches from ON to OFF when a command cannot be entered during the execution of the Fieldbus flow control .

*1. Although the BUSY signal remains ON during continuous measurement, the Sensor Controller accepts the Command Request (EXE) signal only when the End Continuous Measurement command is performed.
*2. This will not be detected while commands received through any other protocol are processed. (Ex.: This signal remains OFF during measurement with the STEP signal in the Parallel communications.) If you use more than one protocol and need to detect command execution, use the BUSY signal in Parallel communications.
*3. "ON" of this signal does not mean that a command is currently performed. To check whether a command is being executed, refer to the Command Execution Completion (FLG) signal.
*4. This occurs when the measurement flow is performed in order from the top and the Output Unit is executed, not at the moment when measurement execution was completed.

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2-3-14 Output Items

Measurement Results for which Output is Possible (Fieldbus Data Output)
The following data can be output using the processing items related to the Result Output. Measurement values are also referred using processing units such as expressions.

Measurement items
Judgment Data 0 to 7

Character string

Description

JG D000 to D007

Judgment result Results of expressions set for output data 0 to 7.

External Reference Tables (Fieldbus Data Output)
By specifying a number, the following data can be referred using control commands or processing items having a set/get processing unit data function.

Number 0
5 to 12 150

Data name Judgment

Set/Get Get only

Data 0 to 7 Output type

Get only Set/Get

Data range
0: No judgment (unmeasured) 1: Judgment result OK -1: Judgment result NG � ASCII:-999999999.9999 to
999999999.9999 � Binary: -2147483.648 to 2147483.647
0: Fixed point 1: Floating point

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2-3-15 Command List

This section describes the commands used in EtherNet/IP. A command with command words in the Command Area first channel can be performed in both tag data link and message communications. A command without command words in the Command Area first channel can be performed only in message communications. For details of commands in tag data link, refer to A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET on page A-15.

l Execution Commands

2

First word in Response Area

+3

+2

0010

1010

0010

1020

0010

1030

0010

1040

0010

2010

0010

2020

0010

3010

0010 0010 0010

4010 5010 5020

0010

5030

0010 0010 0010 -

7010 7020 7030 -

0010

8020

0010 -

9010 -

0010

B010

0010

F010

Function
Performs measurement one time. Performs continuous measurement. Ends continuous measurements. Performs test measurement for the specified unit. Clears all measurement result values. Clears the data output buffer. Saves the current system data and scene group data in the Sensor Controller. Registers the model again. Shifts the image display position by the specified amount. Zooms the image display in or out by the specified factor. Returns the display position and display magnification to their default values. Copies the scene data. Deletes the scene data. Moves the scene data. Registers the specified image data as a registered image. Loads the specified registered image as the measurement image. Returns an entered text string without changing it. Adds a user account to a specified group ID. Deletes a specified user account. Branches to the start of the measurement flow (processing unit 0). Restarts the Sensor Controller.

Reference
page A-15 page A-15 page A-16 page A-16 page A-17 page A-18
page A-19
page A-20 page A-21 page A-21
page A-22
page A-24 page A-25 page A-25 page A-26
page A-27
page A-27 page A-28 page A-29
page A-30
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l Commands to Get Status

First word in Response Area

+3

+2

0020

1000

0020

2000

0020

4000

0020

5010

0020

5020

0020

5030

0020

7010

0020

7020

0020

8010

0020 0020 0020

8020 8030 A000

Function
Gets the current scene number. Gets the current scene group number. Gets the number of the layout that is currently displayed. Gets the number of the Unit that is currently displayed in the specified image display window. Gets the sub-image number that is currently displayed in the specified image display window. Gets the image mode for the specified image display window. Gets the input status (prohibited/permitted) for the Communications Modules. Gets the output status (prohibited/permitted) to an external device. Gets the ON/OFF status for the specified parallel I/O terminal. Gets the ON/OFF status of all parallel terminals except for DI terminals. Gets the ON/OFF status of all parallel DI terminals. Gets the user name for the user account currently logged in. Gets the group ID for the account currently logged in. Gets the current state of the operation log.

Reference
page A-31 page A-31 page A-32 page A-33
page A-33
page A-35
page A-35
page A-36
page A-38
page A-40 page A-42 page A-43 page A-45 page A-45

l Commands to Set Status

2-240

First word in Response Area

+3

+2

0030

1000

0030

2000

0030

4000

0030

5010

0030

5020

0030 0030 0030 0030

5030 7010 7020 8010

0030

8020

Function
Switches to the specified scene number. Switches to the scene group with the specified number. Sets the layout number and switches the image. Sets the number of the Unit to display in the specified image display window. Sets the number of the sub-image to display in the specified image display window. Sets the image mode for the specified image display window. Permits/prohibits inputs to the Communications Modules. Permits/prohibits outputs to external devices. Sets the ON/OFF status of the specified parallel I/O terminal. Sets the ON/OFF status of all parallel terminals except for DO terminals.

Reference
page A-46 page A-46 page A-48 page A-49
page A-49
page A-50 page A-51 page A-52 page A-52
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First word in Response Area

+3

+2

0030

8030

-

0030

A000

Function
Sets the ON/OFF status of all parallel DO terminals. Switches the currently logged in account. Sets the state of the operation log.

l Commands to Read Data

Reference
page A-57 page A-58 page A-60

First word in Response Area

Function

2
Reference

+3

+2

0040

1000

Gets the specified processing unit data.

page A-60

-

Gets the date and time.

page A-61

-

Gets the Sensor Controller version information.

page A-62

-

Gets settings related to image logging.

page A-62

-

Gets the image logging folder name.

page A-64

-

Gets the data logging folder name.

page A-65

-

Gets the screen capture folder name.

page A-66

-

Gets the prefix for the file name in which logged images are saved.

page A-66

0040

4050

Gets the conditions set for data logging.

page A-67

0040

4060

Gets the parallel DI terminal offset data that is set.

page A-67

l Commands to Write Data

First word in Response Area

+3

+2

0050

1000

-

0050 0050

4050 4060

Function
Sets the specified unit data. Sets the date and time. Changes the settings related to image logging. Sets the name for the image logging folder. Sets the name for the data logging folder. Sets the name for the screen capture folder. Sets the prefix for the file name in which logged images are saved. Sets the data logging conditions. Sets the parallel DI terminal offset data.

Reference
page A-68 page A-69 page A-70 page A-71 page A-72 page A-72
page A-73
page A-73 page A-75

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l File Load Commands

First word in Response Area

+3

+2

-

Function
Loads the scene data. Loads the scene group data. Loads the system data. Loads the system + scene group 0 data.

l File Save Commands

Reference
page A-76 page A-76 page A-77 page A-78

First word in Response Area

+3

+2

-

Function
Saves the scene data. Saves the scene group data. Saves the system data. Saves the image data stored in the the Sensor Controller's memory. Saves all image data in the Sensor Controller's memory with ifz format in external storage. Saves the last logging image. Saves the system + scene group 0 data that is currently used by the Sensor Controller in a file. Captures the screen.

Reference
(p.578) (p.580) (p.586) (p.539)
(p.502) (p.543) (p.504) (p.520)

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2-3-16 Command Response Processing
About control command response processing, the following timing chart describes the ON/OFF timing of signals related to commands to be input.

l Timing Chart for Command Execution

The Command Request (EXE) signal is used as the trigger to input and execute various com-
mands such as measurement execution stored in advance in the PLC memory.
The Command Completion (FLG) signal turns ON when execution of the control command is com-
pleted. Use this as the trigger to turn OFF the Command Request (EXE) signal.
2
ON Command Code
(CMD-CODE) OFF

ON Command Area Command Parameter
(CMD-PARAM) OFF
Command Execute ON (EXE) signal OFF

(5)
*1

Specified time in the time out setting.

Command Code ON (CMD-CODE) OFF

Response Area

Busy (BUSY) signal
Command Reception (ACK) signal
Response Code (RES-CODE)

ON
OFF ON
OFF ON
OFF

(3)

Control command is running.

*2

ON Response Data
(RES-DATA) OFF

Command Completion ON (FLG) signal OFF

(1) (2)

(6) (4)

*1: A timeout error will occur if you do not turn off the Command Execution (EXE) signal within 10 seconds after the Command Completion (FLG) signal is turned ON. Command Completion (FLG) signal and BUSY signal will be forcefully turned OFF.
*2: Busy (BUSY) signal is automatically switched ON to OFF when the command execution is completed.

(1) The PLC sets the command code and command parameters.
(2) After checking that the BUSY signal and the Command Completion (FLG) signal have turned OFF, the PLC turns ON the Command Request (EXE) signal again to instruct the Sensor Controller to perform it.
(3) When receiving the instruction the Sensor Controller performs the command and turns ON the ACK signal and the BUSY signal.
(4) When completing the execution, the Sensor Controller sets the command code, response code, and response data. The Command Completion (FLG) signal is turned ON.
(5) The PLC (user) turns OFF the Command Request (EXE) signal when the Command Completion (FLG) signal turns ON.

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(6) When detecting that the Command Request (EXE) signal is OFF, the Sensor Controller automatically turns OFF the Command Reception (ACK) signal and the Command Completion (FLG) signal automatically.

l Continuous Measurement Command (Without handshaking)
Continuous execution is used to repeatedly execute measurement by starting the next measurement operation (image input and measurement processing) as soon as single measurement operation (image input and measurement processing) is completed. Continuous measurement is started when the Start Continuous Measurements command is executed and ended when the End Continuous Measurements command is executed.

Command Area

ON Command Code
OFF
ON Command Parameter
OFF
Command Execute ON (EXE) signal OFF

Start Command for Continuous Measurement

End Command for Continuous Measurement

(5) *1 Timeout

(12)
*1
Timeout

Response Area

ON
Command Code OFF

Busy ON (BUSY) signal OFF

Command Reception (ACK) signal
Response Code

ON
OFF ON
OFF

Command Completion ON (FLG) signal OFF

Control command is running.

Measuring

*2

(7)

(13)

overall Judgement ON (OR) signal OFF

Preparation for continuous measurement is initialed.

(1) (2)

(3)

(4)(6)

(8) (9)(10) (11)

*1: A timeout error will occur if you do not turn off the Command Execution (EXE) signal within 10 seconds after the Command Completion (FLG) signal is turned ON. Command Completion (FLG) signal and BUSY signal will be forcefully turned OFF.
*2: Busy (BUSY) signal is automatically switched ON to OFF when the command execution is completed.

<Operation to Start Continuous Measurement>
(1) The PLC (user) sets the Start Continuous Measurements command code. (2) After checking that the BUSY signal and the Command Completion (FLG) signal have turned OFF, the
PLC turns ON the Command Request (EXE) signal again to instruct the Sensor Controller to perform it. (3) When completing the preparations for continuous measurement, the Sensor Controller sets the command code and response code. when preparations for continuous measurement have been completed. (4) The Command Completion (FLG) signal is turned ON.

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(5) The PLC (user) turns OFF the Command Request (EXE) signal when the Command Completion (FLG) signal turns ON.
(6) After detecting that the Command Request (EXE) signal has turned OFF, the Sensor Controller starts continuous measureent and turns ON the Command Reception (ACK) signal and the BUSY signal.
(7) The Command Completion (FLG) signal is automatically turned OFF.
<Operation to End Continuous Measurement>

(8) The PLC (user) sets the End Continuous Measurements command code during execution of continu-

ous measurement by the Start Continuous Measurements command.

(9) The Command Request (EXE) signal is then turned ON and the instruction is sent to the Sensor Con-

troller.

2

Additional Information
Continuous measurement is not ended in the middle of measurement. When the End Continuous Measurements command was executed, continuous measurement is ended after the measurement in execution was completed.

(10) When receiving the instruction, the Sensor Controller stops continuous measurement and turns OFF the BUSY signal.
(11) After setting the command code and response code, the Sensor Controller turns ON the Command Completion (FLG) signal.
(12) When detecting that the Command Completion (FLG) signal turns ON, the PLC (user) turns OFF the Command Request (EXE) signal.
(13) After detecting that the Command Request (EXE) signal has turned OFF, the Sensor Controller automatically turns OFF the Command Reception (ACK) signal and Command Completion (FLG) signal automatically.

Precautions for Correct Use
� The measurement during continuous measurement is 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.
� When continuous measurement is ended, the measurement results from the last measurement will be displayed.

l Performing Measurement wit the STEP Signal
In addition to inputting and executing the Command Request (EXE) as a trigger, the Measurement Trigger Execute (STEP) signal can be used to perform measurement.

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Command Area

Measurement Trigger Execute
(STEP) signal

ON OFF

ON Busy (BUSY) signal
OFF

Command Reception ON

Response Area

(ACK) signal OFF

Overall judgment ON (OR) signal OFF
(1) (2) (3)

(4) (5) (6)

(1) While the ACK signal is OFF, measurement starts by the rising edge of the Measurement Trigger Execute (STEP) signal.
(2) The starting measurement turns ON the ACK signal. (3) The Measurement Trigger Execute (STEP) signal is turned OFF when the ACK signal turns ON. (4) The Overall Judgement (OR) signal is output when measurement is completed. (5) The ACK signal is turned OFF when the measurement flow is completed. (6) When the measurement flow ends and the measurement execution bit (STEP) is OFF, the processing
acceptance (ACK) signal turns OFF.

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2-3-17 Data Output

2 Methods for Connecting and Communicating with External Devices

2-3-17 Data Output
This section describes the ON/OFF timing for signals related to measurement data output after measurement completion using the following timing chart.

l Without handshaking

Fieldbus Data Output Fieldbus Data Output

Unit execution

(*1)

(*2)

Response Area

Result Completion ON (GATE) signal
OFF

First

Second

2

data output

ON

Data Output Area

Output data 0 to 7 (DATA0 to DATA7)

OFF

The data is overwritten by the second data output.

(1)

(2)

*1, *2: Data is output at the set output period*1 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 the Fieldbus Data Output Unit starts execution. (2) Data is output each time that the Fieldbus Data Output Unit is performed for the second time or oth-
er Fieldbus Data Output Unit is performed. In that time, the output data for the first time is overwritten.
Precautions for Correct Use
� To receive all the output data, set [Output control] to [Handshaking], and then output data. For details, refer to Setting the EtherNet/IP Output Specifications on page 2-202, and Output Format (Fieldbus Data Output) on page 2-215.
� If any part of data is missing on the PLC side, or the GATE signal is not output from the FH Sensor Controller, set Measurement priority to Lower the priority of the measurement process. Note that the measurement time becomes longer with this setting. For details, refer to Setting the Status at Startup Startup Settings in the Vision System FH/FHV Series User's Manual (Cat. No. Z365)

l With handshaking
The Result Completion (GATE) signal switches from OFF to ON when the PLC (user) switches the Result Set Request (DSA) signal from OFF to ON. At that time, data that is possible to output will be output.*1 The PLC (user) switches the DSA signal from ON to OFF under the conditions whether it has received the output data and the Result Completion (GATE) signal has been turned ON. In the case where multiple Fieldbus Data Output Units perform the data output, the PLC (user) turns the Data Output Request (DSA) signal ON again to instruct it to output the following data, when the Sensor Controller switched the Data Output Completion (GATE) signal from ON to OFF.
*1: Data prepared for output which an Output Unit has been already performed in the measurement flow.

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The PLC turns ON the Result Set Request (DSA)

signal at the same time as the STEP or

Fieldbus Data Output Fieldbus Data Output Command Request (EXE) signal and waits for

Unit execution

the first output data.

The EXE signal is turned ON at the same time.

Data Output

ON

Request

(DSA) signal

OFF

Result

ON

Completion

(GATE) signal

OFF

Output data 0 to 7 ON (DATA0 to DATA7) OFF

Wait for the first Wait for the second output data. output data.
(*1) (*1)

The PLC reads the data when the Result 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.
The Sensor Controller automatically turns OFF the Result Completion (GATE) signal when it detects that the Result Set Request (DSA) signal has turned OFF.

First data output Second data output

(1) (2) (3)(4)(5) (6)

*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.

(1) The PLC (user) turns ON the Command Request (EXE) signal and the Data Output Request (DSA) signal at the same time. The output data for the first Fieldbus Data Output Unit can be surely received.
(2) The Sensor Controller performs the Fieldbus Data Output Unit in the measurement flow. Since the Data Output Request (DSA) signal is ON after the data is written, the Data Output Completion (GATE) signal becomes ON.
(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 Fieldbus Data Output Unit in the measurement flow, the PLC (user) turns ON the Data Output Request (DSA) signal when the Data Output Completion (GATE) signal turns OFF, and then it waits for execution of the next Fieldbus 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.

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2-3-18 Timing Chart

2 Methods for Connecting and Communicating with External Devices

2-3-18 Timing Chart
This section describes the ON/OFF timing for signals related to the sequence of operation from control command input until measurement data output after measurement completion using the following timing chart.

l Example 1: Inputting a Measurement Trigger after Switching a Scene without Handshaking

ON Command Code
OFF

Select Scene command

Measurement command

Command Area

ON Command Parameter
OFF

Scene No. (5)

2
(11)

Command Execute ON (EXE) signal OFF
Busy ON (BUSY) signal OFF

Select Scene command

is running.

*1

(3)

*2

Measurement command

is running.

*1

(9)
*2

Command Reception ON

Response

(ACK) signal OFF

Area

(6)

(12)

Command Completion ON

(FLG) signal OFF

Data Output Completion ON (GATE) signal OFF

Data Output Area

Output Data ON (DATA) OFF
(1) (2)

(4)

(7) (8)

(10)

Fieldbus Data Output Unit is executed.

*1: A timeout error will occur if you do not turn off the Command Execution (EXE) signal from Sensor Controller (master) within 10 seconds. Then Command Completion (FLG) signal and Busy (BUSY) signal will be forced to turn off.
*2: Busy (BUSY) signal is automatically switched ON to OFF when the command execution is completed.

(1) The PLC sets the command code and command parameters for the Switch Scene. (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. A request is sent to the Sensor Controller. (3) The Sensor Controller turns ON the Command Reception (ACK) signal and BUSY signal and
switches the scene when the request is received. (4) The Command Completion (FLG) signal is turned ON when the scene switching is completed. (5) The PLC (user) turns the Command Request (EXE) signal OFF when the Command Completion
(FLG) signal is switched from OFF to ON. (6) After detecting that the Command Request (EXE) signal has turned OFF, the Sensor Controller au-
tomatically turns OFF the Command Reception (ACK) signal and Command Completion (FLG) signal. (7) The measurement command code and command parameters are set from the PLC. (8) The Command Request (EXE) signal is turned ON to execute the measurement command.

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Additional Information
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 theAdd time setting for the Scene switch time. Refer to Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

(9) The Sensor Controller turns ON the Command Reception (ACK) signal and BUSY signal and performs measurement processing when the request is received.
(10) The Command Completion (FLG) signal is turned ON when the measurement processing was completed.
(11) The PLC (user) turns the Command Request (EXE) signal OFF 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 Reception (ACK) signal and Command Execution Completion (FLG) signal.

l Example 2: Outputting Data with more than One Output Unit Without Handshaking

Command Area
Response Area
Data Output Area

ON
Command Code OFF

Measurement command

Command Parameter ON OFF
Command Execute ON (EXE) signal OFF

Busy (BUSY) signal
Command Reception (ACK) signal
Command Completion (FLG) signal

ON
OFF ON
OFF ON
OFF

Measurement command is running.

(11)
*1

(3)
*2

(12)

Data Output ON Completion
(GATE) signal OFF
Output Data ON (DATA) OFF
(1) (2)

(8) (6) First data output
(5)

(9) Second data output

(8) (10)

This data is overwritten by the second data output.

(4) First Fieldbus Data Output Unit is executed.

(7) Second Fieldbus Data Output Unit is executed.

*1: A timeout error will occur if you do not turn off the Command Execution (EXE) signal from Sensor Controller (master) within 10 seconds. Then Command Completion (FLG) signal and Busy (BUSY) signal will be forced to turn off.
*2: Busy (BUSY) signal is automatically switched ON to OFF when the command execution is completed.

(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. A request is sent to the Sensor Controller. (3) The Sensor Controller turns ON the BUSY signal and executes measurement processing when the
request is received. (4) When the first Fieldbus Data Output Unit in the measurement flow is executed, the Sensor Control-
ler outputs data for the first Fieldbus Data Output Unit to the Data Output Area.

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2-3-18 Timing Chart

2 Methods for Connecting and Communicating with External Devices

(5) The Sensor Controller turns the Data Output Completion (GATE) signal ON when the data is output

to the Data Output Area.

(6) The Sensor Controller turns the Data Output Completion (GATE) signal OFF after the time set at the

Output time in the EtherNet/IP settings has passed.

(7) The second Fieldbus Data Output Unit in the measurement flow is executed.

(8) The Sensor Controller outputs the data for the second Fieldbus Data Output Unit to the Data Output

Area after the time set at the Output period in the EtherNet/IP settings has passed. At that time, the

data for the first Fieldbus Data Output Unit is overwritten.

(9) The Sensor Controller turns the Data Output Completion (GATE) signal OFF after the time set at the

Output time in the EtherNet/IP settings has passed.

(10) The Command Completion (FLG) signal is turned ON when the measurement processing was com-

pleted.

2

(11) The PLC (user) turns the Command Request (EXE) signal OFF when the Command Completion

(FLG) signal turns ON.

(12) When the Sensor Controller detects that the Command Request (EXE) signal is OFF, it automatical-

ly turns OFF the Command Reception (ACK) signal and Command Execution Completion (FLG) sig-

nal.

Additional Information
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 measurement), 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 output 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 (from the second output on), read the output data and move it to a different part of I/O memory in the PLC. For details of handshaking, Refer to Data Output Control with Handshaking on page 1-25. 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.

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2-3-19 Communicating with the Sensor Controller using EtherNet/IP Message Communications
Message communications are used to communicate with a PLC that does not support tag data link communications or to use functions such as character string output that are not supported by tag data link. There are two ways in message communications: one way uses Assembly Object to exchange the same data as for tag data link communications, and another way uses Vision Sensor Object specific for the Sensor Controller to send and receive commands equivalent to non-procedure commands. This document mainly describes the Vision Sensor Object specific for the Sensor Controller and Assembly Object. For the procedures to issue messages, refer to your PLC's manual.

Object Configuration
EtherNet/IP functions of the Sensor Controller have the following objects. These objects can be accessed using message communications.

Class (Object name)

Class ID

Identity Object

1 (01 Hex)

Message

2 (02 Hex)

Router Object

Assembly Ob- 4 (04 Hex) ject

Connection Manager Object
Vision Sensor Object

6 (06 Hex) 100 (64 Hex)

TCP/IP Interface Object
EtherNet Link Object

245 (F5 Hex) 246 (F6 Hex)

1 (01 Hex)

Instance ID

1 (01 Hex)

100 (64 Hex): Output connection (for normal control and for line 0 in Multi-line Random-trigger Mode) 101 (65 Hex): Input connection in Multi-line Random-trigger Mode) 102 (66 Hex): Output connection (for normal control and for line 0 in Multi-line Random-trigger Mode) 103 (67 Hex): Input connection in Multi-line Random-trigger Mode) 1 (01 Hex)

1 (01 Hex): For normal control and for line 0 in Multi-line Random-trigger Mode 2 (02 Hex): For line 1 in Multi-line Random-trigger Mode 3 (03 Hex): For line 2 in Multi-line Random-trigger Mode 4 (04 Hex): For line 3 in Multi-line Random-trigger Mode 5 (05 Hex): For line 4 in Multi-line Random-trigger Mode 6 (06 Hex): For line 5 in Multi-line Random-trigger Mode 7 (07 Hex): For line 6 in Multi-line Random-trigger Mode 8 (08 Hex): For line 7 in Multi-line Random-trigger Mode 1 (01 Hex)
1 (01 Hex)

Data Types The data types are predetermined in the EtherNet/IP specifications as shown below.

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2-3-19 Communicating with the Sensor Controller using EtherNet/IP Message Communications

Data type
BOOL SINT INT DINT USINT UINT UDINT BYTE WORD DWORD REAL

Description
Boolean Short integer Integer Double-precision integer Unsigned short integer Unsigned integer Unsigned double-precision integer Bit string: 8 bits Bit string: 16 bits Bit string: 32 bits Floating-point real

Range

Min. value

Max. value

0: FALSE

1: TRUE

-128

127

-32768

32767

-2 31

231 - 1

0

255

0

65535

0

232 - 1

-

2

-

Single-precision floating-point range

Class ID: 4 Assembly Object
This object is used to communicate with a PLC that does not support tag data link communications.

� Settings for Data Received by the Sensor Controller

Instance

Setting item Setting value 100 102 104 106
Instance 108 110 112 114

Description For normal control and for line 0 in Multi-line Random-trigger Mode For line 1 in Multi-line Random-trigger Mode For line 2 in Multi-line Random-trigger Mode For line 3 in Multi-line Random-trigger Mode For line 4 in Multi-line Random-trigger Mode For line 5 in Multi-line Random-trigger Mode For line 6 in Multi-line Random-trigger Mode For line 7 in Multi-line Random-trigger Mode

Attribute

Attribute ID

Access

Name

0x03

Set

Data

0x04

Get

Size

Data type

Description

BYTE array
UNIT

This sets the command received by the Sensor Controller. The format is the same as an output connection in tag data link communications. For details, refer toInput Connection to the Sensor Controller (PLC (Originator) to Sensor Controller (Target)) on page 2-224.
Number of bytes: 20

Service Service code
14 (0E Hex) 16 (10 Hex)

Name GetAttributeSingle
SetAttributeSingle

Description This attribute gets the attribute value. This attribute sets a value for the attribute. Whether an attribute can be set depends on the access attribute of it.

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� Settings for Data Sent by the Sensor Controller

Instance

Setting item Instance

Setting value
101 103 105 107 109 111 113 115

Description
For normal control and for line 0 in Multi-line Random-trigger Mode For line 1 in Multi-line Random-trigger Mode For line 2 in Multi-line Random-trigger Mode For line 3 in Multi-line Random-trigger Mode For line 4 in Multi-line Random-trigger Mode For line 5 in Multi-line Random-trigger Mode For line 6 in Multi-line Random-trigger Mode For line 7 in Multi-line Random-trigger Mode

Attribute Attribute ID

Access

Name

0x03

Get

Data

0x04

Get

Size

Data type BYTE array UNIT

Description
This attribute sets the data sent by the Sensor Controller The format is the same as an input connection in tag data link communications. For details, refer toOutput Connection to PLC (Sensor Controller (Originator) to PLC (Target)) on page 2-225.
Number of bytes: 48

Service
Service code 14 (0E Hex)

Name GetAttributeSingle

Description This attribute gets the attribute value.

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2 Methods for Connecting and Communicating with External Devices

Class ID:100 (64 Hex) Vision Sensor Object

These objects are specific for the Sensor Controller and can exchange character string data with a format equivalent to commands for the non-procedure protocol. Character strings that are not supported in tag data link can be output.

Instance

Setting item Setting value

Description

1

For normal control and for line 0 in Multi-line Random-trigger Mode

Instance

2 to 8

For lines 1 to 7 in Multi-line Random-trigger Mode

2

Attribute

Attribute ID

Access

Name

0x01

Set

Data

Data type BYTE array

Description
This sets the command string sent to the Sensor Controller. (Max. 504 characters) The commands that can be used are equivalent to commands for the Non-procedure protocol. For details, refer toA-1-3 Command List on page A-7.

Service
Service code 50 (32 Hex)

Name SetAttribute

Description Sets a value for the attribute.

2-3-20 Example for Command Settings
This section describes how to set command strings for Attribute and provides a setting example. � As the data transmitted from the PLC to the Sensor Controller, set a command string equivalent to a
command for the non-procedure protocol. Add NULL (0x00) at the end of the string. No line feed code is required. The size of the transmitted data includes the NULL (0x00) at the end of the string. � As the data received by the PLC from the Sensor Controller, return string data equivalent to the received string of a command for the non-procedure protocol. NULL (0xll) is inserted into the delimiter part in the received string. The size of the received data includes the NULL (0x00) at the end of the string.
Examle: When getting the number (0) of the currently used scene: (Transmitted data: 2 bytes) 0x53 (`S') 0x00 (Received data: 5 bytes) 0x30('0') 0x00 0x4f('O') 0x4b('K') 0x00

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Additional Information
� To acquire data output from a processing unit, such as characters read in Character Inspection, use the external reference data for the processing unit. Therefore, use the specified command which acquires the parameters or measurement value. For details, refer to UNITDATA or UD on page A-169.
� For the external reference No. which is used in UNITDATA or UD function, refer to the description of each processing items.
2-3-21 EtherNet/IP Troubleshooting

Cannot Input to the Sensor Controller

Problem Any input is not accepted.

Cause
The EDS file version is different from the firmware one.

Action
Make sure that the EDS file version matches the firmware version.

No Data is Output from the Sensor Controller

Problem The GATE signal is not output.
No data is output at all.

Cause
The relationship between the RPI (packet interval) and the Output period for the Sensor Controller is improper.
The EDS file version is different from the firmware one.
The communication module is set incorrectly.

Action The RPI needs to be set shorter than the output period.
Make sure that the EDS file version matches the firmware version. Verify that the communication module is set to EtherNet/IP.

A Timeout Error Occurred

Problem
A handshaking timeout error occurred.

Cause
The timing to switch the DSA signal is too slow. The following patterns are considered. � The DSA signal is not turned ON
even after measurement has been completed. � The DSA signal is not switched from ON to OFF even after the GATE signal has been turned ON. � The DSA signal is not turned ON even after the GATE signal has been turned OFF.

Action
After the measurement command is performed, turn the Data Output Request (DSA) signal ON and OFF within the timeout time set in the EtherNet/IP communication settings. Or, increase the timeout time.

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2-3-21 EtherNet/IP Troubleshooting

Problem

Cause

Action

A timeout error for tag data link oc- Communications between an exter- Set the timeout time for the com-

curred

nal device and the Sensor Control- munication error longer than the

ler has been temporarily interrupt- processing time of the Sensor Con-

ed.

troller or extends the measurement

The Sensor Controller prioritizes interval. Set the timeout time for the

measurement processing and con- communication error set in tag data

trol processing over communication link connections as shown below.

processing.

Packet interval (RPI value) �

Therefore, as the result of the com- Timeout value > Measurement

munication processing delayed due processing time of the Sensor Con-

to the heavy loads of the internal troller

2

processing, communications be-

tween an external device and the

Sensor Controller may be tempora-

rily interrupted and a communica-

tion error may occur.

Slow Operation

Problem Response and data output is slow.

Cause
You try to use a wrong combination for communication protocols such as PLC Link and EtherNet/IP.

Action
Use a proper combination of communication protocols.

Settings are not kept

Problem
Settings such as Fieldbus Data Output calculations and comments are not kept.

Cause
Changed the communication settings after setting the Fieldbus Data Output

Action
Set the Fieldbus Data Output after performing the communication settings.

Communications between the Sensor Controller and external devices are not correctly done.

Problem
The Sensor Controller cannot communicate with an external device such as a PLC properly. (Only for Ethernet)

Cause

Action

The communication settings such as IP address have been changed after the Device information storage tool was performed. (The IP addresses for external devices on the network may have overlapped the IP addresses stored in the Sensor Controller.)

Check that the communication settings such as IP address are correct. (Tool menu - System setting - Communication - Ethernet) Perform the Device information storage tool again. The communication settings in the software will be copied in the Sensor Controller.

Missing of data Occurs

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Problem
Missing of data occurs. Data Output Completion (GATE) signal and BUSY signal are not output from the Sensor Controller.

Cause
Since the measurement load on the Sensor Controller becomes heavy, the communication processing for EtherNet/IP is delayed.

Action
Setting Measurement priority to Lower the priority of the measurement process can ease up. Note that the measurement time will delay. For details, refer to Setting the Status at Startup Startup Settings in the Vision System FH/FHV Series User's Manual (Cat. No. Z365)

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2-4-1 Overview of PROFINET

2 Methods for Connecting and Communicating with External Devices

2-4 Communicating by PROFINET

This section describes the communication settings, communication specifications, input/output formats, and the communication timing chart required for communications by PROFINET between the Sensor Controller and an external device.

2-4-1 Overview of PROFINET

PROFINET is a network for industrial use that applies industrial Ethernet (100 Mbps, Full duplex) to PROFIBUS DP. The specifications are open standards managed by PI (PROFIBUS and PROFINET

2

International), and is used in a wide range of industrial devices.

Since PROFINET uses standard Ethernet technology, it can be mixed with various general-purpose

Ethernet devices.

This section describes an overview of PROFINET required to use the FH/FHV series with PROFINET. For details of the PROFINET specifications, refer to documents from IEC1158, ICE61784, and PI.

Types of PROFINET
PROFINET has two types of standards: PROFINET IO and PROFINET CBA. � PROFINET CBA
This is inter-device communication using components and mainly used between controllers. � PROFINET IO
This controls between a controller and peripheral devices by I/O data.
PROFINET CBA

PROFINET IO
The FH/FHV/FZ5 series support PROFINET IO. PROFINET IO adopts the same device model as PROFINET DP. The information for each device is described in a GSD (General Station Description) file based on EML (Extensible Markup Language).

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Precautions for Correct Use
� For a network that many devices are connected, temporal heavy load on the network may cause communication errors or lower performance such as response delay or packet loss. Perform the verification under actual conditions before use.
� When operating the network under high load condition, perform the verification under actual conditions before use because a certain margin in measurement cycle time is necessary for stable communications.
� Use the EtherNet connector 2 (lower side) when using FH-1000/FH-3000 series with 4 cameras or 8 cameras and FH-2000/FH-5000 series via PROFINET. The EtherNet connector 1 (upper side) cannot be used for PROFINET communications.
� When using PROFINET communications in multi-line random trigger mode with three lines or more, recommend to use FH-3000/5000 series because it is likely to e a high-load state.
� PROFINET cannot be used together with PLC link or serial (EtherNet).

PROFINET IO

l Communication Specifications for PROFINET IO
Here, describe the communication specifications for PROFINET IO.

Communication specifications

Method

RT (real-time) communication

Periodic data communication method

IRT (Isochronous real-time) communication

Description
Uses standard Ethernet hardware and achieves the same level of performance as the existing Fieldbus.
Provides a higher level of assurance about executing communication within a particular time than RT communication. This is assumed to be used in a system requiring strict real-time such as motion control.

Support on the FH/FHV series Supported
Not supported

PROFINET IO has specified the supported functions per conformance class with an awareness of applications.

Class Class A Class B
Class C

Overview
Supports the basic functions of RT communication. Network diagnosis and redundancy functions used in process automation are added. Supports IRT communication achieving reliable synchronization.

Support on the FH/FHV/FZ5 series Supported Not supported
Not supported

The following functions are defined in Class A.

Function Cyclic data exchange

Overview
This is real-time data communication between the IO controller and IO devices performed at a determined cycle. This is set by IO data CR.

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2-4-1 Overview of PROFINET

Function
Acyclic parameter data/device identification
Device/network diagnosis

Overview
This is used for parameter settings, IO device configuration, and reading device information. This is set by record data CR.
This is communication to upload alarms and status from IO devices to the IO controller. This is set by alarm CR.

l Device Types Used in PROFINET IO

The following devices are defined in PROFINET IO.

Method

2
Description

IO controller IO device IO supervisor

A controller for external devices. Sensor devices connected to the IO controller. The FH/FHV series correspond to IO devices. A PC or other device to be used for maintenance and diagnosis.

l IO device
IO devices consist of DAPs and IO modules. The functions and characteristics for the devices are described in a GSD file. � DAP (Device Access Point):
This is an Ethernet access point to be used in a communication program. � IO module:
This is composed of the following Slot, Sub-slot, and Index and has one or multiple slots. � Slot:
This indicates the location for IO modules located in the IO device. � Sub-slot:
This is an IO interface in the Slot. This defines data types such as bit data and byte data, and the meanings for the data. � Index: This is data in the Sub-slot.

Additional Information
When an I/O device is used in PROFINET, the GSD file that describes the device functions and properties is used to configure the network configuration settings. When the FH/FHV series are used in PROFINET as an I/O device, the GSD file of the FH/FHV series must be installed in the Engineering Tool.

l Data Exchange in PROFINET IO
A connection so-called AR (Application Relation) must be first established to communicate between an IO controller and an IO device. When the AR connection has once established, data communication between the IO controller and IO device is performed with CR (Communication Relation) that defines the details of the data communication

An IO device can establish an AR with each communication device. Moreover, multiple CRs can be defined in one AR.

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Defining multiple CRs in one AR enables communications when multiple profiles and/or different Sub-slot are required. Cycle time can be set per each CR and IO too.
AR

I/O controller PLC

I/O device Sensor Controller

External device (PLC Sensor
Controller)

Input Area

CR
Communication cycle

Cyclic Output Data (control output,
measurement results, etc.)

External device (PLC Sensor
Controller)

Output Area (control input, commands, etc.)

CR
Communication cycle

Cyclic Input Data

Ethernet (PROFINET)
CR is classified into IO data CR, record data CR, and alarm CR. Within the IO data CR, data communication is performed per an updating task period. Within the other CRs than the IO data CR, communication is performed in between the cyclic data communications. Within the record data CR, the IO controller transmits commands to the IO devices at any timing and the IO devices send back responses to the IO controller.
2-4-2 PROFINET Communications
With commands and responses via communications between the PLC and the Sensor Controller using EtherNet/IP tag data link, the PLC can control the Sensor Controller and make it output data after measurements. The Sensor Controller supports EtherNet/IP conformance tests. The settings for tag data links are performed with the support software dedicated to it. When you connect to an OMRON Controller to communicate with it via EtherNet/IP, use the Network Configurator to perform the tag data link settings such as tag, tag set, and connection setting. This section describes how to use the Network Configurator to perform tag data link settings. For details of the tag data link settings using Network Configurator, refer to the following manuals. � NJ-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) � CS/CJ-series EtherNet/IP Units Operation Manual (Cat. No. W465) � CJ-series EtherNet/IP Units Operation Manual for NJ-series CPU Unit (Cat. No. W495) For details, refer to .

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2-4-3 Communications Processing Flow

2 Methods for Connecting and Communicating with External Devices

Precautions for Correct Use
� 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, 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.
� When the measurement interval is short, the measurement processing load is high, or command processing for operations such as scene group changing is time-consuming, the Sensor Controller prioritizes measurement processing and control processing over communica-
tion processing. As a result, communication between an external device and the Sensor Con- 2
troller may be temporarily interrupted, and a communication error may occur. In this case, set the communication error timeout time longer than the Sensor Controller's processing time, or lengthen the measurement interval. Set the communication error timeout
time in the tag data link connection settings*1as follows: Timeout value > Measurement time on Sensor Controller. *1: Use Support Software, such as the Network Configurator, to change the tag data link connection settings. For details of setting the tag data links using the Network Configurator, refer to 2-3-8 Setting Tag Data Link on page 2-206.

2-4-3 Communications Processing Flow
In PROFINET communications, the following five communication areas are set in the PLC (IO controller).

Input module for the Sensor Controller (Input Data)
Output module from the Sensor Controller (Output Data)

(1) Command Area (Command/response method)
(2) User Input Area
(3) Response Area (Command/response method) (4) Data Output Area (Data output after measurement)
(5) User Output Area

This area is used that you write control commands to perform for the Sensor Controller.
This area is used that you write the data that you defined for the Sensor Controller.
This area is used that the Sensor Controller writes the results which the control commands written in the Command Area were performed.
This area is used that the Sensor Controller writes the output data accompanied with the measurement after measurement performed.
This area is used that the Sensor Controller writes the data that you defined.

The above five areas are set using an engineering tool such as CX Configurator FDT that can set IO data CR of PROFINET. The areas can be specified by using I/O memory addresses such as CIO or DM. For details of the IO data CR settings by CX Configurator FDT, refer to 2-4-7 IO Data Communication Settings on page 2-273. Moreover, when a non-OMRON PLC or PROFINET unit is connected, download the EDS file for the Sensor Controller from our OMRON website and follow the procedures in the user's manual for the external devices to be connected and in the instruction for the software to set IO data CR.

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The flow of PROFINET communications between a PLC and the Sensor Controller is as follows.

Input connection to the Sensor Controller

PLC

FH Sensor Controller

Output Module Output Slot

Input Module

(1) Command Area
You write the following control commands for the Sensor Controller. � Control inputs � Command code � Command parameters

Commands

The control commands that are written to the Command Area are executed.

... Responds when a command is received.
20 bytes

(2) I/O ports in the User Input Area
Write the data defined by User to Sensor Controller.

Input

Sensor Controller process using the written data.*4

32 bytes

Output connection to PLC

Input Module Input Slot*1
(3) Response Area
The Sensor Controller writes the execution results to the PLC.

Output Module

Execution

Responses

Measurement results are written to the Response Area of the PLC. � Control outputs � Command code � Response code � Response data

... Responds when a command is received.
16 bytes

(4) Data Output Area The Sensor Controller writes the output data to the PLC.
External outputs*2

Communications Module

.....

Measurement flow
Execution of processing item

Execution of processing item for the Output Unit.*3
Data is written to the Communications Module.

... Operations are performed by executing the measurement flow.
32 bytes

The FH Sensor Controller writes the values measured by processing item.

Output connection to PLC

(5) I/O ports in the User Output Area
Write the data defined by User to Sensor Controller.

Output

Sensor Controller writes the data defined by User to the I/O ports in the User Output Area.*4

32 to 256 bytes

*1 : The Response Area (3) and Data Output Area (4) are assigned to continuous memory addresses or to variables.
*2 : You can use output controls (handshaking) to prevent output data from being externally output from the communications buffer until the PLC (master) turns ON the Result Set Request (DSA) signal to request the output data.
*3 : For details of the Output Units outputting measurement data, refer to Settings Required for Data Output on page 1-21.

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2-4-4 Communications Settings

2 Methods for Connecting and Communicating with External Devices

*4 : Use the Macro Customization Function to input and output to the User Area. For details of the Macro Customization Function, refer to PROFINET communication of the IO Module List in the Vision System FH/FHV Macro Customize Functions Programming Manual (Cat. No. Z367).

2-4-4 Communications Settings
The following settings are required to use PROFINET.

1. Communication Module settings (Startup settings)

���

The communication method to be used is determined by select-

ing a communication module.

For details, refer to 2-4-5 Communications Module Settings

(Startup Settings) on page 2-266.

2

���

For the communications method of the Communication Module

2. Communications specifications settings

selected in step 1, set the communication specifications and whether or not to use the User Area. For details, refer to 2-1-11 Communication Specifications Set-

tings on page 2-23.

���

The IO data CR settings are performed to exchange data with

the external device.

3. IO data CR settings

This section describes an example of how to set IO data CR with an OMRON PLC using the CX Configurator FDT.

For details, refer to2-4-7 IO Data Communication Settings on

page 2-273.

���

The data to output to the Data Output Area is registered in the

4. Output data settings

Output Unit.The Output Unit is placed in the processing flow in

(processing item registration)

the same way as for other processing items. For details, refer to 2-4-8 Output Data Settings (Processing Item

Registration) on page 2-275.

���

If communications are not working properly, check the communi-

cations setup from step 2 and perform a communications test to

determine whether the Sensor Controller can be detected on the

5. Communications test

network. If that does not solve the problem, refer to the troubleshooting

section for each communication protocol.

For details, refer to 2-4-10 Testing Communications on page 2-285.

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2-4-5 Communications Module Settings (Startup Settings)
The communication method used for communication with the Sensor Controller is selected from the communication modules.
1 On the Main window, click Tool - System Settings to open the system settings. 2 On the Multiview Explorer on the left, select System settings - Startup - Startup setting and
then click the Communication tab.

3 In the Communication Module Selection Area, select PROFINET in the Fieldbus, and then click
Apply.
4 Click Close in the bottom of the Window. 5 Click Data save in the Toolbar.
6 On the Main window, click Function - System restart. 7 Click OK in the System restart dialog box to restart the Sensor Controller.
When the Sensor Controller was restarted, the set Communication Module will operate with the default settings.
8 Set the IP address and other parameters for external devices such as a PLC.
Precautions for Correct Use After you set the Communication 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 Communication Module settings will not be enabled
Additional Information You can save the Communication Module settings to a file. Use the System data or System + Scene group 0 data option for saving settings to a file. For details, Refer to Saving Settings Data to the Controller RAM Disk or an External Storage Device in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

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2 Methods for Connecting and Communicating with External Devices

2-4-6 Communication Specifications Settings
Set the output handshaking and output controls for communications.

Precautions for Correct Use

� Set the Communications Module to PROFINET in the startup settings before setting the com-

munications specifications.

For details, Refer to 2-4-5 Communications Module Settings (Startup Settings) on page 2-266

After you selected the Communication Module, save the settings to the Sensor Controller and

restart it.

If you do not restart the Sensor Controller, the selected Communication Module will not be

enabled.

2

Furthermore, if the operation mode is set to the Multi-line Random Trigger Mode, the Com-

munications Modules for lines 1 and higher must also be set to PROFINET.

� When using Multi-line Random-trigger Mode, specify different addresses for the sending and

receiving areas for each line.

Setting IP Address
Set the IP address for the Sensor Controller.
Precautions for Correct Use Set the same IP address as it set by I/O controller such as a PLC. In PROFINET communications, an IP address set by I/O controller is prioritized.
1 On the Main window, click Tool - System Settings to open the system settings. 2 In the tree view on the left, select System Settings - Communication - Ethernet Normal
(xyz) ("xyz" depends on the Communication Module). The Ethernet view is displayed.
3 Set each item.
� UDP case

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Additional Information
� Sensor Controllers of the FH-1000/2000/3000/5000 series with four or eight Camera inputs have two Ethernet ports. Set the settings for the two Ethernet ports as follows: � Communication Module Settings: Use the same settings 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. Note that the FH prioritizes the bottom port, so when there is a high network load, communication on the top port may be delayed or in some cases communication data may be lost. By using both Ethernet ports simultaneously, you can use the bottom port for PLC Link, Non-procedure, EtherNet/IP, or PROFINET communications with a PLC and the top port for FTP or remote operation communications with an external device.
� The following Sensor Controller type has one Ethernet port: - FH-L/FHV series - FH-1000/3000 series with two camera inputs In this case, the IP address of the Ethernet port is set in Address setting 2

Setting item

Setting value [Factory default]

Address Settings Address Settings is only for the following series: FH-1000 series (4- and 8-camera types), FH-2000 series, FH-3000 series (4- and 8-camera types), FH-5000 series

Description
Set the IP address for the upper Ethernet port on the Sensor Controller.

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Setting item

Setting value [Factory default]

Description

� Obtain an IP address automatically.
� [Use the following IP address]

Set the IP address for 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 select-

ed, set the IP address, subnet mask, and the

default gateway address.

a.b.c.d

IP Address

a: 1 to 223 b: 0 to 255 c: 0 to 255

Enter the IP address for the Sensor Control-

2

ler.

d: 0 to 254

[10.5.5.100]

0.0.0.0 to

Subnet mask

255.255.255.255

Enter the subnet mask address.

[255.255.255.0]

a.b.c.d

a: 1 to 223

Default gateway

b: 0 to 255 c: 0 to 255

Enter the default gateway address.

d: 0 to 255

[10.5.5.100]

a.b.c.d

a: 1 to 223

DNS server

b: 0 to 255 c: 0 to 255

Enter the DNS server address.

d: 0 to 255

[10.5.5.100]

a.b.c.d

a: 1 to 223

Preferred WINS server

b: 0 to 255 c: 0 to 255

Enter the WINS server address.

d: 0 to 255

[0.0.0.0]

a.b.c.d

a: 1 to 223

Alternate WINS server

b: 0 to 255 c: 0 to 255

Enter the WINS server address.

d: 0 to 255

[0.0.0.0]

Setting item

Setting value [Factory default]

Address Settings 2 Address Settings is only for the following series: FH-1000 series (2-camera type), FH-2000 series, FH-3000 series (2-camera type), FH-5000/FH-L/FHV series

Description
Set the IP address for the lower Ethernet port on the Sensor Controller.

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Setting item
IP Address Subnet mask Default gateway DNS server Preferred WINS server Alternate WINS server

Setting value [Factory default]
� 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 254 [10.5.6.100]
0.0.0.0 to 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]
a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [0.0.0.0]
a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [0.0.0.0]

Description Same as "Address Settings".
Enter the WINS server address. Enter the WINS server address.

4 Click Apply to finish the settings.
Click Close to close the System Settings dialog.

Precautions for Correct Use
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.

Setting the PROFINET Output Specifications

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1 On the Main window, click Tool - System Settings to open the system settings. 2 Select System Settings - Communication - PROFINET.
The PROFINET view is displayed.

2-4-6 Communication Specifications Settings

2

3 Set each item.
Setting item Judge output polarity Error output polarity
Output control
Output period [ms]*1 Output time [ms]*2

Set value [Factory default] � ON at OK � [ON at NG]
� [ON at error] � OFF at error
� [None] � Handshaking
2.0 to 5000.0 [10.0]
1.0 to 1000.0 [5.0]

Description
Set the polarity of the judge result output signal.ON at OK: ON when the judgment result is OK. ON at NG: ON when the judgment result is NG.
Set the polarity of the error result output signal.: ON at error: ON when an error occurs. OFF at error: OFF when an error occurs.
Set whether to synchronize with the external device when data is output. Normally, select Handshaking. For details, refer to 2-4-16 Data Output on page 2-305. None: The Sensor Controller outputs measurement results without synchronizing with external devices. Handshaking: The Sensor Controller outputs measurement results with synchronizing with external devices.
Valid only when Output control is set to None. Set the cycle by which measurement results are output.
Valid only when Output control is set to None. Set the cycle by which measurement results are output. Set the ON time for the GATE signal. Set the time required for an external device to acquire measurement results.

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Setting item

Set value [Factory default]

Description

Timeout [s]

0.5 to 120.0 [10.0]

Valid only when Output control is set to Handshaking. A timeout error occurs when no response from external devices is received at the following timing within the time that has been set. In the following cases, a timeout error occurs when the state of each signal does not change within the time that has been set. � The DSA signal turns ON after measurement
has been completed. � The DSA signal turns OFF after the GATE flag
has turned ON.

Output data size
*3*4

Result Data Format 0 (32 bytes) Result Data Format 1 (64 bytes) Result Data Format 2 (128 bytes) Result Data Format 3 (256 bytes)

Set the data size to output as measurement results for each line. The settings are reflected at the restart after they were stored. There are four types in the output data size: 32, 64, 128, and 256 bytes. Result Data Format 0 (32 bytes) Out put data 0 to 7 of 4 bytes can be used and total size of the output data is 32 bytes. Result Data Format 1 (64 bytes) Out put data 0 to 15 of 4 bytes can be used and total size of the output data is 64 bytes. Result Data Format 2 (128 bytes) Out put data 0 to 31 of 4 bytes can be used and total size of the output data is 128 bytes. Result Data Format 3 (256 bytes) Out put data 0 to 63 of 4 bytes can be used and total size of the output data is 256 bytes.

User area

� [None] � ON

Set whether or not to use the User Area (user input and output areas) � Data type of User Input Area 0 to 3 is DINT. Da-
ta type of User Input Area 4 to 5 is LREAL. � Data type of User Output Area 0 to 3 is DINT.
Data type of User Output Area 4 to 5 is LREAL.

*1. Set the period so that the interval is longer than the total of Otuput time and Updating period (Update Rate of IO controller), but less than the measurement interval.
*2. Set this value to Updating period (Update Rate of IO controller) or larger. *3. If the total size of the output data exceeded the data size set here, the data will be transmitted at
one time but divided into several times. *4. Set the same value as set at the external device.

4 Click Apply to apply the settings.

5 Click Close to close the System Settings dialog box.

Precautions for Correct Use
PLC Connection Timeout Interval Set the PLC connection timeout interval so that it is longer than the measurement processing time. For the timeout value, refer to2-3-3 EtherNet/IP Communications on page 2-194.

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2 Methods for Connecting and Communicating with External Devices

2-4-7 IO Data Communication Settings
This section describes how to set data links for PROFINET. The communication areas in the PLC used for IO data communications with the Sensor Controller are set by assigning the I/O memory address with an engineering tool such as CX Configurator FDT. When an OMRON controller is connected and communicate via PROFINET, use CX Configurator FDT to assign the I/O memory address. Here, describes how to set the I/O memory address using CX Configurator FDT. For details, refer to CJ series PROFINET I/O Controller Unit Operation Manual for NJ series CPU Unit(W511-E2-01).

Precautions for Correct Use

2

When connecting to a CPU Unit of NJ series or CJ series, install the GSD file that defines the IO data CR connection information for the Sensor Controller to a tool (e.g. CX Configurator FDT). Download the GSD file from OMRON's website.

IO Data CR Connection Settings for the Sensor Controller
Each communication area in the PLC is set as IO data CR connections as shown below
Settings for the Sensor Controller (Module Settings)
1 Add an IO device (FZ/FH-XXXX/FHV7) to the IO controller of the CX Configurator FDT. 2 Select Configuration -> Modules in the IO device (FZ/FH-XXXX/FHV7). 3 Add Input Data to the slot 1 and Output Data to the slot 2. 4 Add a Sub-module to the Sub-slot in Slot 1 and set the data format. Likewise, do slot 2. *1
The types of the data format must be the same as the Output data size set at PROFINET of the Sensor Controller.

*1: For Multi-line Random-trigger Mode, add the sub-modules corresponding to the number of lines to the Input Data and Output Data respectively.

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Sub-module setting for the Sensor Controller

Data format

Size

User area

32 bytes

64 bytes

128 bytes

No

256 bytes

32 bytes

64 bytes Yes
128 bytes

256 bytes

Description

Command Area

Response Area and Output Area

(Out) Data Format 0 (32 bytes) (In) Data Format 0 (32 bytes)

(Out) Data Format 10 (64 bytes) (In) Data Format 1 (64 bytes)

(Out) Data Format 2 (128 bytes) (In) Data Format 2 (128 bytes)

(Out) Data Format 3 (256 bytes) (In) Data Format 3 (256 bytes)

(Out) Data Format 0 (32 bytes) + (Out) Data Format 0 (32 bytes) +

User Area

(Out) Data Format 1 (64 bytes) + (In) Data Format 1 (64 bytes) +

User Area

(Out) Data Format 2 (128 bytes) (In) Data Format 2 (128 bytes) +

+ User Area

User Area

(Out) Data Format 3 (256 bytes) (In) Data Format 3 (256 bytes) +

+ User Area

User Area

Precautions for Correct Use
� For the settings for IO Device Area on the IO controller (PLC), set the data length to be assigned to the I/O memory address so that it is same or longer than the value indicated in the Occupied.
� If the IO data communications were interrupted, increase the value of Data Hold Factor and Watchdog Factor respectively by clicking Configuration - IO Device Setup.

� Maximum size for the data output in Multiple-line Random-trigger mode When a OMRON PROFINET interface unit is used, the allocatable data size to the slots in the Multiple-line Random-trigger mode will be limited up to 416 bytes. Therefore, refer to the following table and set the total of occupation data size for all lines not to exceed 416 bytes.

Size 32 bytes 64 bytes 128 bytes 256 bytes 32 bytes 64 bytes 128 bytes 256 bytes

Data format User area No
Yes

Occupation data size
48 bytes 80 bytes 144 bytes 272 bytes 80 bytes 112 bytes 176 bytes 304 bytes

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2 Methods for Connecting and Communicating with External Devices

2-4-8 Output Data Settings (Processing Item Registration)
Here, set the output items and output format to be used with PROFINET. This processing item is not available in the FHV series. When you set output data in the FHV series, refer to 2-4-9 Setting Output Data (Numerical Values and Character Strings) on page 2-279.

Registering Processing Items

Register the processing items for data output in the measurement flow.

1 Click Edit flow in the Toolbar.

2

2 Select the Fieldbus Data Output processing item in the processing item tree.

3 Click Append.
The Fieldbus Data Output processing item is added at the bottom of the unit list (flow).

4 Click the Fieldbus Data Output icon and set the data output items and data format.
For details of the settings, refer to the following. Registering the Items to Output on page 2-276
Precautions for Correct Use
Fieldbus Data Output Perform the communication settings before the settings of Fieldbus Data Output. Note that if you changed the communication settings after the settings of Fieldbus Data Output, the changed settings will not be displayed on the Fieldbus Data Output setting display.

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Additional Information
� The number of outputtable items for single data output processing is 8 depending on data output settings in each lines. If you need to output more data items, 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 controlled by I/O signals.

Controlling Data Output Each time that data is output, read the output data and move it to a different

with Handshaking

part of I/O memory in the PLC.

For detail of handshaking, refer to Data Output Control with Handshaking

on page 1-25.

� 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.)

For details, refer to Outputting the Measurement Data on page 1-18.

Registering the Items to Output
Set the output data with expressions.
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, click the output data number to set the expression.

The selected output data number is displayed under the list.
4 Click next to the expression text box and set the expression.

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Specify the processing items, measurement results, and measurement data in the expression. Arithmetic or function calculations can be applied to the measurement data to output. For details of the calculation settings, refer to Calculation in the Vision System FH/FHV Series Processing Items Reference Manual (Cat. No. Z341).

5 Click for the Comment text box and enter the description for the expression.
The entered comment will be displayed in the detailed results area on the Main window. For example, Test was entered as the comment for the expression 0, Test will be displayed instead of Expression 0 in the detailed results areas on the Main window.

6 Repeat step 3 to 5 to set expressions for all of the required output data numbers.

2

Additional Information

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 ex-

pressions after the deleted number forward.

For details of the Data Output Area, refer to 2-3-12 Memory Allocation on page 2-224.

Example: If the Expression for Output 1 Is Deleted

Output Item Settings

Data Output Destination (Data Output Area)

Output 1 is deleted.

First word
+8 +9 +10 +11 +12 +13

Bit

15

to

0

DATA1 (Reference SX)

DATA2 (Reference SY)

DATA3 (Reference angle ST)

Output Item Settings

Data Output Destination (Data Output Area)

First word
+8 +9 +10 +11 +12 +13

Bit

15

to

0

DATA1 (Reference SX)

DATA3 (Reference angle ST)

The output numbers assigned to the expressions remain the same, but the data output location is shifted forward for data 3.

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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.

Setting item
Decimal output format

Setting value [Factory default]
� [Fixed point] � Floating point

Description
� Fixed point Data is output multiplied by 1,000. ex.: For 123.456, it will be 0x0001E240.
� Floating point Data is output in floating point format. ex.: For -123.4567, it will be 0xc2f6e979.

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2-4-9 Setting Output Data (Numerical Values and Character Strings) Registering Processing Items
Register the processing items for data output in the measurement flow.
1 In the Main window, click Edit flow in the Toolbar. 2 Click Result output (I/O) in the processing item tree.
2
3 Click Append.
The Result output (I/O) processing item is added at the bottom of the unit list (flow).

4 Click Result output (I/O)
output data.

icon in the unit list (flow) or Set to set the output device and the

2-4-9 Setting Output Data (Numerical Values and Character Strings)

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Setting the Output Device
Here, set a communication method when data is output.
1 Click Result output (I/O) icon in the unit list (flow) or Set to set the output device and the
output data. The Result output (I/O) setting window is displayed.

2 Click Output setting.
The Output setting window is displayed.

3 Click
use.

at the right side of the Output device text box to select the communication method to

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Precautions for Correct Use � The displayed output device is determined based on the selection of Communication
module in the System settings in the item tab. � Executing measurements without an output device selected causes a failure (NG: No meas-
urement) in the judgment of the processing unit.
Setting the Output Data
Here, set the data to output such as processing item data or fixed character strings.
2
1 In the item tab area, click Output data.
The Result output (I/O) setting window is displayed.

2-4-9 Setting Output Data (Numerical Values and Character Strings)

(a)

(c) (b)

(c)

a) Setting data display area The No. (output number), Offset (indicating the byte position from the beginning), Data type (integer, double, string), Data, Value, and Title (data description) are displayed in this area. A value is displayed when a variable is assigned to data.
b) Output data display area Contents in the output data display area in binary (Hex) are displayed in this area.
c) Button

Button

Description Moves the selected data up one position. Moves the selected data down one position. Adds new data to the selected data position. Deletes the selected data. The following data moves up after the deletion. Edits the selected data.

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Button

Description Saves the current settings and returns to the previous view.

Discards the current settings and returns to the previous view.

2 In the list, select the output data number to set the output and then click Insert.
The following Output data editing dialog box is displayed.

Setting item

Setting value [Factory default]

Description

Data type

� Integer � Double � String

Sets the data type.

Data

There are two input methods.*1

-

� Enter strings directly

� Assign variables

Title

-

Enters the description for data.

String settings

Valid when String is selected in the Data type.

Size

0 to 4,095 [10]

Sets the number of characters.

Character code

[0]

Sets the code page according to the language to be used.

*1. Any arithmetic expression cannot be used. If it is used, it will be handled as character strings.

� Character code: Specify the following code page for each language.

Language Japanese
German Italian Vietnamese

Code page 932

Language English

1252
1252 1258

French
Spanish Polish

Code page 1252
1252 1252 1250

Language
Chinese (simplified) Chinese (traditional) Korean

Code page 936
950 949

� The default 0 is no language-dependent letters in ANSI code page. � If non-existing code page is selected, corresponding data is handled as invalid data (NULL).

3 Click at the right side of the Data type text box to select the data to output.
Integer, Double, or String are selectable.

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Data type

Description

Integer

� Entered data is handled as four-byte data. � Allowable entering range is a range of signed INT. � When string variables are specified for data, character strings like digits which
can be converted into numerical values will be converted and output.When dec-

imal digits are included, they are truncated.Moreover, they are handled as "0" if

they are not convertible.

Double

� Entered data is handled as eight-byte data.

� The allowable entering range is a range of eight-byte floating decimal value.

� When string variables are specified for data, character strings like digits which

can be converted into numerical values will be converted and output. Moreover, they are handled as "0" if they are not convertible.

2

� Entered data is set based on specified Size.

Example: Size is four and the entered data is ABCD.

ABCD ABC+NULL � The number of allowable entering characters is up to 4,095.

String

If this limit is exceeded, nothing is displayed and output. � When NULL is included in the entered character string, the character string fol-

lowing NULL is not output. � The following escape sequence codes can be entered. The entered escape se-

quence codes are handled as fixed character strings.

\N: Carriage return, \r: Line feed, \t: Tab, \xXX: ASCII code specified by "XX"

(numerical value), \": Double quotation mark, \\: Backslash

4 Enter data into Data text box.
Data that can be output with one data No. is a range only to be handled as one string.
1) When directly entering an output content into the Data text box. A string enclosed with " " (double quotation marks) handled as one string and the rest following it is not output. Example: "AA"TEST only "AA" is output.
2) In the case where assignment variable is assigned o data: Directly enter a variable name (Scene variable: SC.~) or specify a variable in Variable

assignment window displayed by clicking . � Only one variable is valid for one data No.
Example: SC.A$+SC.B$ Only SC.A$ is output. � When a fixed string, e.g. AA, is entered before a variable, the subsequent variable is also
handled as a fixed string. Example: AA+SC.AA& "AA+SC.AA&" � When "String" is selected in the "Data type" but "Integer" or "Double" is set to the variable, then the variable is converted to a string and then output.

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5 Enter Title that indicates the content of output data. 6 When String is selected in Data type, the following items in String setting area also needs to be
set. Example:

7 Click OK in the end of entering data to close the settings.

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2-4-10 Testing Communications
Here, check whether or not the PROFINET communication settings are correct. If communications cannot be established after the setup, use the following procedures to check the setting details and the communication status.

Before Testing Communications

Here, Serial (Ethernet) - Normal (UDP) communication module is used as an example to describe the

procedures. When checking the communication settings, stop the program on the PLC.

2

Checking Communication Settings
Use the following procedures to check whether or not the communication settings are correct.

2-4-10 Testing Communications

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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.)
2. Set the IP address of the Sensor Controller. The default settings are as follows: Address setting: 10.5.5.100 Address setting 2: 10.5.6.100

3. On the Main Window, select [Tool] - [System Settings]. Select [System Settings] - [Communication] - [PROFINET] from the tree view on the left.
4. Click the [Settings] tab.
5. Set the output control. Set whether to provide an interlock with the PLC when performing data output.
* Output Period Set the cycle by which measurement results are output. 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 PROFINET updating interval (Update Rate). Set these values so that they satisfy the following relationships: Updating interval (Update Rate) < 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].)
6. This completes the Controller settings. The PLC settings are set next.

Checking the Communication Status
Use the ping command to check whether or not the Sensor Controller exists on the Ethernet network. With it, check that the Sensor Controller IP address has been correctly set and is correctly connected to the Ethernet network.
Additional Information
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.

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2-4-10 Testing Communications

2 Methods for Connecting and Communicating with External Devices

1 Connect the Sensor Controller and a computer with an Ethernet cable.
Set the high-order digits of the computer IP address to the same values as the Sensor Control-
ler and the low-order one digit to a different value.

Sensor Controller Computer

Device

Example 10.5.5.100 (default) 10.5.5.101

2 Open the Windows command prompt on the computer and perform the ping command.
At the > prompt, type ping, followed by a space and the Sensor Controller IP address, and then 2
press Enter. Example: C:\>ping 10.5.5.100

3 After a few seconds, Reply from followed by the IP address of the Sensor Controller (e.g.,
10.5.5.100) are displayed, it means that the Sensor Controller is connected to the Ethernet network properly. Example: Reply from 10.5.5.100: byte=32 Time<1 ms TTL=128

If anything other than Reply from is displayed: The Sensor Controller is not connected to the Ethernet network for some reason. Check the following. � Are the high-order three digits of the IP addresses for the computer and the Sensor Control-
ler the same? � Is the Ethernet cable correctly connected?
4 Use the ping command to check the communication status of the PLC as well.
After you have confirmed the communication status as described above, transmit a measurement command to the Sensor Controller in practice to check the communication operations as the Vision Sensor.

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2-4-11 Memory Allocation
This section describes the assignments of the Command Area for the input connection to the Sensor Controller and the Response Area and Output Area for the output connection to the PLC.

Input Connection to the Sensor Controller (PLC (IO Controller) to Sensor Controller (IO Device))
For the input connections to the Sensor Controller, specifies the control inputs, command codes, command parameters, and User Input Area, which are the Command Area parameters.
l Command Area

Set the first

Bit

channel in

Command 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Area.

Name

+0

E

R

C

L

R

X E X E

S T E P

Control input E (2 CH) X E

+1

D

S

A

+2

+3

CMD-CODE

Command Code (2 CH)

+4

+5 +6
CMD-PARAM
+7 +8

Command parameters (Max. 6 CH)

+9

+10
User Input Area 0
+11

User Input Area 0

+12
User Input Area 1
+13

User Input Area 1

+14
User Input Area 2
+15

User Input Area 2

+16
User Input Area 3
+17

User Input Area 3

+18

+19
User Input Area 4
+20

User Input Area 4

+21

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Set the first

Bit

channel in

Command 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Area.

Name

+22

+23
User Input Area 5
+24

User Input Area 5

+25

EXE

Signal

DSA
STEP XEXE
ERCLR CMD-CODE CMD-PARAM

User Input Area 0 to 5

Signal name Command Execution Bit
Data Output Request Bit Measure Bit Flow Command Request Bit Error Clear Bit Command Code Command parameters
User Input Area 0 5

Function

Performs a command. For details, refer to2-4-14 Command List on

2

page 2-299.

Requests the next data output. For details, refer to2-4-8 Output Data Settings (Processing Item Registration) on page 2-275.

Performs measurement one time.

Instructs a command execution during the execution of the Fieldbus flow control.

Clears the ERR signal from the Sensor Controller.

Stores the command code.

Stores the command parameters.

This area is used that you write the data that you defined for the Sensor Controller. � Data type of User Input Area 0
to 3 is DINT. Data type of User Input Area 4 to 5 is LREAL.

2-4-11 Memory Allocation

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Output Connection to PLC (Sensor Controller (IO Device) to PLC (IO Controller))
For output connections to the PLC, execution results and output data from the Sensor Controller are set. The execution results such as control outputs, command codes, response codes, and response data are output to the Response Area, and the output data from the Sensor Controller or the User Output Area is output to the Data Output Area.

Additional Information
The order in which data is stored depends on the manufacturer of the connected PLC. For details, refer to A-1-1 Parameter Notation Examples for Command Control on page A-2.

l Response Area

First chan-

Bit

nel in Re-

sponse 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Area

Name

E

+0

R

X W A I T

X B U S Y

X F L G

A C K

R U N

O R

B U S Y

Control outF put L (2 CH) G

G

+1

A T

E

+2
CMD-CODE
+3

Command Code (2 CH)

+4
RES-CODE
+5

Response Code (2CH)

+6
RES-DATA
+7

Response Data (2 CH)

l Data Output Area
When the User Area is used, data set as the number of output data in the PROFINET output specifications are output followed by the data of the User Output Area. Therefore, the first channel of the User Output Area will be changed according to the number of output data. The following table indicates the mapping of the Data Output Area and User Output Area when Result Data Format 0 (32 bytes) is selected as the number of the output data.

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First chan-

Bit

nel in Data

Output 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Area

Name

+8

+9

DATA0

Output data 0

+10 DATA1
+11

Output data 1

+12

+13

DATA2

+14 DATA3
+15

Output data

2

Output data

2

3

+16 DATA4
+17

Output data 4

+18 DATA5
+19

Output data 5

+20 DATA6
+21

Output data 6

+22 DATA7
+23

Output data 7

+24

User Output Area 0

+25

User Output Area 0

+26 User Output Area 1
+27

User Output Area 1

+28

User Output Area 2

+29

User Output Area 2

+30

+31

User Output Area 3

+32

+33 User Output Area 4
+34

User Output Area 4

+35

+36

+37

User Output Area 5

+38

User Output Area 5

+39

Signal FLG GATE BUSY
OR

Signal name Command Completion Bit Data Output Completion Bit
Command Busy Bit
Overall judgment

Function
Turns ON when command execution is completed.
Turns ON when data output is completed.
Turns ON when command execution is in progress and turns OFF automatically when the execution was competed. Turns ON when the overall judgment is NG. (The OR signal is output only when the Output option is selected in the Adjustment window.)

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Signal
XFLG
XBUSY XWAIT RUN ACK ERROR CMD-CODE RES-CODE RES-DATA DATA0 to 7
User Output Area 0 to 5

Signal name
Flow Command Completion Bit
Flow Command Busy Bit Flow Command Wait Bit Run Mode
Command Reception bit
Error Signal Command Code Response Code Response Data
Output data 0 to 7
User Output Area 0 to 5

Function
Turns ON when execution of an entered command during the execution for the Fieldbus flow control is completed, i.e. XBUSY: ON to OFF).
Turns ON when an entered command is in execution during the execution of the Fieldbus flow control.
Turns ON when a command can be entered during the execution of the Fieldbus flow control.
Turns ON when the Sensor Controller is in Run Mode.
Turns ON when Measurement Bit (STEP) or Command Execution Bit is turned ON. Turns OFF after the command execution was completed and either the STEP Bit or EXE Bit is OFF.
Turns ON when the Sensor Controller detects an error signal.
Returns the executed command code.
Stores the response data for the executed command.
Stores the response data for the executed command.
Outputs the data set in the output processing item. When more than one processing item exists, data is overwritten on this area by performing handshaking.
This area is used that the Sensor Controller writes the data that you defined using Macro customize functions. � Data type of the User Output Area 0 to 3 is DINT. Data type
of the User Output Area 4 to 5 is LREAL.

Accessing Communication Areas Using Variables by NJ series Controllers
In Controllers of the NJ series, I/O memory addresses assigned to each communication area can be accessed from the user program only via variables. Follow the procedures below.

l Specify the I/O memory addresses to access each communication area
By setting AT specifications to variables, assigned destination to each communication area can be specified in the unit of the I/O memory address.

1 Setting IO Device Area (CX Configurator FDT)
Directly specify the input and output allocation from the IO controller to the IO device by using the I/O memory addresses allocated to each communication area. (Output Allocation: Command Area to the Sensor Controller, Input Allocation: Response Area and Data Output Area from the Sensor Controller)

Setting example

IO Device Area

Area

Output Allocation

DM

Input Allocation

DM

Start Address 0 100

Length 100 100

2 Setting Variables

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Define variables with AT (assigned destination) specifications to the I/O memory addresses assigned to each communication area as shown below.

Setting example

Variable

AT specification

Data type

SensorOut_EXE

D0.0

BOOL

SensorOut_STEP

D0.1

BOOL

SensorOut_ERCLR

D0.15

BOOL

SensorOut_DSA

D1.0

BOOL

SensorIn_FLG

D100.0

BOOL

SensorIn_BUSY

D100.1

BOOL

2

SensorIn_GATE

D101.0

BOOL

SensorOut_CommandCode

D2

BOOL

SensorIn_ResponseData

D106

DINT

SensorIn_Data

D108

ARRAY[0..7] OF DINT

2-4-11 Memory Allocation

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2-4-12 I/O Signals
The following tables list the signals used to control I/O for PROFINET.

Input Signals

Signal EXE
DSA (Used only for handshaking output control)
ERCLR

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

Command Request Signal

The user (PLC) turns this signal ON when issuing a command to the Sensor Controller.

The user (PLC) turns this signal ON when issuing a command (instruct the execution) to the Sensor Controller based on the command code and command parameters.

The user (PLC) switches this signal from ON to OFF when the Sensor Controller turns the Command Completion (FLG) sig-
nal ON.*1

� The user (PLC) turns this signal ON when requesting the measurement data to out-

Data Output Request Signal

During handshaking, the user (PLC) issues this signal to the Sensor Controller to request to output externally the measured results performed in the measurement flow. When this signal is ON while an Output Unit (Fieldbus Data Output Unit) in the measurement flow is performed, the Sensor Controller outputs the data of the processing item.

put externally.*3 � This DSA signal is
turned ON at the same time as the Trigger (STEP) or Command Request (EXE) signal switches from OFF to ON. When more than one Output Units is used to output more than eight data, turn ON this DSA signal again after the GATE signal for the first data output turns OFF. For details, refer to2-3-18 Timing Chart on page 2-249.

The user (PLC) switches this signal from ON to OFF when the Sensor Controller turns the GATE signal
ON.*2

Error Clear Bit

This is turned ON when the Error (ERR) signal from the Sensor Controller will be cleared.

The user (PLC) switches the signal from OFF to ON when the Error (ERR) signal from the Sensor Controller is turned OFF.

This signal is turned OFF when the user (PLC) detected the Error (ERR) signal turned OFF.

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2 Methods for Connecting and Communicating with External Devices

Signal

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

XEXE

Flow Command Request

This is turned on when a command will be performed while PLC Link, Fieldbus, or parallel flow control are performed.

The user (PLC) switches the signal from OFF to ON when it instructs an entered command execution during the execution of the Fieldbus flow control.

This signal switches from ON to OFF when the Flow Command Completion (XFLG) signal is turned ON.

STEP

This signal turns ON

from the PLC) to per- The user (PLC)

Measurement Trigger

This is turned on when measurements will be performed.

form measurement after confirming that the BUSY signal and the Command Execution

switches this signal from ON to OFF after detecting that the Sensor Controller turned

2

Completion (FLG) sig- the BUSY signal ON.

nal have turned OFF.

*1. If the Command Request (EXE) signal does not switch from ON to OFF within 10 seconds after the Command Completion (FLG) signal was turned ON, a timeout error will occur, and the FLG signal is forced to be turned OFF.
*2. If the Data Output Request (DSA) signal does not switch from OFF to ON within the time set at the "Timeout" in the PROFINET settings after the Data Output Completion (GATE) signal turned ON, a timeout error will occur and the measurement data prepared for output will be discarded.
*3. If the Data Output Request (DSA) signal does not switch from OFF to ON within the time set at the "Timeout" in the PROFINET settings after the measurement processing started by the Measurement Trigger (STEP) signal or the Command Request (EXE) signal turned ON, a timeout error will occur and the measurement data prepared for output will be discarded.

Output Signals

Signal BUSY FLG

Signal name
Busy
Command Execution Completion

Function
This signal indicates that external inputs such as commands cannot be accepted. Issue a command when this signal is OFF.
*1*2*3
The Sensor Controller uses this signal to inform the PLC that command execution has been completed.

ON/OFF timing

OFF to ON

ON to OFF

This signal turns ON when the Sensor Controller receives a command from the user (PLC). (After the EXE signal switches from OFF to ON.)

The signal turns OFF when the command execution is completed.

The signal turns ON when the Sensor Controller completes execution of a received command.

This signal is turned OFF when the user (PLC) switches the Command Request (EXE) signal from ON to OFF.

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Signal
GATE
ERR RUN OR ACK

Signal name
Data Output Completion Signal
Error Signal
Run Mode Overall judgment Command Reception

Function
The signal informs the PLC of the timing to load output data. "ON" of this signal indicates that the Sensor Controller is outputting the data. The user (PLC) starts to load the data when the signal turns ON.
The signal indicates that the Sensor Controller detects the following errors. For details of the errors, refer to Error Messages and Troubleshooting in the Vision System FH/FHV Series User's Manual (Cat. No. Z365)..
The signal indicates that the Sensor Controller in RUN Mode.
The signal indicates the overall judgment results. The signal indicates that a command is received. Even BUSY is not output due to a heavy load, it surely detects the completion of the command processing execution.

ON/OFF timing

OFF to ON

ON to OFF

� Without handshaking The signal turns ON when the Sensor Controller performs the Output Unit (Fieldbus Data Out-
put Unit)*4 in the measurement flow and is ready for the data output. � With handshaking The signal turns ON when the Sensor Controller performs the Output Unit (Fieldbus Data Out-
put Unit) *4 in the measurement flow and is ready for the data output and the Data Output Request (DSA) signal is ON.

� Without handshaking The signal turns OFF after the Output Time set in the PROFINET settings has passed.
� With handshaking This signal is turned OFF when the user (PLC) switches the Data Output Request (DSA) signal from ON to OFF.

The signal turns ON if the Sensor Controller detects an error.

The signal turns OFF when the error is fixed and the user (PLC) turns the Error Clear (ERCLR) signal ON.

The signal turns ON when the Sensor Controller is in Run Mode.
The signal turns ON when the overall judgment is NG.

The signal turns OFF when the Sensor Controller is in Adjustment Mode.
The signal turns OFF when the overall judgment is OK.

The signal is turned ON when Measure Bit (STEP) or Command Execution Bit (EXE) is received.

The signal switches from ON to OFF after the execution completed and either the STEP Bit or EXE Bit is OFF.

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Signal

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

XFLG

Flow Command Execution Completion

The signal indicates that a command performed during execution of the Fieldbus flow control has been completed.

The signal is turned ON when a command performed has been completed (XBUSY switched from ON to OFF) during execution of Fieldbus flow control.

The signal switches from ON to OFF when the Flow Command Busy (XBUSY) signal switches form OFF to ON during the execution for the Fieldbus flow control.

XBUSY

Flow Command Busy Bit

The signal indicates that a command entered during the execution of the Fieldbus flow control is in execution.

The signal switches from OFF to ON when a command entered during the execution for the Fieldbus flow control is in execution.

The signal switches from ON to OFF when a command execution entered during the execution of the Fieldbus flow control has been completed.

2

XWAIT

Flow Command Wait Bit

The signal indicates that a command entered can be accepted during the execution of the Fieldbus flow control.

The signal switches from OFF to ON when a command can be input during the execution of the Fieldbus flow control.

This signal switches from ON to OFF when a command cannot be entered during the execution of the Fieldbus flow control .

*1. Although the BUSY signal remains ON during continuous measurement, the Sensor Controller accepts the Command Request (EXE) signal only when the End Continuous Measurement command is performed.
*2. This will not be detected while commands received through any other protocol are processed. (Ex.: This signal remains OFF during measurement with the STEP signal in the Parallel communications.) If you use more than one protocol and need to detect command execution, use the BUSY signal in Parallel communications.
*3. "ON" of this signal does not mean that a command is currently performed. To check whether a command is being executed, refer to the Command Execution Completion (FLG) signal.
*4. This occurs when the measurement flow is performed in order from the top and the Output Unit is executed, not at the moment when measurement execution was completed.

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2-4-13 Output Items

Measurement Results for which Output is Possible (Fieldbus Data Output)
The following data can be output using the processing items related to the Result Output. Measurement values are also referred using processing units such as expressions.

Measurement items
Judgment Data 0 to 7

Character string

Description

JG D000 to D007

Judgment result Results of expressions set for output data 0 to 7.

External Reference Tables (Fieldbus Data Output)
By specifying a number, the following data can be referred using control commands or processing items having a set/get processing unit data function.

Number 0
5 to 12 150

Data name Judgment

Set/Get Get only

Data 0 to 7 Output type

Get only Set/Get

Data range
0: No judgment (unmeasured) 1: Judgment result OK -1: Judgment result NG � ASCII:-999999999.9999 to
999999999.9999 � Binary: -2147483.648 to 2147483.647
0: Fixed point 1: Floating point

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2-4-14 Command List

2-4-14 Command List
This section describes the commands used in PROFINET. A command with command words in the Command Area first channel can be performed in IO data communications. For details of commands in IO data communications, refer to A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET on page A-15.
l Execution Commands

First word in Response Area

Function

2
Reference

+3

+2

0010

1010

Performs measurement one time.

page A-15

0010

1020

Performs continuous measurement.

page A-15

0010

1030

Ends continuous measurements.

page A-16

0010

1040

Performs test measurement for the specified unit.

page A-16

0010

2010

Clears all measurement result values.

page A-17

0010

2020

Clears the data output buffer.

page A-18

0010

3010

Saves the current system data and scene group data in the Sensor Controller.

page A-19

0010

4010

Registers the model again.

page A-20

0010

5010

Shifts the image display position by the specified amount. page A-21

0010

5020

Zooms the image display in or out by the specified factor. page A-21

0010

5030

Returns the display position and display magnification to their default values.

page A-22

0010

7010

Copies the scene data.

page A-24

0010

7020

Deletes the scene data.

page A-25

0010

7030

Moves the scene data.

page A-25

0010

8020

Loads the specified registered image as the measurement image.

page A-26

0010

9010

Returns an entered text string without changing it.

page A-27

0010

B010

Branches to the start of the measurement flow (processing unit 0).

page A-30

0010

F010

Restarts the Sensor Controller.

page A-30

l Commands to Get Status

First word in Response Area

+3

+2

0020

1000

0020

2000

0020

4000

0020

5010

Function
Gets the current scene number. Gets the current scene group number. Gets the number of the layout that is currently displayed. Gets the number of the Unit that is currently displayed in the specified image display window.

Reference
page A-31 page A-31 page A-32 page A-33

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First word in Response Area

+3

+2

0020

5020

0020

5030

0020

7010

0020

7020

0020

8010

0020
0020 0020

8020
8030 A000

Function
Gets the sub-image number that is currently displayed in the specified image display window. Gets the image mode for the specified image display window. Gets the input status (prohibited/permitted) for the Communications Modules. Gets the output status (prohibited/permitted) to an external device. Gets the ON/OFF status for the specified parallel I/O terminal. Gets the ON/OFF status of all parallel terminals except for DI terminals. Gets the ON/OFF status of all parallel DI terminals. Gets the current state of the operation log.

Reference
page A-33 page A-35 page A-35 page A-36 page A-38 page A-40 page A-42 page A-45

l Commands to Set Status

First word in Response Area

+3

+2

0030

1000

0030

2000

0030

4000

0030

5010

0030

5020

0030 0030 0030 0030

5030 7010 7020 8010

0030
0030 0030

8020
8030 A000

Function
Switches to the specified scene number. Switches to the scene group with the specified number. Sets the layout number and switches the image. Sets the number of the Unit to display in the specified image display window. Sets the number of the sub-image to display in the specified image display window. Sets the image mode for the specified image display window. Permits/prohibits inputs to the Communications Modules. Permits/prohibits outputs to external devices. Sets the ON/OFF status of the specified parallel I/O terminal. Sets the ON/OFF status of all parallel terminals except for DO terminals. Sets the ON/OFF status of all parallel DO terminals. Sets the state of the operation log.

Reference
page A-46 page A-46 page A-48 page A-49
page A-49
page A-50 page A-51 page A-52 page A-52
page A-55 page A-57 page A-60

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l Commands to Read Data

First word in Response Area

+3

+2

0040

1000

0040

4050

0040

4060

Function
Gets the specified processing unit data. Gets the conditions set for data logging. Gets the parallel DI terminal offset data that is set.

l Commands to Write Data

First word in Response Area

+3

+2

0050

1000

0050

4050

0050

4060

Function
Sets the specified unit data. Sets the data logging conditions. Sets the parallel DI terminal offset data.

Reference
page A-60 page A-67 page A-67
2
Reference
page A-68 page A-73 page A-75

2-4-14 Command List

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2-4-15 Command Response Processing
About control command response processing, the following timing chart describes the ON/OFF timing of signals related to commands to be input.

l Timing Chart for Command Execution
The Command Request (EXE) signal is used as the trigger to input and execute various commands such as measurement execution stored in advance in the PLC memory. 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.

ON Command Code
(CMD-CODE) OFF
ON Command Area Command Parameter
(CMD-PARAM) OFF
Command Execute ON (EXE) signal OFF

(5)
*1

Specified time in the time out setting.

Command Code ON (CMD-CODE) OFF

Busy (BUSY) signal

Command Reception

Response Area

(ACK) signal

Response Code (RES-CODE)

ON
OFF ON
OFF ON
OFF

(3)

Control command is running.

*2

ON Response Data
(RES-DATA) OFF

Command Completion ON (FLG) signal OFF

(1) (2)

(6) (4)

*1: A timeout error will occur if you do not turn off the Command Execution (EXE) signal within 10 seconds after the Command Completion (FLG) signal is turned ON. Command Completion (FLG) signal and BUSY signal will be forcefully turned OFF.
*2: Busy (BUSY) signal is automatically switched ON to OFF when the command execution is completed.

(1) The PLC sets the command code and command parameters.
(2) After checking that the BUSY signal and the Command Completion (FLG) signal have turned OFF, the PLC turns ON the Command Request (EXE) signal again to instruct the Sensor Controller to perform it.
(3) When receiving the instruction the Sensor Controller performs the command and turns ON the ACK signal and the BUSY signal.
(4) When completing the execution, the Sensor Controller sets the command code, response code, and response data. The Command Completion (FLG) signal is turned ON.
(5) The PLC (user) turns OFF the Command Request (EXE) signal when the Command Completion (FLG) signal turns ON.

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2-4-15 Command Response Processing

(6) When detecting that the Command Request (EXE) signal is OFF, the Sensor Controller automatically turns OFF the Command Reception (ACK) signal and the Command Completion (FLG) signal automatically.

l Continuous Measurement Command (Without handshaking)

Continuous execution is used to repeatedly execute measurement by starting the next measure-

ment operation (image input and measurement processing) as soon as single measurement opera-

tion (image input and measurement processing) is completed.

Continuous measurement is started when the Start Continuous Measurements command is exe-

cuted and ended when the End Continuous Measurements command is executed.

ON Command Code
OFF

2

Start Command for Continuous Measurement

End Command for Continuous Measurement

Command Area

ON Command Parameter
OFF
Command Execute ON (EXE) signal OFF

(5) *1 Timeout

(12)
*1
Timeout

Response Area

ON
Command Code OFF

Busy ON (BUSY) signal OFF

Command Reception (ACK) signal
Response Code

ON
OFF ON
OFF

Command Completion ON (FLG) signal OFF

Control command is running.

Measuring

*2

(7)

(13)

overall Judgement ON (OR) signal OFF

Preparation for continuous measurement is initialed.

(1) (2)

(3)

(4)(6)

(8) (9)(10) (11)

*1: A timeout error will occur if you do not turn off the Command Execution (EXE) signal within 10 seconds after the Command Completion (FLG) signal is turned ON. Command Completion (FLG) signal and BUSY signal will be forcefully turned OFF.
*2: Busy (BUSY) signal is automatically switched ON to OFF when the command execution is completed.

(1) The PLC (user) sets the Start Continuous Measurements command code. (2) After checking that the BUSY signal and the Command Completion (FLG) signal have turned OFF, the
PLC turns ON the Command Request (EXE) signal again to instruct the Sensor Controller to perform it. (3) When completing the preparations for continuous measurement, the Sensor Controller sets the command code and response code. when preparations for continuous measurement have been completed. (4) The Command Completion (FLG) signal is turned ON. (5) The PLC (user) turns OFF the Command Request (EXE) signal when the Command Completion (FLG) signal turns ON.

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(6) After detecting that the Command Request (EXE) signal has turned OFF, the Sensor Controller starts continuous measureent and turns ON the Command Reception (ACK) signal and the BUSY signal.
(7) The Command Completion (FLG) signal is automatically turned OFF.
<Operation to End Continuous Measurement>
(8) The PLC (user) sets the End Continuous Measurements command code during execution of continuous measurement by the Start Continuous Measurements command.
(9) The Command Request (EXE) signal is then turned ON and the instruction is sent to the Sensor Controller.

Additional Information
Continuous measurement is not ended in the middle of measurement. When the End Continuous Measurements command was executed, continuous measurement is ended after the measurement in execution was completed.

<Ending Continuous Measurement>
(10) When receiving the instruction, the Sensor Controller stops continuous measurement and turns OFF the BUSY signal.
(11) After setting the command code and response code, the Sensor Controller turns ON the Command Completion (FLG) signal.
(12) When detecting that the Command Completion (FLG) signal turns ON, the PLC (user) turns OFF the Command Request (EXE) signal.
(13) After detecting that the Command Request (EXE) signal has turned OFF, the Sensor Controller automatically turns OFF Command Completion (FLG) signal.

Precautions for Correct Use
� The measurement during continuous measurement is 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.
� When continuous measurement is ended, the measurement results from the last measurement will be displayed.

l Performing Measurement with the STEP Signal
In addition to inputting and executing the Command Request (EXE) as a trigger, the Measurement Trigger Execute (STEP) signal can be used to perform measurement.

Command Area

Measurement Trigger Execute
(STEP) signal

ON OFF

Response Area

ON Busy (ACK) signal
OFF
Overall judgment ON (OR) signal OFF

(1) (2) (3)

(4) (5)

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(1) While the ACK signal is OFF, measurement starts by the rising edge of the Measurement Trigger Execute (STEP) signal.
(2) The starting measurement turns ON the ACK signal. (3) The Measurement Trigger Execute (STEP) signal is turned OFF when the ACK signal turns ON. (4) The Overall Judgement (OR) signal is output when measurement is completed. (5) The ACK signal is turned OFF when the measurement flow is completed.

2-4-16 Data Output

This section describes the ON/OFF timing for signals related to measurement data output after meas-

2

urement completion using the following timing chart.

l Without handshaking

Response Area

Result Completion ON (GATE) signal
OFF

Data Output Area

Output data 0 to 7 (DATA0 to DATA7)

ON

OFF

Fieldbus Data Output Fieldbus Data Output

Unit execution

(*1)

(*2)

First data output

Second data output

The data is overwritten by the second data output.

(1)

(2)

*1, *2: Data is output at the set output period*1 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 the Fieldbus Data Output Unit starts execution. (2) Data is output each time that the Fieldbus Data Output Unit is performed for the second time or oth-
er Fieldbus Data Output Unit is performed. In that time, the output data for the first time is overwritten.
Precautions for Correct Use
� To receive all the output data, set Output control to Handshaking, and then output data. For details, refer to Setting the PROFINET Output Specifications on page 2-270, and Output Format (Fieldbus Data Output) on page 2-215)
� If any part of data is missing on the PLC side, or the GATE signal is not output from the Sensor Controller of the FH series, set Measurement priority to Lower the priority of the measurement process.. Note that the measurement time becomes longer with this setting. For details, refer to Setting the Status at Startup [Startup Settings] in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

l With handshaking
The Result Completion (GATE) signal switches from OFF to ON when the PLC (user) switches the Result Set Request (DSA) signal from OFF to ON. At that time, data that is possible to output will be output.*1

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The PLC (user) switches the DSA signal from ON to OFF under the conditions whether it has received the output data and the Result Completion (GATE) signal has been turned ON. In the case where multiple Fieldbus Data Output Units perform the data output, the PLC (user) turns the Data Output Request (DSA) signal ON again to instruct it to output the following data, when the Sensor Controller switched the Data Output Completion (GATE) signal from ON to OFF.

*1: Data prepared for output which an Output Unit has been already performed in the measurement flow.

The PLC turns ON the Result Set Request (DSA)

signal at the same time as the STEP or

Fieldbus Data Output Fieldbus Data Output Command Request (EXE) signal and waits for

Unit execution

the first output data.

The EXE signal is turned ON at the same time.

Wait for the first output data.

Wait for the second output data.

Data Output

ON

Request

(DSA) signal

OFF

Result

ON

Completion

(GATE) signal

OFF

(*1) (*1)

The PLC reads the data when the Result 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.
The Sensor Controller automatically turns OFF the Result Completion (GATE) signal when it detects that the Result Set Request (DSA) signal has turned OFF.

Output data 0 to 7 ON (DATA0 to DATA7) OFF

First data output Second data output

(1) (2) (3)(4)(5) (6)

*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.

(1) The PLC (user) turns ON the Command Request (EXE) signal and the Data Output Request (DSA) signal at the same time. The output data for the first Fieldbus Data Output Unit can be surely received.
(2) The Sensor Controller performs the Fieldbus Data Output Unit in the measurement flow. Since the Data Output Request (DSA) signal is ON after the data is written, the Data Output Completion (GATE) signal becomes ON.
(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 Fieldbus Data Output Unit in the measurement flow, the PLC (user) turns ON the Data Output Request (DSA) signal when the Data Output Completion (GATE) signal turns OFF, and then it waits for execution of the next Fieldbus 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.

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2-4-17 Timing Chart
This section describes the ON/OFF timing for signals related to the sequence of operation from control command input until measurement data output after measurement completion using the following timing chart.

l Example 1: Inputting a Measurement Trigger after Switching a Scene without Handshaking

ON Command Code
OFF

Select Scene command

Measurement command

Command Area

ON Command Parameter
OFF

Scene No. (5)

2
(11)

Command Execute ON (EXE) signal OFF
Busy ON (BUSY) signal OFF

Select Scene command

is running.

*1

(3)

*2

Measurement command

is running.

*1

(9)
*2

Command Reception ON

Response

(ACK) signal OFF

Area

(6)

(12)

Command Completion ON

(FLG) signal OFF

Data Output Completion ON (GATE) signal OFF

Data Output Area

Output Data ON (DATA) OFF
(1) (2)

(4)

(7) (8)

(10)

Fieldbus Data Output Unit is executed.

*1: A timeout error will occur if you do not turn off the Command Execution (EXE) signal from Sensor Controller (master) within 10 seconds. Then Command Completion (FLG) signal and Busy (BUSY) signal will be forced to turn off.
*2: Busy (BUSY) signal is automatically switched ON to OFF when the command execution is completed.

(1) The PLC sets the command code and command parameters for the Switch Scene. (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. A request is sent to the Sensor Controller. (3) The Sensor Controller turns ON the Command Reception (ACK) signal and BUSY signal and
switches the scene when the request is received. (4) The Command Completion (FLG) signal is turned ON when the scene switching is completed. (5) The PLC (user) turns the Command Request (EXE) signal OFF when the Command Completion
(FLG) signal is switched from OFF to ON. (6) After detecting that the Command Request (EXE) signal has turned OFF, the Sensor Controller au-
tomatically turns OFF the Command Reception (ACK) signal and Command Completion (FLG) signal. (7) The measurement command code and command parameters are set from the PLC. (8) The Command Request (EXE) signal is turned ON to execute the measurement command.

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Additional Information
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 theAdd time setting for the Scene switch time. Refer to Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

(9) The Sensor Controller turns ON the Command Reception (ACK) signal and BUSY signal and performs measurement processing when the request is received.
(10) The Command Completion (FLG) signal is turned ON when the measurement processing was completed.
(11) The PLC (user) turns the Command Request (EXE) signal OFF 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 Reception (ACK) signal and Command Execution Completion (FLG) signal.

l Example 2: Outputting Data with more than One Output Unit Without Handshaking

Command Area
Response Area
Data Output Area

ON
Command Code OFF

Measurement command

Command Parameter ON OFF
Command Execute ON (EXE) signal OFF

Busy (BUSY) signal
Command Reception (ACK) signal
Command Completion (FLG) signal

ON
OFF ON
OFF ON
OFF

Measurement command is running.

(11)
*1

(3)
*2

(12)

Data Output ON Completion
(GATE) signal OFF
Output Data ON (DATA) OFF
(1) (2)

(8) (6) First data output
(5)

(9) Second data output

(8) (10)

This data is overwritten by the second data output.

(4) First Fieldbus Data Output Unit is executed.

(7) Second Fieldbus Data Output Unit is executed.

*1: A timeout error will occur if you do not turn off the Command Execution (EXE) signal from Sensor Controller (master) within 10 seconds. Then Command Completion (FLG) signal and Busy (BUSY) signal will be forced to turn off.
*2: Busy (BUSY) signal is automatically switched ON to OFF when the command execution is completed.

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2 Methods for Connecting and Communicating with External Devices

(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. A request is sent to the Sensor Controller.

(3) The Sensor Controller turns ON the BUSY signal and executes measurement processing when the

request is received.

(4) When the first Fieldbus Data Output Unit in the measurement flow is executed, the Sensor Control-

ler outputs data for the first Fieldbus Data Output Unit to the Data Output Area.

(5) The Sensor Controller turns the Data Output Completion (GATE) signal ON when the data is output

to the Data Output Area.

(6) The Sensor Controller turns the Data Output Completion (GATE) signal OFF after the time set at the

Output time in the PROFINET settings has passed.

(7) The second Fieldbus Data Output Unit in the measurement flow is executed.

(8) The Sensor Controller outputs the data for the second Fieldbus Data Output Unit to the Data Output

2

Area after the time set at the Output period in the PROFINET settings has passed. At that time, the

data for the first Fieldbus Data Output Unit is overwritten.

(9) The Sensor Controller turns the Data Output Completion (GATE) signal OFF after the time set at the Output time in the PROFINET settings has passed.

(10) The Command Completion (FLG) signal is turned ON when the measurement processing was com-

pleted.

(11) The PLC (user) turns the Command Request (EXE) signal OFF when the Command Completion

(FLG) signal turns ON.

(12) When the Sensor Controller detects that the Command Request (EXE) signal is OFF, it automatical-

ly turns OFF the Command Reception (ACK) signal and Command Execution Completion (FLG) sig-

nal.

Additional Information
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 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. For more information on handshaking, refer to Data Output Control with Handshaking on page 1-25. 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.

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2-4-18 PROFINET Troubleshooting

Cannot Connect with the Sensor Controller

Problem
Cannot establish the IO link with the Sensor Controller.
In OMRON PROFINET interface unit, the IO data settings cannot be transferred to the unit.

Cause
The GSD file version is different from the firmware one.
The total of the output data size exceeds the maximum size capable of outputting in Multi-line Randomtrigger mode.

Action
Make sure that the EDS file version matches the firmware version. Adjust the output data size so that the total size is within 416 bytes.

No Data is Output from the Sensor Controller

Problem The GATE signal is not output.
No data is output at all.

Cause

Action

The relationship between the Update Rate of the IO controller and the Output time and Output period for the Sensor Controller is improper.

Decrease the value set at the Update Rate of the IO controller or increase the values set at the Output time and Output period for the Sensor Controller.

The communication module is set incorrectly.

Check that PROFINET is set in the communication module settings.

The output data size (Data Format) of the Sub-module in the IO controller is different from that of the Sensor Controller.

Match the both output data size (Data Format).

A Timeout Error Occurred

Problem
A handshaking timeout error occurred.

Cause
The timing to switch the DSA signal is too slow. The following patterns are considered. � The DSA signal is not turned ON
even after measurement has been completed. � The DSA signal is not switched from ON to OFF even after the GATE signal has been turned ON. � The DSA signal is not turned ON even after the GATE signal has been turned OFF.

Action
After the measurement command is performed, turn the Data Output Request (DSA) signal ON and OFF within the timeout time set in the PROFINET communication settings. Or, increase the Timeout time set in the PROFINET settings.

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2-4-18 PROFINET Troubleshooting

Problem

Cause

Action

A timeout error for the IO controller The watchdog in the IO controller Increase the value set at the Up-

occurred and the connection was operated and a timeout error occur- date Rate of the IO controller or

disconnected.

red.

make the value for Watchdog

The Sensor Controller prioritizes Factor and Data Hold Factor to

measurement processing and con- large respectively.

trol processing over communication

processing.

Therefore, as the result of the com-

munication processing delayed due

to the heavy loads of the internal

processing, communications be-

2

tween an external device and the

Sensor Controller may be tempora-

rily interrupted and a communica-

tion error may occur.

Slow Operation

Problem Response and data output is slow.

Cause
You try to use a wrong combination for communication protocols, like a combination of PLC Link and PROFINET.

Action
Use a proper combination of communication protocols.

Settings are not kept

Problem
Settings such as Fieldbus Data Output calculations and comments are not kept.

Cause
Changed the communication settings after setting the Fieldbus Data Output.

Action
Set the Fieldbus Data Output after performing the communication module settings.

Communications between the Sensor Controller and External Devices are not Correctly Done.

Problem
The Sensor Controller cannot communicate with an external device such as a PLC properly. (Only for Ethernet)

Cause

Action

The communication settings such as IP address have been changed after the Device information storage tool was performed. (The IP addresses for external devices on the network may have overlapped the IP addresses stored in the Sensor Controller.)

Check that the communication settings such as IP address are correct. (Tool menu - System setting - Communication - Ethernet) Perform the Device information storage tool again. The communication settings in the software will be copied in the Sensor Controller.

Missing of data Occurs

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Problem
Missing of data occurs. Data Output Completion (GATE) signal and BUSY signal are not output from the Sensor Controller.

Cause
Since the measurement load on the Sensor Controller becomes heavy, the communication processing for EtherNet/IP is delayed.

Action
Setting Measurement priority to Lower the priority of the measurement process can ease up. Note that the measurement time will delay. For details, refer to Setting the Status at Startup Startup Settings in the Vision System FH/FHV Series User's Manual (Cat. No. Z365)

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2-5-1 Communications Processing Flow

2 Methods for Connecting and Communicating with External Devices

2-5 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.

2-5-1 Communications Processing Flow

The Sensor Controller communicates with an external device using command-based Non-procedure communications via Ethernet or RS-232C/422.

2

In Ethernet, UDP/IP or TCP/IP protocol is used for the communications.

External device

Command

Sensor Controller

ASCII character command For example, when MEASURE is sent to execute a single measurement.

Response OK, NG, values, etc.

Measurement Flow Execution of processing items

Measurement data
There is no handshaking to determine if data can or cannot be received from an external device that is being sent serially (continuous).

Data Output Unit

*1 : 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.

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2-5-2 Communications Setup Procedures
The following settings are required to use Non-procedure.

1. Communication Module settings (Startup settings)
2. Communications specifications settings

3. Output data settings (processing item registration)

4. Communications test

���

The communication method to be used is determined by select-

ing a communication module.

For details, refer to 2-5-3 Communications Module Settings

(Startup Settings) on page 2-314.

���

The communications specifications are set for the communica-

tions method of the Communication Module selected in step 1.

For details, refer to 2-5-4 Communications Specifications Set-

tings on page 2-316.

���

The data output to the Data Output Area is registered in the Out-

put Unit.

The Output Unit is placed in the processing flow in the same way

as for other processing items.

For details, refer to 2-5-5 Output Data Settings (Processing Item

Registration) on page 2-321.

���

If communications are not working properly, check the communi-

cations setup from step 2 and perform a communications test to

determine whether the Sensor Controller can be detected on the

network.

If that does not solve the problem, refer to the troubleshooting

section for each communication protocol.

For details, refer to 2-5-7 Testing Communications on page

2-335.

2-5-3 Communications Module Settings (Startup Settings)
The communication method used for communication with the Sensor Controller is selected from the communication modules.
1 On the Main window, click Tool - System Settings to open the system settings. 2 On the Multiview Explorer on the left, select System settings - Startup - Startup setting and
then click the Communication tab.

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3 Select one of the following Communication Modules based on the communication method used
to connect with the Sensor Controller and the Unit to be connected, and then click Apply.

Communications Module

Description

Serial (Ethernet)

Performs Non-procedurecommunications through an Ethernet connection.

Non-procedure (UDP)

Select this Communication Module to communicate with the external device using UDP communications.

Non-procedure (TCP)

Select this Communication Module to communicate with the ex-

ternal device using TCP server communications.

Non-procedure (TCP Client) Select this Communication Module to communicate with the ex-

2

ternal device as a TCP client.

Non-procedure (UDP) (Fxxx series method)

Select this Communication Module to communicate with the external device through UDP or Fxxx series*1 communications.

Serial (RS-232C/422)

Normally select this Communication Module to use Non-procedure communications through an RS-232C/422 connection.

Non-procedure

Normally selected when performing Non-procedure

Non-procedure (Fxxx series method)

Select this Communication Module to communicate with the external device

through Fxxx series*1 communications.

*1. With the [Normal (Fxxx series method)] communications method, the OK response timing in relation to MEASURE commands is different from that of the [Normal] communications method. For details, refer to 2-5-9 Command Formats on page 2-340.

4 Click Data save in the Toolbar.

2-5-3 Communications Module Settings (Startup Settings)

5 On the Main window, click Function - System restart.
6 Click OK in the System restart dialog box to restart the Sensor Controller.
When the Sensor Controller was restarted, the set Communication Module will operate with the default settings.
7 Set the IP address and other parameters for external devices such as a PLC.
Precautions for Correct Use
After you set the Communication 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 Communication Module settings will not be enabled
Additional Information
You can save the Communication Module settings to a file. Use the System data or System + Scene group 0 data option for saving settings to a file. For details, Refer to Saving Settings Data to the Controller RAM Disk or an External Storage Device in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

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2-5-4 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 communications settings, check the settings and the communications status. For details, refer to 2-5-7 Testing Communications on page 2-335.
Precautions for Correct Use
� The settings dialog box for the communication specifications will change depending on the Communication Module that you use. Before you set the communication specifications, select the Communication Module to use with the Sensor Controller in the startup settings. For details, refer to 2-5-3 Communications Module Settings (Startup Settings) on page 2-314. After you selected the Communication Module, save the settings to the Sensor Controller and restart it. If you do not restart the Sensor Controller, the selected Communication Module will not be enabled.
� Use the same communication 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. � 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, click Tool - System Settings to open the system settings. 2 In the tree view on the left, select System Settings - Communication - Ethernet Normal
(xyz) ("xyz" depends on the Communication Module). The Ethernet view is displayed.
3 Set each item.
� UDP case

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2-5-4 Communications Specifications Settings

2

Additional Information
� Sensor Controllers of the FH-1000/2000/3000/5000 series with four or eight Camera inputs have two Ethernet ports. Set the settings for the two Ethernet ports as follows: � Communication Module Settings: Use the same settings 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. Note that the FH prioritizes the bottom port, so when there is a high network load, communication on the top port may be delayed or in some cases communication data may be lost. By using both Ethernet ports simultaneously, you can use the bottom port for PLC Link, Non-procedure, EtherNet/IP, or PROFINET communications with a PLC and the top port for FTP or remote operation communications with an external device.
� The following Sensor Controller type has one Ethernet port: - FH-L/FHV series - FH-1000/3000 series with two camera inputs In this case, the IP address of the Ethernet port is set in Address setting 2

Setting item

Setting value [Factory default]

Address Settings Address Settings is only for the following series: FH-1000 series (4- and 8-camera types), FH-2000 series, FH-3000 series (4- and 8-camera types), FH-5000 series

Description
Set the IP address for the upper Ethernet port on the Sensor Controller.

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Setting item
IP Address Subnet mask Default gateway DNS server Preferred WINS server Alternate WINS server

Setting value [Factory default] � 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 254 [10.5.5.100] 0.0.0.0 to 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 [10.5.5.100] a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [10.5.5.100] a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [0.0.0.0] a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [0.0.0.0]

Description Set the IP address for 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. Enter the IP address for the Sensor Controller.
Enter the subnet mask address.
Enter the default gateway address.
Enter the DNS server address.
Enter the WINS server address.
Enter the WINS server address.

Setting item

Setting value [Factory default]

Address Settings 2 Address Settings is only for the following series: FH-1000 series (2-camera type), FH-2000 series, FH-3000 series (2-camera type), FH-5000/FH-L/FHV series

Description
Set the IP address for the lower Ethernet port on the Sensor Controller.

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2-5-4 Communications Specifications Settings

2 Methods for Connecting and Communicating with External Devices

Setting item

Setting value [Factory default]

Description

� Obtain an IP address automatically.
� [Use the following IP address]

a.b.c.d

a: 1 to 223

IP Address

b: 0 to 255 c: 0 to 255

d: 0 to 254

[10.5.6.100]

2

Subnet mask

0.0.0.0 to 255.255.255.255 [255.255.255.0]

Same as "Address Settings".

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: 0 to 255 [10.5.6.100]

Preferred WINS server

a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [0.0.0.0]

Enter the WINS server address.

Alternate WINS server

a.b.c.d a: 1 to 223 b: 0 to 255 c: 0 to 255 d: 0 to 255 [0.0.0.0]

Enter the WINS server address.

4 Click Apply to finish the settings.
Click Close to close the System Settings dialog.

Precautions for Correct Use
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.

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Connecting via RS-232C
Additional Information � Input signals cannot be handled during setting of communications specifications. However,
the input status can be checked with Confirmation. For details, refer to 2-5-7 Testing Communications on page 2-335. � Data output via serial communications is suspended while communications specifications are being set.
1 On the Main window, click Tool - System Settings to open the system settings. 2 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.
3 Set each item..

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Setting item Interface
Baud rate [bps]*2

Set value [Factory default]
� [RS-232C]
� RS-422*1
� 2400 � 4800 � 9600 � 19200 � [38400] � 57600 � 115200

Description Align the communication specifications with the external device.
Align the communication specifications with the external device.

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2-5-5 Output Data Settings (Processing Item Registration)

Setting item

Set value [Factory default]

Description

Data length [bit]

�7 � [8]

parity

� [None] � Odd � Even

Align the communication specifications with the external device.

Stop bit [bit]

� [1] �2

Flow control

� [None] � Xon � Xoff

None:

The software does not perform the flow control. If the time in which there is no response from external devices reaches

2

the timeout setting time, a timeout error occurs and an error

message is displayed in the window. Moreover, the parallel

interface ERROR signal turns ON.

Xon/Xoff:

The software performs the flow control. Data is transmitted

according to the Xon/Xoff codes from external devices.

Timeout [s]

� 1 to 120 [5]

Set the time in which a timeout error will occur.

Delimiter

� [CR] � LF � CR+LF

Align the communication specifications with the external device.

*1. RS-422 cannot be used with the MELSEC-Q series and the FH-series. *2. If a baud rate of 38400bps or higher is selected, effective communications may not be possible de-
pending 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 19200bps or lower.

4 Click Apply to finish the settings. 5 Click Close to close the System Settings dialog box.

2-5-5 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. This processing item is not available in the FHV series. When you set output data in the FHV series, refer to 2-5-6 Output Data Settings (Numerical Values/Character Strings) on page 2-327.
Additional Information
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. (Reference Manual (Cat. No. Z341).) � Character Inspection
Refer to Character Inspection in the Vision System FH/FHV Series Processing Items � Barcode
Refer to Barcode in the Vision System FH/FHV Series Processing Items � 2DCode
Refer to 2DCode in the Vision System FH/FHV Series Processing Items � OCR
Refer to OCR in the Vision System FH/FHV Series Processing Items

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Registering Processing Items
Register the processing items for data output in the measurement flow.
1 Select the Data Output processing item in the processing item tree.
2 Click Append.
The Data Output processing item is added at the bottom of the unit list (flow).

3 Click Data Output icon and set the data output items and data format.
For details of the settings, refer to the following. Registering the Items To Output on page 2-322
Additional Information 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.) For details, refer to Outputting the Measurement Data on page 1-18
Registering the Items To Output
Set the output data with expressions. Up to 8 expressions from 0 to 7 can be set in each unit. 1 Click
1 Click Data Output icon in the measurement unit list (flow). 2 In the Item tab area, click Setting. 3 In the list, click the output data number to set the expression.

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2
The selected output data number is displayed under the list.
4 Click next to the expression text box and set the expression.
Specify the processing items, measurement results, and measurement data in the expression. Arithmetic or function calculations can be applied to the measurement data to output. For details of the calculation settings, refer to Calculation in the Vision System FH/FHV Series Processing Items Reference Manual (Cat. No. Z341).
5 Click for the Comment text box and enter the description for the expression.
The entered comment will be displayed in the detailed results area on the Main window. For example, Test was entered as the comment for the expression 0, Test will be displayed instead of Expression 0 in the detailed results areas on the Main window.
6 Repeat step 3 to 5 to set expressions for all of the required output data numbers.

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Additional Information 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. Example: If the Expression for Output 1 Is Deleted
Output Item Settings Example: Actual data output
No.2 Reference an... No.1 Reference SY No.0 Reference SX
Output No.1 is deleted

Output Item Settings Output No.1 is deleted

Example: Actual data output No.2 Reference an... No.0 Reference SX
Output No.2 is shifted forward

Output Format (Data Output)
1 Click 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 communication method.

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Setting item
Communication method

Setting value [Factory default]
[RS-232C/RS-422]
Ethernet

Description
Communications are performed via the RS-232C/RS-422 connection. Communications are performed via the Ethernet connection.

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4 Select the output format in Format setting.

2

Setting item Output format

Setting value [Factory default]
[ASCII]
Binary

Description
Outputs ASCII text. For details, refer to Character Code Table in the Vision System FH/FHV/FZ5 Series User's Manual (Cat. No. Z365). Outputs binary data. Measurement values are multiplied by 1,000 and output is continuous with 4 bytes per data item.

� 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.

2-5-5 Output Data Settings (Processing Item Registration)

Setting item Digits of integer Digits of decimal

Setting value [Factory default]
1 to 10 [10]
0 to 4 [4]

Description
Specify the digits of the integer part including the sign. For positive numbers, the plus sign is not output. Example: Setting: 4 digits, Data: -5619 "-999" will be output. Specify the number of output digits in the decimal part. Lower decimal digits are rounded up before the data is output. When 0 is selected, the decimal digits will be rounded off.

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Setting item Minus Plus 0 suppress
Field separator
Record separator

Setting value [Factory default] � [- ] �8 � [None] �+
� Available � [OFF]
� OFF � [Comma] � Tab � Space � Delimiter � OFF � Comma � Tab � Space � [Delimiter]

Description
Select what is displayed in the sign digit for a negative number. Select what is displayed in the sign digit for a positive 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. � OFF: Insert a space for unused character. Example: If the integer section is set to 5 digits and the decimal section is set to 3 digits, the data is 100.000 Available: 00100.000 OFF: _100.000 ("_" represents a space.)
Select the separator for output data. (The delimiter is obtained from the system.)
Select the separator for each time data is output. (The delimiter is obtained from the system.)

5 If you selected Ethernet for the Communication method, perform the Ethernet settings.

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Setting item

Setting value [Factory default]

Description

The settings of the Ethernet View are applied.

One of the following Ethernet Views is used to make the set-

tings.

Output IP address setting

[Refer System (Ethernet)]

� PLC Link Communications Settings refer to 2-2-4 Communication Specifications Settings on page 2-131.
� Ethernet Non-procedure Communications Settings Refer to 2-5-4 Communications Specifications Settings on

page 2-316/

The following IP

2

address Output IP address-

Enter the output IP address.

es

2-5-6 Output Data Settings (Numerical Values/Character Strings)

Registering Processing Items
Register the processing items for data output in the measurement flow.
1 In the Main window, click Edit flow in the Toolbar. 2 Select Result output (Message) from the processing item tree.

2-5-6 Output Data Settings (Numerical Values/Character Strings)

3 Click Append.
The Result output (Message) is appended at the bottom of the unit list (flow).

4 Click the icon of Result output (Message) in the unit list (flow) or Set to set the output de-
vice and the output data.

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Setting the Output Device
Here, set a communication method when data is output.
1 Click the icon of Result output (Message) in the unit list (flow) or Set to set the output de-
vice. The Result output (Message) setting window is displayed.

2 Click Output setting.
The Output setting window is displayed.

3 Click
use.

at the right side of the Output device text box to select the communication method to

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2-5-6 Output Data Settings (Numerical Values/Character Strings)

4 Select whether or not to output data to a file (data logging).
2
Check the box for Output data to the file and click [...] on the right side of the File name text box to start File Explorer. Select a directory or folder to save the file and enter the file name. (Supported file format is only CSV.) Contents entered in Title on the "Output data editing" dialog in the Output data tab will be inserted in the first line of logged data when checking the checkbox for Add a header when creating a file".
Additional Information � Data is not output when test measurements are executed in TDM editor. � When Not output is selected in Output device, no data is output. However, Output data to the
file has been checked, the data logging is executed. � When the serial output is selected in Double Speed Multi-input mode, a queuing processing
for communications is executed. The communication processing for the later executed process gets into a waiting state until the previously started process finishes its output.
5 Specify Character code, Delimiter string, and Termination string.

� Character code: Specify the following code page for each language.

Language

Code page

Language

Code page

Language

Code page

Japanese

932

English

1252

Chinese (simplified)

936

German

1252

French

1252

Chinese (traditional)

950

Italian

1252

Spanish

1252

Korean

949

Vietnamese 1258

Polish

1250

� The default 0 is no language-dependent letters in ANSI code page.

� For Delimiter string and Termination string, the following escape sequence codes are also

available.

\n: Carriage return, \r: Line feed, \t: Tab, \r\n: Carriage return line feed

.

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Setting the Output Data
Set the data to output such as processing item data or fixed character strings.
1 In the item tab area, click Output data.
The setting window for Result output I/O is displayed.

(a)

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(c)

(b)

(d)

(c)

a) Setting data display area Display the No. (Output number), Offset (indicating the byte position from the beginning), Data type (Integer, Double, String), Data, Value, and Title (Data description). A value is displayed when a variable is assigned to data.
b) Output data display area Output data display area Data to output is displayed as readable characters.
c) Button

Button

Description Moves the selected data up one position.

Moves the selected data down one position.

Adds new data to the selected data position.

Deletes the selected data. The following data moves up after the deletion.

Edits the selected data.

Saves the current settings and returns to the previous view.

Discards the current settings and returns to the previous view. d) Binary data display area

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Contents in the output data display area in binary (Hex) are displayed in this area.
2 In the list, select the output data number to set the output and then click Insert.
The following Output data editing dialog box is displayed.

2-5-6 Output Data Settings (Numerical Values/Character Strings)

2

Setting item Data type

Setting value [Factory default]
� Number � String

Data

-

Title

-

Numeric setting

Digits of integer Digits of decimal
0 suppress
Minus
String settings

[10]
[4]
� [Fill with space] � Fill with 0 � [- ] �8

String length

� [Auto] � Fixed

Size
Character alignment

0 to 4095 [10]
� [Left] � Right

Description
Set the data type; Number or String
There are two input methods.Setting the Output Data on page 2-330 � Enter strings directly � Assign variables Enters the description for data. In the case where the Title has set and Add a header when creating a file is checked, contents entered in Title on the Output data editing dialog in the Output data are inserted in the first line of logged data when creating a csv file. This item is valid when Number is selected in Data Type". Output data
Sets the number of digits for integer.
Set the number of digits for under decimal.
When the number of digits set is bigger than that of input data, fill the set character here to the rest of the set digits.
Set display format for negative numbers.
Valid when String is selected in the Data type. Select the format for String length. In Auto, the length is automatically set according to entered string length. Set the number of characters when Fixed is selected in String length. Set the display format in the Size when Fixed is selected in String length.

3 Click at the right side of the Data type text box to select the data to output.
Number or String can be selected.

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Data type Number
String

Description
� Entered data is converted into strings according to specified Digits of integer, Digits of decimal, 0 suppress, and Minus.
� The number of total digits (integer + decimal) is 15. If it exceeds 15 digits the output data becomes "#ER". When the number of digits set is bigger than that of input data, the character set in 0 suppress fills the rest of the set digits.
� When a string variable is selected for the data, a convertible character string such as digits that can be converted into numerical values will be converted for output. Moreover, they are handled as 0 if they are not convertible, e.g. AAA.
� Entered data is set based on String length, Size, and Character alignment". � The number of characters that can be entered is 4,095 maximum.
If exceeding this limit, three overflow characters, "...", are appended in the end of the string, the output will be 4,092 characters + "...". � When Auto is set in String length, the length of an entered string is automatically set to String length. When Fixed is set in String length, the value set in Size is used for the string length. � Entered data is displayed at right-justify or left-justify according to the setting in Character alignment. Example: Entered string: "ABCDE", Size: 3 Right-justify: "CDE" is output. Left-justify: "ABC" is output. � When NULL is included in the entered character string, the character string following NULL is not output. � The following escape sequence codes can be entered. The entered escape sequence codes are handled as fixed character strings. \N: Carriage return, \r: Line feed, \t: Tab, \xXX: ASCII code specified by "XX" (numerical value), \": Double quotation mark, \\: Backslash

4 Enter data, number or string, to Data text box.
Directly enter a variable name (Scene variable: SC.~) or specify a variable in Variable

assignment window displayed by clicking . � When directly entering a variable name, enclose it with " ", e.g. "SC.AA&". � When a fixed string, e.g. AA, is entered before a variable, the followed variable is handled as
a fixed string. Example: AA+SC.AA& "AA+SC.AA&" � When "String" is selected in the "Data type" but "Integer" or "Double" is set to the variable, then the variable is converted to a string and then output.

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2
5 Enter Title that indicates the content of output data. 6 When Number is selected in Data type, the following "Numeric setting" area also needs to be
set.
7 When String is selected in Data type, the following items in String setting area also needs to be
set.
Example:

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8 Click OK in the end of entering data to close the settings.

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2 Methods for Connecting and Communicating with External Devices

2-5-7 Testing Communications
You can check whether the Normal(UDP) 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. When checking the communication settings, stop the program on the PLC.

Ethernet Communications

l Before Performing a Communications Test

2

This example assumes that Normal (UDP) in the Serial(Ethernet) is selected as the Communication Module. When checking the communication settings, stop the program on the PLC.

l Checking the Communications Settings
Use the following procedures to check whether or not the communication settings are correct.
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.)
2. Set the IP address of the Sensor Controller. The default settings are as follows: Address setting: 10.5.5.100 Address setting 2: 10.5.6.100

3. Set the IP address of the PLC or other external device in [Output IP address].
4. 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.
5. This completes the Controller settings.
l Checking the Communications Status
Use the ping command to check whether or not the Sensor Controller exists on the Ethernet network. With it, check that the Sensor Controller IP address has been correctly set and is correctly connected to the Ethernet network.

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Additional Information
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 a computer with an Ethernet cable.
Set the high-order digits of the computer IP address to the same values as the Sensor Control-
ler and the low-order one digit to a different value.

Sensor Controller Computer

Device

Example 10.5.5.100 (default) 10.5.5.101

2 Open the Windows command prompt on the computer and perform the ping command.
At the > prompt, type ping, followed by a space and the Sensor Controller IP address, and then press Enter. Example: C:\>ping 10.5.5.100

3 After a few seconds, Reply from followed by the IP address of the Sensor Controller (e.g.,
10.5.5.100) are displayed, it means that the Sensor Controller is connected to the Ethernet network properly. Example: Reply from 10.5.5.100: byte=32 Time<1 ms TTL=128

If anything other than Reply from is displayed: The Sensor Controller is not connected to the Ethernet network for some reason. Check the following. � Are the high-order three digits of the IP addresses for the computer and the Sensor Control-
ler the same? � Is the Ethernet cable correctly connected?
4 Use the ping command to check the communication status of the PLC as well.
After you have confirmed the communication status as described above, transmit a measurement command to the Sensor Controller in practice to check the communication operations as the Vision Sensor.

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RS-232C/422 Communications

l 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. When checking the communication settings, stop the program on the PLC.

l Checking the Communication Settings

Use the following procedures to check whether or not the communication settings are correct.

2

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))].

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].

Transmission Confirmation: 5. Click the button to the right of [TEST STRING]. 6. Enter the character string (12 characters or less) that you
want to send to test communications. Select [Local echo] if you want to perform an echo check of the sent character 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 character strings were not sent or received, check the following: � Ares the communication settings correct for the connected device? � Is the cable connected? � Are all cables wired correctly?

After you have confirmed the communication status as described above, send an actual measurement command to the Controller and check to confirm that Vision Sensor communications are operating correctly.

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2-5-8 Output Items

Measurement Results That You Can Output with the Data Output Processing Item
The following data can be output using the processing items related to the Result Output. Measurement values are also referred using processing units such as expressions.

Measurement items
Judgment Data 0 to 7

Character string

Description

JG D000 to D007

Judgment result Results of expressions set for output data 0 to 7.

External Reference Table for the Data Output Processing Item
By specifying a number, the following data can be referenced from control commands or processing items that have a set/get unit data function.

Number
0
136
137 138 139 140 141 142 143 144 to 147
149
150 151 152 153 1000 to 1002

Data name
Judgment
Communications method
Output format
Digits of integer Digits of decimal Minus Field separator Record separator 0 suppress Output IP Address 1 to 4 (only when Ethernet is selected for the communications method) Output IP Address Setting (only when Ethernet is selected for the communications method) Output form (decimal) Offset Number of output data items (PLC Link communications only) Plus
Data 0 to Data 7

Set/Get
Get only
Set/Get
Set/Get Set/Get Set/Get Set/Get Set/Get Set/Get Set/Get
Set/Get
Set/Get
Set/Get Set/Get Set/Get Set/Get Get only

Data range 0: No judgment (unmeasured) 1: Judgment result OK -1: Judgment result NG 0: Ethernet 1: RS-232C/RS-422 0: ASCII 1: Binary 1 to 10 0: 0 to 4: 4 0: -, 1: 8 0: OFF, 1: Comma, 2: Tab, 3: Space 4: Delimiter 0: OFF, 1: Comma, 2: Tab, 3: Space 4: Delimiter 0: No, 1: Yes
Destination IP addresses
0: Reference to system, 1: Individual specification
0: Fixed point, 1: Floating point 0 to 99999
8 to 256
0: No, 1: + � ASCII: -99999999.999 to 999999999.999 � Binary: -2147483.648 to 2147483.647

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Additional Information If you are using external reference numbers 5 to 12 on an FZ4 or earlier model, use 1000 to 1007 on the FH/FHV.
2

2-5-8 Output Items

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2-5-9 Command Formats
This section describes the format of commands to be used in Non-procedure communicaitons.
Precautions for Correct Use Japanese characters cannot be used. To load a scene or other data, set the file name with alphanumeric characters in advance.

An Input Format Example
When the parameter is a numeric Example: Get the display status with IMAGEDISPCOND. <Command Format>

I MAGED I SPON D
Space

C R
Number of the Image Pane (Maximum number of line is 2.)

Enter a delimiter at the end of commands. In this manual, delimiters are expressed with . CR Separate parameters with spaces (Not required before delimiters).

Precautions for Correct Use
When connected via Ethernet (UDP), a Delimiter is not necessary in the command. Also, note that there are no Delimiters for responses. Make sure to enter a Delimiter when the other communication protocols are used. Also, note that there are delimiters for responses.

<Response Format> The command was processed correctly:

Image mode

C R

O

K

C R

Acquired data 0: Through 1: Freeze or Freeze and Last NG are mixed. 2: Last NG

Only OK is returned when there is no data, such as Scene switch, to get.

<Response Format> The command was not correctly processed:
E R CR

ER is returned at the following cases: � When a command which does not exist was specified. � When the number of parameters is not correct. � When the specified parameter range is not correct. � When the contents of the specified parameter are not correct. � When the specified operation did not correctly terminate.

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2-5-9 Command Formats

2 Methods for Connecting and Communicating with External Devices

Additional Information
In Ethernet, when the acquired data and the OK response are continuous, those are transmitted as a separate packet.

When a parameter is a character string The character string must be enclosed with double quotation marks. Example: Save Scene with SCENESAVE command. <Command Format>

SCNSAVE 0

"

C\Data\RAMDisk\ABC.SCN

"

C R

2

Example: Set the prefix of a Logging file name to Undefined with SYSDATA command.

SYSDATA Logging imageLoggingHeader

"

C R

OK Response in Non-procedure Communications (Fxxx series method)
The OK response for [Normal (Fxxx series method)] communications is compatible with the communications method for F��� 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 is the same as the timing for an F��� series Vision Sensor. For details, refer to 2-5-3 Communications Module Settings (Startup Settings) on page 2-314.

Non-procedure Communications Command MEASURE Response OK

Command received.

Non-procedure Communications (Fxxx-series Method)

Command MEASURE

Command acknowledged.

Measurement processed.

Measurement results

Measurement completion (Command Completion)

Measurement results Response OK

Measurement completion (Command
Completion)

An OK response is returned when the Controller receives the command.

An OK response is returned when execution of the command is completed.

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2-5-10 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 details of commands, refer to A-1-5 Non-procedure Command Details on page A-85.
l Execution Commands

Command
BRUNCHSTART CLRMEAS CPYSCENE DATASAVE DELSCENE ECHO IMAGEFIT IMAGESCROLL IMAGEZOOM
MEASURE
MEASUREUNIT MOVSCENE
REGIMAGE
RESET TIMER UPDATEMODEL USERACCOUNT

Abbreviation
BFU None CSD None DSD EEC EIF
EIS
EIZ
M
MTU MSD
RID
None TMR UMD UAD

Function

Reference

Branches to the start of the measurement flow (processing unit 0).

page A-88

Clears all measurement result values.

page A-88

Copies the scene data.

page A-89

Saves the current system data and scene group data in the Sensor Controller.

page A-94

Deletes the scene data.

page A-97

Returns an entered text string without changing it. page A-102

Returns the display position and display magnification to their default values.

page A-109

Shifts the image display position by the specified amount.

page A-115

Zooms the image display in or out by the specified factor.

page A-120

Performs measurement one time.

page A-131

Performs continuous measurement.

page A-131

Ends continuous measurements.

page A-132

Performs test measurement for the specified unit. page A-133

Moves the scene data.

page A-134

Registers the specified image data as a registered image.
Loads the specified registered image as the measurement image.

page A-148

Restarts the Sensor Controller.

page A-150

Executes the specified command string after a specified delay.

page A-168

Registers the model again.

page A-171

Adds a user account to a specified group ID. Deletes a specified user account.

page A-172

l Commands to Get Status

2-342

Command DIPORTCOND IMAGEDISPCOND

Abbreviation
DPC
IDC

Function
Gets the ON/OFF status of all parallel DI terminals. Gets the image mode for the specified image display window.

Reference page A-100 page A-107

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2-5 Non-procedure Communications

2-5-10 Command List

Command

Abbreviation

Function

Reference

IMAGESUBNO

ISN

Gets the sub-image number that is currently displayed in the specified image display window.

page A-116

IMAGEUNITNO

IUN

Gets the number of the Unit that is currently displayed in the specified image display window.

page A-118

INPUTTRANSSTATE ITS

Gets the input status (prohibited/permitted) for the Communications Modules.

page A-123

LAYOUTNO

DLN

Gets the number of the layout that is currently displayed.

page A-126

LOGINACCOUNT

LAI

Gets the user name for the user account currently logged in.

page A-128

2

LOGINACCOUNTGROUP

LAG

Gets the group ID for the account currently logged in.

page A-130

OPELOGCOND

OLC

Gets the current state of the operation log.

page A-135

OUTPUTTRANSSTATE

OTS

Gets the output status (prohibited/permitted) to an external device.

page A-136

PARAALLCOND

PAC

Gets the ON/OFF status of all parallel terminals except for DI terminals.

page A-138

PARAPORTCOND PPC

Gets the ON/OFF status of all parallel DI terminals.

page A-143

SCENE

S

Gets the current scene group number.

page A-151

SCNGROUP

SG

Gets the current scene group number.

page A-155

l Commands to Set Status

Command
DOPORTCOND
IMAGEDISPCOND
IMAGESUBNO
IMAGEUNITNO
INPUTTRANSSTATE LAYOUTNO LOGINACCOUNT OPELOGCOND OUTPUTTRANSSTATE PARAALLCOND
PARAPORTCOND SCENE SCNGROUP

Abbreviation
DPC
IDC
ISN
IUN
ITS DLN LAI OLC OTS
PAC
PPC S SG

Function

Reference

Sets the ON/OFF status of all parallel DO terminals. Sets the image mode for the specified image display window. Gets the sub-image number that is currently displayed in the specified image display window. Sets the number of the Unit to display in the specified image display window. Permits/prohibits inputs to the Communications Modules. Sets the layout number and switches the image. Switches the currently logged in account. Sets the state of the operation log.

page A-101
page A-107
page A-116
page A-118
page A-123 page A-126 page A-128 page A-135

Permits/prohibits outputs to external devices.

page A-136

Sets the ON/OFF status of all parallel terminals except for DO terminals.
Sets the ON/OFF status of the specified parallel I/O terminal.
Switches to the specified scene number.
Switches to the scene group with the specified number.

page A-138
page A-143 page A-151 page A-155

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l Commands to Read Data

Command
DATALOGCOND DATALOGFOLDER DATE DIOFFSET IMAGECAPTUREFOLDER IMAGELOGFOLDER

Abbreviation
DLC DLF None DIO
ICF
ILF

IMAGELOGHEADER ILH

SYSDATA UNITDATA VERGET

None UD None

Function

Reference

Gets the conditions set for data logging. Gets the data logging folder name. Gets the date and time. Gets the parallel DI terminal offset data that is set.

page A-90 page A-92 page A-95 page A-98

Gets the screen capture folder name.

page A-105

Gets the image logging folder name. Gets the prefix for the file name in which logged images are saved. Gets settings related to image logging. Gets the specified processing unit data. Gets the Sensor Controller version information.

page A-111
page A-113
page A-162 page A-169 page A-174

l Commands to Write Data

Command
DATALOGCOND DATALOGFOLDER DATE DIOFFSET IMAGECAPTUREFOLDER IMAGELOGFOLDER

Abbreviation
DLC DLF None DIO
ICF
ILF

IMAGELOGHEADER ILH

SYSDATA UNITDATA

None UD

Function
Sets the data logging conditions. Sets the name for the data logging folder. Sets the date and time. Sets the parallel DI terminal offset data.
Sets the name for the screen capture folder.
Sets the name for the image logging folder. Sets the prefix for the file name in which logged images are saved. Changes the settings related to image logging. Sets the specified unit data.

Reference
page A-90 page A-92 page A-95 page A-98
page A-105
page A-111
page A-113
page A-162 page A-169

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l File Load Commands

Command
BKDLOAD SCNLOAD SGRLOAD SYSLOAD

Abbreviation
None None None None

Function
Loads the system + scene group 0 data. Loads the scene data. Loads the scene group data. Loads the system data.

l File Save Commands

Reference
page A-86 page A-157 page A-159 page A-165
2

Command
ALLIMAGESAVE
BKDSAVE IMAGECAPTURE IMGSAVE LASTIMAGESAVE SCNSAVE SGRSAVE SYSSAVE

Abbreviation
AIS
None
EIC
None
LIS None None None

Function
Saves all image data in the Sensor Controller's memory with ifz format in external storage. Saves the system + scene group 0 data that is currently used by the Sensor Controller in a file. Captures the screen. Saves the image data stored in the the Sensor Controller's memory. Saves the last logging image. Saves the scene data. Saves the scene group data. Saves the system data.

Reference
page A-85
page A-87 page A-103 page A-121 page A-125 page A-158 page A-160 page A-166

2-5-10 Command List

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2-5-11 Output Format
When the processing unit Data Output is placed in a scene, measurement results are sequentially output starting from the smallest data number 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. For details, refer to Output Format (Data Output) on page 2-324.

Outputting ASCII Data
Set the output format as ASCII in Output form of the Data Output processing item. The default setting is ASCII.
l Output Format
Data 0 measurement value , Data 1 measurement value , ... Data 7 measurement value CR

Additional Information
The output format, number of digits, data separator, etc., can be changed as necessary. For details, refer to 2-5-5 Output Data Settings (Processing Item Registration) on page 2-321

Example: Integer digits: "5 digits", decimal places: "3 digits", negative numbers: -, field separator: comma, record separator: delimiter.

12345. 678, 567. 321,

-76. 921,

Data 0 measurement value Data 1 measurement value Data 2 measurement value
Field separator

...

6 5 9 8 7 . 1 6 5 CR

Data 7 measurement value
Record separator

Additional Information
� Field separators are not output if there is no following data. � Lower decimal digits of the data are rounded off and then the data is output.
The range of values that can be output is as follows: -999999999.9999 Measurement value 999999999.9999 When measurement value < -999999999.9999, "-999999999.9999" is output. When measurement value > 999999999.9999, "999999999.9999" is output. When JG (Judgement) is set, the following values are output. OK: 1 NG: -1
Additional Information
After the measurement was completed, the measured data is continuously output until all the data is output. Note that the output cannot be interrupted.

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2 Methods for Connecting and Communicating with External Devices

Outputting Binary Data
Set the output format as Binary in Output form of the Data Output processing item.

l Output Format

Measured value x 1000 of Data 0 Measured value x 1000 of Data 1 ... Measured value x 1000 of Data 7

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

For details of 2's Complement, refer to Definitions of Basic Terms in the Vision System FH/FHV Series User's Manual (Cat. No.Z365).

Example: When Data 0 is 256.324, and data 1 is -1.0000.

$00 $03 $E9 $44

$FF $FF $FC $18

Data 0: 256324 (256.324 x 1000)

Data 1: -1000 (-1.000 x 1000)

Additional Information
Unlike ASCII output, binary output has no separators between data, such as field separators or record separators. For details, refer to Output Format (Data Output) on page 2-324
The range of values that can be output is as follows: -2147483.648 Measurement value 2147483.647 When measurement value < -2147483.648, -2147483.648 is output. When measurement value > 2147483.647, 2147483.647 is output. When JG (Judgement) is set, the following values are output. OK: 1000 (1 � 1000) NG: -1000 (-1 � 1000)
Additional Information
After the measurement was completed, the measured data is continuously output until all the data is output. Note that the output cannot be interrupted.

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2-5-12 Non-procedure Communications Troubleshooting

Cannot Input to the Sensor Controller

Problem

Cause

Action

The wiring is incorrect.

Check the wiring. Check the cable connections.

There is a problem with the communication specification settings.

Make sure that the settings are correct.

No response is received after sending communication commands.

Communications has not been established just after the Sensor Controller start-up. (It requires more time to establish the communications.)

Check whether or not the communications are available between the Sensor Controller and external devices after the Sensor Controller
turned on.*1 Then start communications and measurement for ordinary operations.

No response is received after sending communications commands. (Communications were properly working previously.)

Commands are sent while the BUSY signal is ON.
A cable is broken.
A connector has been disconnected.
The Sensor Controller is in Edit Mode.

Send commands while the BUSY signal is OFF. Check the cable connections.
Check the connector connections.
Change it to RUN or ADJUST Mode.

*1. Commands to get status such as SCENE command allow you to confirm availability of communications between the Sensor Controller and external devices. After starting up the Sensor Controller, send commands to get status from external devices to the Sensor Controller. When the Sensor Controller returns correct responses to external devices, no problem in communications between them are confirmed.

No Data Is Output from the Sensor Controller

Problem No data is output at all.

Cause

Action

The output IP address is incorrect. (Ethernet communications only)

Set the output IP address correctly.

The wiring is incorrect or a cable is Check the wiring.

broken.

Check the cable.

A connector has been disconnected.

Check the connector connections.

You have not placed any Data Output processing items in the measurement flow.

Place Data Output processing items in the measurement flow.

The Output option is not selected in Place a check to the Output option

the Adjustment window.

in the Adjustment window.

The target output device for the Da- Make sure that the setting is cor-

ta Output Unit is incorrect.

rect.

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2 Methods for Connecting and Communicating with External Devices

Problem

Cause

Action

Communications has not been established just after the Sensor Controller start-up. (It requires more time to establish the communications.)

Check whether or not the communications are available between the Sensor Controller and external devices after the Sensor Controller
turned on.*1 Then start communications and measurement for ordinary operations.

Data is sometimes output and sometimes not.

A cable is broken or there is a con-

nection problem.(RS-232C/422

Check the cable connections.

communications only)

2

The measurement commands are Check to confirm that an OK re-

not being received. (Ethernet com- sponse is being returned after

munications only)

sending a measurement command.

Output is unstable.

There is no terminating resistance. (Ethernet communications only)

Output stability may be improved by adding terminating resistance in RS-422 communications.

*1. Commands to get status such as SCENE command allow you to confirm availability of communications between the Sensor Controller and external devices. After starting up the Sensor Controller, send commands to get status from external devices to the Sensor Controller. When the Sensor Controller returns OK responses to external devices, no problem in communications between them are confirmed.

Slow Operation

Problem Response and data output is slow.

Cause
The baud rate is too low for the amount of data to be transferred.

Action
Increase the baud rate for communications or use a different communications method.

Communications Between the Sensor Controller and External Devices are not Correctly Done (EtherNet only)

Problem
The Sensor Controller cannot communicate with an external device such as a PLC properly. (Only for Ethernet)

Cause

Action

The communication settings such as IP address have been changed after the Device information storage tool was performed. (The IP addresses for external devices on the network may have overlapped the IP addresses stored in the Sensor Controller.)

Check that the communication settings such as IP address are correct. (Tool menu - System setting - Communication - Ethernet) Perform the Device information storage tool again. The communication settings in the software will be copied in the Sensor Controller.

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Communications Fail just After Start-up of the Sensor Controller

Problem
The Sensor Controller does not respond even serial commands are sent to it just after its start-up.
No data is output from the Sensor Controller just after its start-up.

Cause
Communications are not established just after start-up of the Sensor Controller. (To establish communications between the Sensor Controller and external devices takes time.)

Action
After confirming that communications are available between the Sensor Controller and external devices after startup of it, send serial commands and start measurement.

Additional Information
Commands to get status such as SCENE command allow you to confirm availability of communications between the Sensor Controller and external devices. After starting up the Sensor Controller, send commands to get status from external devices to the Sensor Controller. When the Sensor Controller returns correct responses to external devices, no problem in communications between them are confirmed.

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2-6-1 Communications Processing Flow

2 Methods for Connecting and Communicating with External Devices

2-6 Parallel Communications

This section describes the communication settings, communication specifications, input/output format, and communication timing chart required for parallel communications between the Sensor Controller and external devices.

2-6-1 Communications Processing Flow

The Sensor Controller communicates with external devices via a parallel interface.

2

I/O Signals and Data for Communicating with External Devices
This section describes the basic connections and signal flow with external devices.

External device

Sensor Controller

External device

Trigger sensor

Input

PLC Outputs

Input signal � Measurement Trigger (STEP) � Command input (DI0 to DI7)

Output Signals � Overall Judgement (OR signal) � Parallel Judgement Output (DO0 to DO15) � Parallel Data Output (DO0 to DO15)

l Inputs
You can input the following signals to the Sensor Controller while the Main window is displayed. � Measurement Trigger (STEP signal)
Measurement is performed once when STEP signal turns ON. (Single Measurement) � Command Input (DI0 to DI7 Signals)
You can send commands and control the Sensor Controller by turning the DI0 to DI7 signals ON and OFF. For details of Sensor Controller control commands, refer to 2-6-10 Command Formats on page 2-391.
Precautions for Correct Use
Note that if DI7 is ON after the command is executed, the command will be executed repeatedly. For details, refer to DI0 to DI7 (Command Execution) Timing on page 2-386 Multi-line Random-trigger Mode
l Outputs
Each time measurement is performed, the measurement results are output. The following measurement results can be output: � 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.

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*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. For details, refer to Setting the Output Signal Specifications on page 2-357.

� Parallel Data Output (DO0 to DO15 Signals) The measured values of processing items or the calculation results of expressions are output. This processing item can not be used in the FHV series.

� Parallel Judgement Output (DO0 to DO15 Signals) The measured values of the processing items or calculation results are judged and the judgement results are output. This processing item can not be used in the FHV series. Result output (Parallel I/O)(DO0 to DO15 Signals) Outputs the measurement value of the processing item and the calculation result of the calculation formula.It is also possible to judge the measurement value or calculation result of the processing item and output the judgment result. To use this processing item in the FHV series requires that the camera be connected by the Smart Camera Data Unit (Parallel Interface) FHV-SDU10.

Additional Information
If the operation mode is set to Multi-line Random-trigger mode and the number of lines to use simultaneously was increased, the signal type and details of control and output are different from a single line used as described in the following table. For the signals that can be used and for differences in assignments, refer to Multi-line Randomtrigger Mode Signal Specifications on page 2-384.

FH-1000/2000/3000/5000 series Sensor Controller

Number of controlled lines 2 lines
3 or 4 lines
5 to 8 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)
� The usable functions are the same as for when only a single line is used. � DO signals are divided as follows: Line 0: DO0 to DO7, Line 1: DO8 to
DO15
� Parallel data output and parallel judgement output cannot be performed (DO signals cannot be used).
� Handshaking output cannot be used (the GATE signal and DSA signal cannot be used).
� An encoder cannot be used.
� The RUN signal cannot be used. The same ERR signal is used for all lines. � Parallel data output and parallel judgement output cannot be performed
(DO signals cannot be used). � Handshaking output cannot be used (the GATE signal and DSA signal can-
not be used). � An encoder cannot be used.

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2-6-2 Communications Setup Procedures

2 Methods for Connecting and Communicating with External Devices

2-6-2 Communications Setup Procedures
The following settings are required to use Parallel.

1. Communication Module settings (Startup settings)

���

The communication method to be used is determined by select-

ing a communication module.

For details, refer to 2-6-3 Communications Module Settings

(Startup Settings) on page 2-354.

���

The communications specifications are set for the communica-

2. Communications specifications settings

tions method of the Communication Module selected in step 1.

� Output control type selection

2

� Output signal operation settings

For details, refer to Communications Specifications Settings on

page 2-360.

���

The data to output to the Data Output Area is registered in the

Output Unit.

The Output Unit is placed in the processing flow in the same way

3. Output data settings (processing item registration)

as for other processing items. There are two types of Output Units for parallel communications: � Parallel data output � Parallel judgement output

For details, refer to 2-6-5 Output Data Settings (Processing Item

Registration) on page 2-364.

���

If communications were not working properly, check the commu-

nications setup from step 2.

Also, look at the communications status of all I/O signals to

4.Communications test

make sure that the wiring is correct. For details, refer to 2-6-7 Testing Communications on page

2-376.

If that does not solve the problem, refer to the troubleshooting

section for each communication protocol.

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2-6-3 Communications Module Settings (Startup Settings)
The communication method used for communication with the Sensor Controller is selected from the communication modules.
1 On the Main window, click Tool - System Settings to open the system settings. 2 On the Multiview Explorer on the left, select System settings - Startup - Startup setting and
then click the Communication tab.

3 Select one of the following Communication Modules based on the communication method used
to connect with the Sensor Controller and the Unit to be connected, and then click Apply.

Communications Module Parallel
StandardParallel I/O

Description Select this Communication Module to perform Parallel interface.

4 Click Data save in the Toolbar.

5 On the Main window, click Function - System restart.
6 Click OK in the System restart dialog box to restart the Sensor Controller.
When the Sensor Controller was restarted, the set Communication Module will operate with the default settings.
Additional Information
You can save the Communication Module settings to a file. Use the System data or System + Scene group 0 data option for saving settings to a file. For details, Refer to Saving Settings Data to the Controller RAM Disk or an External Storage Device in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

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2-6-4 Communications Specifications Settings

2 Methods for Connecting and Communicating with External Devices

2-6-4 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. For details, refer to 2-6-7 Testing Communications on page 2-376.
Precautions for Correct Use
� Before you set the communication specifications, select the Communication Module to use with the Sensor Controller in the startup settings.
For details, refer to 2-6-3 Communications Module Settings (Startup Settings) on page 2-354. 2
� After you selected the Communication Module, save the settings to the Sensor Controller and restart it. If you do not restart the Sensor Controller, the selected Communication Module will not be enabled.
Additional Information
Input signals cannot be handled during setting of communications specifications. However, the input status can be checked with Confirmation. For details, refer to 2-6-7 Testing Communications on page 2-376.

Selecting the Output Control Type
You can select how to control the data output timing to synchronize the timing of output with the external device.

l Types of Output Control
� None After measurement was completed, the Sensor Controller outputs the measurement results without synchronizing with the external device. Since the GATE signal is also output with it, adjust the reading timing for the output results in the external device based on the GATE signal.

External device

Sensor Controller
(1) Measurement processing and results output*1 (DO0 to DO15)
(2) GATE signal*2

*1 : Overall judgment (OR) output is output when the measurement is completed, regardless of when the Output Unit was executed.
*2 : You can change the settings for time to be turned ON the GATE signal after the measurement data was output and the duration that the GATE signal remains ON. For details, refer to Communications Specifications Settings on page 2-360.

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Additional Information
The GATE signal will not be output if there is no data set for parallel judgment output and parallel data output. If only the OR signal is output, read the OR signal when the BUSY signal turns OFF.

� 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, which is a reliable way to transfer data. For details, refer to Data Output Control with Handshaking on page 1-25.
� Synchronization Output The measurement results are output after the STEP signal has turned ON for the number of delays set in Number of delays. The output timing of the measurement results from the Sensor Controller can be offset according to the actual timing of processing on the line.
Example: Sequential Feed Line that Uses a Star Wheel The discharge timing for when a defective part is found and the measurement results output timing can be synchronized.

3rd 4th
2nd
1st Encoder
STEP

OK
Result output
NG
Discharge device GATE DO

Set value Output control: Synchronous output Delay steps: 4
Sensor Controller
Additional Information
� As the steps will be counted according to the number of times the STEP signal turns ON while Synchronized output is selected, set that results are output only once for each measurement. (Place only one Output Unit in the measurement flow. In the case of Parallel Judgment Output and Parallel Data Output, either one can be set. In Parallel Data Output, only one output item is allowed.)
� Designate only the STEP signal for measurement trigger input. When a serial command is used for single measurement or continuous measurement, the output timing will not match and this can cause Sensor Controller malfunctions.

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2-6-4 Communications Specifications Settings

2 Methods for Connecting and Communicating with External Devices

Setting the Output Signal Specifications
You can change the operation of signals output with parallel communications.

l Changing the Judgement Output ON Conditions (Output Polarity)

The ON conditions for the OR signal and the DO0 to DO15 signals can be set to turn ON the signals when the judgment results are OK or when they are NG. The default setting is ON at NG. This setting can be changed by setting the Output polarity in the communications specifications. For details, refer to Communications Specifications Settings on page 2-360.

l Setting the Timing to Turn OFF the Overall Judgment (OR) signal (One-

2

shot Output)

You can select from the following two methods for the timing of when the Overall Judgment (OR) signal turns OFF after measurement result confirmation. This setting can be changed by setting One-shot OR signal in the communications specifications. For details, refer to Communications Specifications Settings on page 2-360.

� One-shot Output Disabled (Default) The OR signal stays ON until the judgment changes.

ON STEP signal
OFF

The signal is turned OFF when the BUSY signal turns ON.

ON

BUSY signal OFF

ON while the measurement

process is being

ON OR signal

executed. NG

OFF Overall judgement

(output polarity: ON for NG)

OK Held until the next judgement result is output.

� 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])

ON STEP signal
OFF

The signal is turned OFF when the BUSY signal turns ON.

ON

BUSY signal OFF

ON while the measurement

process is being

ON

executed.

OR signal

NG

OK

OFF

Overall judgement (output polarity: ON for NG)

One-shot output time Turns OFF.

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l 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.

2 Select the signal to output in the Common area.

Setting item Output signal

Setting value [Factory default]
� [STGOUT] � SHTOUT

Description
STGOUT sets how to use the signal line. STGOUT: Uses the STGOUT signal line as the STGOUT signal. SHTOUT: Uses the STGOUT signal line as the SHTOUT signal.

Additional Information
� 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 0 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.

Precautions for Correct Use SHTOUT signals output through EtherCAT communications are not affected by this setting.

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l 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.

2

2-6-4 Communications Specifications Settings

2 Set the SHTOUT signal for each line in the Line settings area.

Setting item SHTOUT delay [s] SHTOUT width [s] SHTOUT polarity
3 Click Apply.

Setting value [Factory default]
0 to 1000 [0]
40 to 10000 [5000]
� [Positive] � Negative

Description
Sets the delay time until the SHTOUT signal turns ON after exposure is completed in 10 [s] increments. Sets the SHTOUT signal output time in 10 [s] increments. Sets the pulse polarity of the SHTOUT signal. Positive: The SHTOUT signal turns ON when exposure is completed. Negative: The SHTOUT signal turns OFF when exposure is completed.

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Precautions for Correct Use
� If more than one Camera is connected, the SHTOUT signal will remain ON for the Camera with the longest exposure time.
� You cannot use the Shutter Output (SHTOUT) signal when the image mode is set for 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.
� 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.
Communications Specifications Settings
Use the following procedure to select the type of output control, set the output signal operation, and set other parallel interface communication specifications.
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 Setting to set the communication specifications.

4 Set each item.

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Setting item

Set value [Factory default]

Description

Judge output polarity*1

� ON at OK � [ON at NG]

Sets the polarity of the judgment result output sig-

nal.

This applies to the Overall Judgement (OR) Signal

and Parallel Judgment Output (DO0 to DO15).

The Polarity of the Parallel Judgment Output (DO0

to DO15) can also be set for each Parallel Judg-

ment Output Processing Unit.

For details, refer to Registering Parallel Judgment

Output Items on page 2-368.

ON at OK:

2

ON when the judgment result is OK.

For the overall judgment, ON when all judgment

results are OK.

ON at NG:

ON when the judgment result is NG.

For the overall judgment, ON when one of the

judgment results is NG.

Error output polarity

� [ON at error] � ON when an error oc-
curs.

Sets the polarity of the error output signal. ON at error: ON when an error occurs. OFF at error: OFF when an error occurs.

Output control

� [None] � Handshaking � Synchronization out-
put

When outputting data, set whether or not to synchronize with external equipment. None: The Sensor Controller outputs measurement results without synchronizing with external devices. For details, refer to Output Control: None on page 2-396. Handshaking: The Sensor Controller outputs measurement results with synchronizing with external devices. For details, refer to Output Control: Handshaking on page 2-397. Synchronization output: Measurement results are output while synchronizing with processing timing on the line. The STEP signal is ignored the number of times set in Number of delays, and measurement results are output when the STEP signal turns ON next time. When Through image has been selected, synchronization output cannot be used. For details, refer to Output Control: Synchronization Control on page 2-399.

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Setting item Output period [ms] Gate ON delay [ms] Output time [ms] Timeout [s]
Number of delays

Set value [Factory default]
2.0 to 5000.0 [10.0]
1.0 to 1000.0 [1.0]
1.0 to 1000.0 [5.0]
0.5 to 120.0 [10.0]
1 to 15 [1]

Description
Valid only when Output control is set to None. Set the cycle by which measurement results are output. Set the timing of the Parallel Judgment Output (DO0 to DO15). Sets 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 were longer than the measurement interval, output timing will be delayed while measurement is being repeated.
Sets the time from when results are output to the parallel interface to when the GATE signal turns ON. This is a waiting time until data output is stable. Set this so that it is longer than the external device delay time.
Valid only when Output control is set to None. Sets the GATE signal ON time. Set the time required for external devices to acquire measurement results.
Valid only when Output control is set to Handshaking. A timeout error occurs when no response from external devices is received at the following timing within the time that has been set. � When the DSA signal turns ON after measure-
ments are completed � When the DSA signal turns OFF after the GATE
signal turns ON � When the DSA signal turns ON after the GATE
signal turns OFF � When signals from DI0 to DI6 and DI7 are used
to execute a command, if the time until the DI7 signal turns OFF after the ACK signal turned ON exceeded the set timeout interval.
Valid only when the Output control parameter is set to Synchronized output. Sets how many times the STEP signal is ignored until the measured results are output after the STEP signal is tuned ON.

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Setting item

Set value [Factory default]

Description

One-shot OR signal

� ON � [OFF] � Output time

ON:

When the judgment output ON condition is satis-

fied after the measurement results are finalized,

the OR signal is turned ON for the time set at the

one-shot output time. It is then turned OFF after

the specified time has elapsed.

OFF:

The judgment is output after measurement results

are finalized. the ON/OFF state of the OR signal is

held until it is changed by the next measurement

2

result.

Output time:

Sets the ON time for the OR signal after one-shot

was output. (Setting range: 0.1 to 1000.0 [ms])

*1. For Parallel Judgment Output, you can change the output polarity of each Parallel Judgment Output unit regardless of the value of this setting. For details, refer to 2-6-5 Output Data Settings (Processing Item Registration) on page 2-364.

Precautions for Correct Use
Set the OR one-shot output time in the following range: External device OR signal read period (cycle time) - 1.0 [ms] < OR one-shot output time < Measurement trigger interval(measurement takt time) - 0.5 [ms]
5 Click Apply.
The settings are confirmed and the Parallel View closes.

2-6-4 Communications Specifications Settings

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2-6-5 Output Data Settings (Processing Item Registration)
Set the data to output with parallel communications. This processing item is not available in the FHV series. When you set output data in the FHV series, refer to 2-6-6 Output Data Settings (Numerical value/Judgment) on page 2-370. The following three types of data can be output with parallel communications: � OR signal � Parallel judgment output � Parallel data output
Additional Information
� The OR signal is output automatically, even if no Output Units were set. � To perform Parallel Judgment Output or Parallel Data Output, you must register an Output
Unit in the measurement flow and set the required output details. � If you control from three to eight lines in Multi-line Random-trigger Mode, you cannot use Par-
allel Judgment Output or Parallel Data Output.

Data Output by Output Data Type

l OR Signal
This signal outputs the overall judgment. You can determine the overall judgment by monitoring the status of the OR signal. After the measurement results are established, the OR signal will be output automatically when the overall judgment is NG. You can also set the signal to be output when the overall judgment is OK. For details, refer to Setting the Output Signal Specifications on page 2-357.

Additional Information

The overall judgment gives the results of more than one processing item. As a result, the overall judgment will be NG if even one of the individual judgment results is NG.

Individual judgement results

Processing unit 0

OK

Processing unit 1

NG

Processing unit n

OK

Overall judgement result
NG (OR signal: ON) If there is even one NG judgement, the overall judgement will be NG and the output will be turned ON.

l 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 DO0 to DO15.
The data output specifications are as follows: � Only integer portion is output. Fractional digits are rounded off. � The range of values that can be output is as follows:
Binary format: -32768 to +32767

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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 within the range is output instead.

Data type
Binary BCD

Measurement value that is below the possible output range
A value of -32768 is output. A value of -999 is output.

Measurement value that is above the possible output range
A value of +32767 is output. A value of +999 is output.

Additional Information

2

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.

l Parallel Judgment Output
The measured values of the processing items or calculation results are judged and the judgment results are output. Judgment results can be set from judgment 0 to judgment 15. Each result is output from DO0 to DO15.

Setting Up Parallel Data Output
The measured values of processing items or the calculation results of expressions are output.
l Registering Parallel Output Units
Register the processing items for data output in the measurement flow.
1 Click Edit flow in the Toolbar. 2 Select the Parallel Data Output processing item from the processing item tree.

3 Click Append.
The Parallel Data Output processing item is appended at the bottom of the unit list (flow).

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Additional Information Data is output in the order that Output Units are 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.)
l Set the items to output
In an expression, set the data to output (i.e., 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.
1 Click the Parallel Data Output icon . 2 In the Item tab area, click Setting. 3 In the list, click the output data number to set the expression.

The selected output data number is displayed under the list.
4 Click next to the expression text box and set the expression.

Specify the processing items, measurement results, and measurement data in the expression. Arithmetic or function calculations can be applied to the measurement data to output. For details of the calculation settings, refer to Calculation in the Vision System FH/FHV Series Processing Items Reference Manual (Cat. No. Z341).
5 Click for the Comment text box and enter the description for the expression.
The entered comment will be displayed in the detailed results area on the Main window. For example, Test was entered as the comment for the expression 0, Test will be displayed instead of Expression 0 in the detailed results areas on the Main window.
6 Repeat step 3 to 5 to set expressions for all of the required output data numbers.

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Additional Information

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 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.

Parallel data output 0: Measurement data 0 7. Measurement data 7

DO0 to DO15 signals
GATE ON signal
OFF

Data output order

16 bit

Measurement data 0

Measurement data 7

PLC
2
Reception buffer

*1: The operation of the DSA signal depends on whether handshaking for output control is enabled. For details, refer to Data Output Control with Handshaking on page 1-25.
l 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.

Setting item Output format

Setting value [Factory default] [Binary]
BCD

Description
Data is output as 2's complement binary data. Information on 2's Complement: For details, refer to Definitions of Basic Terms in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).
Data is output expressing 1 digit with 4 bits and expressing a 3-digit integer and sign with 16 bits. � Bits 12 to 15
These bits give the sign. (positive: 0000, negative: 1111) � Bits 0 to 11
Every 4 bits express 1 digit from ones place (bits 0 to 3: 1st digit) to the hundreds place (bits 8 to 11: 3rd digit).

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Registering Parallel Judgment Output Items
Use the following procedure to output the judgment results that are set for parallel output.
l Registering Parallel Judgment Output Items
Use the following procedure to output the judgment results that are set for parallel output.
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.
3 Click Append.
The Parallel Judgment Output processing item is appended at the bottom of the unit list (flow).

Additional Information Data is output in the order that Output Units are 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.)
l Registering the Items To Output
In an expression, set the target for judgment (i.e., the 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 Judgment Output icon in the measurement unit list (flow). 2 In the Item tab area, click Setting. 3 In the list, click the output data number to set the expression.

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2-6-5 Output Data Settings (Processing Item Registration)

2

The selected output data number is displayed under the list.
4 Click next to the expression text box and set the expression.
Specify the processing items, measurement results, and measurement data in the expression. Arithmetic or function calculations can be applied to the measurement data to output. For details of the calculation settings, refer to Calculation in the Vision System FH/FHV Series Processing Items Reference Manual (Cat. No. Z341).
5 Click the button for the judgment 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.

6 Click for the Comment text box and enter the description for the expression. 7 Repeat steps 4 and 5 to set expressions for all of the required output data numbers.
l Output Parameters (Parallel Judgment Output)
1 Click the Parallel Judgment Output icon in the measurement unit list (flow). 2 Click Output parameter in the Item Tab Area. 3 Set the items in the output settings area.

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Setting item
Output polarity System (parallel)
Unit

Setting value [Factory default] � [System (paral-
lel)] � Unit
-
� [ON at NG] � ON at OK

Description
Selects System (parallel) or Unit to set the output polarity.
Select when you want to match the output polarity of the evaluation result to the system setting. Select when you want to set the output polarity of the evaluation result per processing unit. � ON at NG: Outputs when the judgment result is NG. � ON at OK: Outputs when the judgment result is OK.

4 For Reflect to overall judgment, select whether to apply this processing unit's evaluation re-
sult to the overall evaluation of the scene.

Setting item
Reflect to overall judgment

Setting value [Factory default]
� [ON] � OFF

Description
Select whether the judgment results of this processing unit is reflected in the scene overall judgment.

2-6-6 Output Data Settings (Numerical value/Judgment)

Registering Processing Items
Register the processing items for data output in the measurement flow.
1 In the Main window, click Edit flow in the Toolbar. 2 Select Result output (Parallel I/O) from the processing item tree.

3 Click Append.

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The Result output (Parallel I/O) is appended at the bottom of the unit list (flow).

2-6 Parallel Communications

2-6-6 Output Data Settings (Numerical value/Judgment)

4 Click the icon of Result output (Parallel I/O) in the unit list (flow) or Set to set the output

data.

2

Setting the Output Data
Configure the object to output with the parallel interface. data to output with the parallel I/O in 256 times can be set.

(a)

(b)

a. Setting data display area Display the waiting number of times until output, Data type (integer or judgment), Data, Title (data description).
b. Output data display area Display data to output. Each of 0 to 15 corresponds to the output result for each of DO0 to DO15 terminal. The value is checked with decimal or hex format.

Button

Description Moves the selected data up one position.

Moves the selected data down one position.

Adds new data to the selected data position. Deletes the selected data. the following data moves up after that.

Edits the selected data.

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1 Click Insert.
The following Output data editing dialog box is displayed.
2 In the Output data editing dialog, set data to output.
For each data settings of integer and judgment, refer to Setting for Integer Output on page 2-372 and Setting for Judgment Output on page 2-373.
3 Repeat step 1 to 2 for the number of data to output.
Clicking data set in the Setting data display area emphasizes the corresponding output data on the area. Precautions for Correct Use When the operation mode is set to Multi-line Random-trigger mode, the displayed content on the Output data display area differs from the actual signal to be output. When the number of lines is two, all output status for DO0 to DO15 is displayed on the Output data display area. However, the actual data to be output on line 0 is displayed on DO0 to DO7 terminals and output as it is. Although the actual data to be output on line 1 is also displayed on DO0 to DO7, they are actually output on DO8 to DO15.
l Setting for Integer Output
1 In the Output data editing dialog, select Integer and then clock OK.
2 Specify an integer to output using a variable or direct input.

Setting item Data

Setting value [Factory default]
-

Description
Sets data to output. The following two setting methods are available.*1 � Directly enter an integer with a character string. � Assign a variable.

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Setting item

Setting value [Factory default]

Description

Title

-

Sets the description for the set item with character strings. The character strings set here is displayed on the Title column in the Setting data display area. Multilingual input is also available. For details, refer to Inputting Text in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

*1. If character strings instead of numeric values or variables are set, the display on the Output data display area will not be done properly. Enter a numeric value or variable with alphanumeric properly.

Precautions for Correct Use

2

� When data is a real number, the rounded value will be output. � If the value of data exceeds the range to be expressed with the parallel I/O terminals, the
overflowed values will be ignored to output.

l Setting for Judgment Output

1 In the Output data editing dialog, select Judgment and then click OK.

2 Specify the output polarity and judgment condition to assign to each terminal of the parallel in-
terface.

2-6-6 Output Data Settings (Numerical value/Judgment)

Setting item Output polarity
Data

Setting value [Factory default] � [ON at NG] � ON at OK
-

Description
Sets the polarity of signal output for the judgment result. � ON at NG: ON when the judgment result is NG. � ON at OK: ON when the judgment result is OK. The polarity for the signal output in this processing item does not reflect the setting of the Output polarity in the System settings but follows the setting here.
Sets data to judge. The following two setting methods are available.*1 � Directly enter an integer with a character string. � Assign a variable.

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Setting item

Setting value [Factory default]

Description

Judgment condition Lower limit and upper limit values

-999999999.9999 to 999999999.9999 [0.0000] to [0.0000]

Sets the range between the lower and upper limits for the judgment. When a value set in the Data is within the range set here, it is judged as OK.

Title

-

Sets the description for the set item with character strings. A character string set in Bit 0 will be displayed on the Sets the description for the set item with character strings. Multilingual input is also available. For details, refer to Inputting Text in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

*1. If character strings instead of numeric values or variables are set, the display on the Output data display area will not be done properly. Enter a numeric value or variable with alphanumeric properly.

Settings in TDM Editor

Precautions for Correct Use
If you enter data that does not follow the specified data format using TDM editor, the data will not be properly recognized as data. Therefore, the data will not be displayed on the Output data display area or output to external devices. In the following case, the data type will be judged as improper data. Restart the settings from the data type selection. � When the data ID (INT or JDG) is not correctly written in the top correctly. � When a character string other than "0" or "1" is specified at the Output polarity in the judg-
ment data. � When a character string such as alphabet that cannot be converted to numeric values are set
in the lower or upper limit value.

l Setting for Output Data
Sets the following character strings based on the data type of the output data using TDM editor. � Data type is integer:
INT, <data>

Item

Description

Data

Inputs a numeric value or variable name to output using alphanumeric characters.

� Data type is judgment:

JDG, <output polarity><new line>

:

Item Output polarity

Inputs 0 or 1. � ON at NG:
0 � ON at OK:
1

Description

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Item Data 0 to 15
Lower limit value 0 to 15 Upper limit value 0 to 15 New line

Description Inputs a numeric value or variable name for the judgment target using alphanumeric characters. Specifies a lower limit value with numeric values.
Specifies a upper limit value with numeric values.
Inputs a new line. For that, CR, LF, or CR+LF is available.

Additional Information

When you skip a Bit with no setting, just input a new line into it.

2

l Setting for Output Data Title
Sets the following character strings based on the data type of the output data using TDM editor. � Data type is integer:
<Title>

Item Title

Description Inputs a character string for the title.

<Title>: A character string for the title � Data type is judgment:
<Bit 0 title><new line> <Bit 1 title><new line> ��� <Bit 15 title>

Item Bit 0 to 15 title New line

Description Input a character string for the title. Inputs a new line. For that, CR, LF, or CR+LF is available.

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2-6-7 Testing Communications
Use the following procedures 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.

Setting item
Input state
Output state

View
STEP0 to STEP7 Only the settings for STEP0 and STEP1 are valid for an Sensor Controller of the FZ5-800/1100/1200 series. DSA0, DSA1 DI0 to DI7 DI LINE0 to DI LINE2 Valid only for an FH-1000/2000/3000/5000 series Sensor Controller. RUN ERR BUSY OR GATE READY ACK DO0 to DO15

Description
The input status of each signal from the external device to the Sensor Controller is displayed. When a signal is input, the background color turns into red.
The output status of each signal is displayed. When a signal is output, the background color turns into red. The output status from each signal of the Sensor Controller to external devices can be specified. Changes between ON and OFF and between 0 and 1 can be simulated without performing measurement.

4 Change the contents to be sent.

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2
Each time ON and OFF are switched, the changed contents are displayed on the monitors of external devices. Make sure there are no problems. Additional Information For the FZ5-800/1100/1200 series, DO0 to DO7 of line 1 are assigned to the DO8 to DO15 parallel terminals. Therefore, if you turn ON DO0 to DO7 to test line 1 communications, signals will be output on the DO8 to DO15 parallel terminals. Precautions for Correct Use For the FZ5, the status of the following signals can be checked only on the Communication confirmation dialog box for line 0. � RUN � ERR � BUSY
5 Click Close.

2-6-7 Testing Communications

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2-6-8 I/O Signals
The following tables list the signals that are used to control I/O for parallel communications.

Input Signals

Signal STEP
DSA (Used only for handshaking output control.)
DI0 to DI7 DILINE0 to DILINE2 (Sensor Controllers of the FH-1000/2000/ 3000/5000 series only)

Signal name Measurement Trigger Input signal
Data Output Request signal
Command Input signals Command Input Line Specification signals

Function
Input measurement triggers from external devices, such as optic switches. Measurement is performed once by synchronizing with the STEP signal rising (OFF to ON). In STEP input, a STEP signal filter (filter initial set value: 100 [s]) has been set. This is a signal that the user (PLC) requests the FH/FHV to externally output data executed in the measurement flow at handshaking. When this signal turns ON while an Output Unit (Parallel Data Output Unit) is executed in the measurement flow, the FH/FHV will output the data of the processing item.
Input commands from the external device. Specify the line number when inputting a command from an external device. Available in Multi-line Random-trigger Mode

ON/OFF timing

OFF to ON

ON to OFF

Switch from OFF to ON (rising) to perform a measurement.

Switch from ON to OFF when the user (PLC) detected that the Sensor Controller of the FH/FHV series turns the BUSY signal ON.

Turn ON the signal when the user (PLC) want to output the data externally. Turn the DSA signal ON when the STEP signal is turned ON. If more than one output item is set in a single Output Unit, or if more than one Output Unit is set in the measurement flow, turn the DSA signal ON again when the GATE signal turns OFF for the first data output. For details, refer to 2-6-11 Time Charts on page 2-395.
-

Turn OFF the signal when the user (PLC) detected that the FH/ FHV turns ON the Result Completion (GATE) signal.
-

-

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Signal

Signal name

Function

ENC (Phase A, Encoder Input This is the encoder in- -

B, or Z)

(Phase A, B, or put signal.

Z)

Valid only when Use

Encoder trigger is set in

the system settings.

ON/OFF timing

OFF to ON

ON to OFF

-

Output Signals

2

Signal

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

RUN

Measurement Mode Signal

This signal indicates whether or not the Sensor Controller is in RUN mode.

Turn ON when the Sensor Controller is in Run Mode, which means that the Sensor Controller is in the measurable status and RUN signal output in Layout settings is checked.

The signal turns OFF in either of the following cases: � In ADJUST Mode. � When the Sensor
Controller cannot perform measurement. � RUN signal output is unchecked in the current Layout settings.

BUSY

Busy signal

This signal indicates when external inputs such as commands cannot be accepted. Make sure this signal is OFF before you request a command. While this signal is ON, no commands will be accepted even if they are sent. Note: � A command received
through any other protocol is in execution, which is also detectable. � ON of this signal does not mean that a command is in execution.

Turn ON when The Sensor Controller of the FH/FHV series receives a command from the user (PLC). (The signal turns ON after the EXE signal turned ON.)

Turn OFF when the user (PLC) turns OFF the Command Request (EXE) signal.

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Signal OR
DO0 to DO15

Signal name Overall Judgment signal
Data Output signals

Function
Output the overall judgment. This is determined when the measurement is completed (BUSY signal ON to OFF). Note:
1. The Output polarity setting determines whether this signal turns ON when the judgment result is OK or NG. For details, refer toSetting the Output Signal Specifications on page 2-357 .
2. The OR signal is output only when the Output option is selected in the Adjustment Window.
These signals output the results for expressions set for a Parallel Judgement Output or Parallel Data Output Output Unit.

ON/OFF timing

OFF to ON

ON to OFF

Turn ON based on the judgment results when measurement is completed. (i.e., when the BUSY signal turns OFF.)

The status of the OR signal is maintained until the next OR signal is output. You can set the oneshot output settings so that the OR signal turns OFF automatically after a set time passed. You can also turn OFF the OR signal by executing the Clear Parallel OR+DO command.

-

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Signal

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

GATE

Data Output This signal indicates the � No Handshaking:

� No Handshaking:

Completion

timing to load the output Turn ON when the

The signal turns OFF

signal

data from DO0 to DO15 Sensor Controller of

after the set output

to the User (PLC Link).

the FH/FHV series

time has elapsed.

This signal is ON, which executes the Output � Handshaking:

means that the data is

Unit (Parallel Data

The signal turns OFF

output from the Sensor

Output Unit or Paral-

when the user (PLC)

Controller.

lel Judgement Output turns OFF Data Out-

The user (PLC) reads

Unit) in the measure- put Request (DSA)

the data when this sig-

ment flow*1 and

signal.

2

nal turns ON.

preparations for data

Depending on the

output have been

measurement flow set-

completed.

tings, the GATE output � Handshaking:

may start while the

Turn ON when the

BUSY signal is ON.

Sensor Controller of

Note that the OR signal

the FH/FHV series

does not necessarily

executes the Output

work together with the

Unit (Parallel Data

GATE signal.

Output Unit or Paral-

lel Judgement Output

Unit) in the

measurement

flow*1*2, the Data Output Request (DSA) signal is ON, and preparations for data output have been completed. *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. *2: The signal is output if a Parallel Judgement Output or Parallel Data Output processing item is set in the measurement flow.

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Signal READY

Signal name
Multi-input Ready signal

Function
This signal indicates when the STEP signal can be input when the multiinput function is used. Turn ON the STEP signal when the READY signal turns ON. When using the Multiinput function, the next STEP signal is accepted only after the READY signal turns ON (i.e., when image input has been completed). Note: When you use a Camera-mount Lighting Controller, the time required for the READY signal to turn OFF may increase in comparison with not using it. For details, refer to Camera Image Input FH or Camera Image Input HDR in the Vision System FH/FHV Series Processing Items Reference Manual (Cat. No. Z341).

ON/OFF timing

OFF to ON

ON to OFF

Turn ON when the STEP signal can be input.

Turn OFF when the STEP signal cannot be input. Note: When Through image are being displayed, the READY signal will turn OFF, but the STEP signal can be input. Determine whether or not the STEP input is acceptable based on the BUSY signal.

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Signal

Signal name

Function

ON/OFF timing

OFF to ON

ON to OFF

SHTOUT

Shutter Output This signal indicates

After the Camera expo- The signal turns OFF

signal

when Camera exposure sure is completed, the after the time set for the

has been completed. signal turns ON after SHTOUT width in the

This signal is output on- the time set for the

output signal settings

ly when SHTOUT is se- SHTOUT delay in the has elapsed.

lected as the output sig- output signal settings

nal in the output signal has elapsed.

settings of the system

settings.

Note:

2

� If more than one

Camera is connect-

ed, the signal will re-

main ON for the

Camera with the lon-

gest exposure time.

� You cannot use the

Shutter Output Signal

when the image

mode is set for

Through image.

� If you have regis-

tered 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. There-

fore, use Camera

Switching processing

items instead of

Camera Image Input

processing items in

the middle of the

measurement flow.

STGOUT

Strobe Trigger Output

This is the trigger signal for the strobe.

After an external trigger input is received, the signal turns ON after the time set for the STEP-STGOUT delay in the electronic flash settings has elapsed.

The signal turns OFF after the time that is set for the STGOUT width in the electronic flash settings has elapsed.

ACK

Command Completion Flag

This flag indicates when Turn ON when execu-

DI command execution tion of the DI command

is completed.

is completed

Turn OFF when the user (PLC) turns OFF the DI7 signal.

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Signal ERR

Signal name Error Signal

Function
This signal indicates when the Sensor Controller of the FH/FHV series detects errors. For details of the errors, refer to Error Messages and Troubleshooting in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

ON/OFF timing

OFF to ON

ON to OFF

It will turn ON in any of the following cases. � Turn ON when the
Sensor Cotnroller detects an error. � Turns ON when a STEP signal is input while the READY signal is OFF. � Turns ON when a command which does not exist is issued.

Regardless of the OFF to ON condition set, it will turn OFF in any of the following cases. � When the user (PLC)
issues Error Clear (ERCLR signal: ON) command after the error is removed, � When the STEP signal is input while the READY signal is ON � When a valid command is issued

Multi-line Random-trigger Mode Signal Specifications
For parallel signals, the supported signal types 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 signal types that can be used depending on the number of lines. For details of terminal functions and assignments, refer to Parallel interfacein the Vision System FH series Hardware Setup Manual (Cat. No. Z366) .

l FH-1000/2000/3000/5000 series Sensor Controller
� Signals and Assignments According to Number of Lines Used

I/O
STEP DSA
DI
ENC (Phase A, Phase B, or Phase Z) ACK RUN GATE BUSY OR
ERR
READY
DO

Number of lines

1 line

2 lines

3 or 4 lines

5 to 8 lines

Assigned for each line.

Not supported.

The same signal is used for all lines.

The same signal is used for all lines. The DILINE signal (which specifies the line number to send the command) is added.

Assigned for each line.

The same signal is used for all lines. Assigned for each line. Assigned for each line. Assigned for each line. Assigned for each line.

Not supported.

Assigned for each line.

DO0 to DO15

Line 0:DO0 to DO7 Line 1: DO8 to DO15

Not supported.

Not supported.
The same signal is used for all lines.

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� Signals According to Lines Used

Two Lines

Line number

I/O

Line 0

Line 1

STEP

STEP0

STEP1

DSA

DSA0

DSA1

DLINE

DLINE0 (used for all lines)

DI

DI0 to DI7 (used for all lines)

ENC1 Phase A, ENC1 Phase B, or ENC1

ENC

ENC0 Phase A, ENC0 Phase B, or ENC0 Phase Z

2

Phase Z

* When an encoder is used, STEP6 is as-

(Phase A, B, Z) *When an encoder is used, STEP0 is as- signed to ENC1 Phase A, STEP7 is as-

signed to ENC0 Phase Z.

signed to ENC1 Phase B, and STEP1 is as-

signed to ENC1 Phase Z.

ACK

ACK (used for all lines)

RUN

RUN0

RUN1

GATE

GATE0

GATE1

BUSY

BUSY0

BUSY1

OR

OR0

OR1

ERR

ERR0

ERR1

READY

READY0

READY1

DO

DO0 to DO7

DO8 to DO15

Three or Four Lines

I/O
STEP DSA
DLINE
DI ENC (Phase A, Phase B, or Phase Z) ACK RUN GATE BUSY OR ERR READY DO

Line number

Line 0

Line 1

Line 2

STEP0

STEP1

STEP2

-

DILINE 0 to DILINE 1 (used for all lines) *DSA0 is assigned to DILINE1.

DI0 to DI7 (used for all lines)

-

ACK (used for all lines)

RUN0

RUN1

-

BUSY0

BUSY1

OR0

OR1

ERR0

ERR1

READY0

READY1

-

RUN2
BUSY2 OR2 ERR2 READY2

Line 3 STEP3
RUN3 BUSY3 OR3 ERR3 READY3

Five to Eight Lines

I/O
STEP DSA

Line 0 STEP0

Line 1 STEP1

Line 2 STEP2

Line number

Line 3

Line 4

STEP3 STEP4

-

Line 4 STEP5

Line 6 STEP6

Line 7 STEP7

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I/O
DLINE
DI ENC (Phase A, Phase B, or Phase Z) ACK RUN GATE BUSY OR ERR READY DO

Line number

Line 0

Line 1

Line 2

Line 3

Line 4

DILINE 0 to DILINE 1 (used for all lines) *DSA0 is assigned to DILINE1 and DSA1 is assigned to DILINE2.

DI0 to DI7 (used for all lines)

-

ACK (used for all lines)

BUSY0 BUSY1 BUSY2

OR0

OR1

OR2

ERRV (used for all lines)

READY0 READY1 READY2

-

BUSY3 OR3

-
BUSY4 OR4

READY3 READY4

BUSY5 OR5
READY5

Line 6
BUSY6 OR6 READY6

Line 7
BUSY7 OR7 READY7

Input Timing of Input Signals

l STEP Signal Input Timing
The measurement trigger STEP signal is input with the following timing.

ON STEP signal
OFF

OFF when the BUSY signal is ON.

ON BUSY signal
OFF
ON when the BUSY signal is OFF.

(1) Turn ON the 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, when 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.
Additional Information
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.
l DI0 to DI7 (Command Execution) Timing
� FH

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(1) Parallel DI0 to DI6

ON Parallel DI7
OFF

1 ms (2)

ON Parallel BUSY signal
OFF

Command Request

ACK signal ON

(3)

(4)

(Command Completion Flag) OFF

2

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 DI0 to DI6 (continuous measurements)

ON Parallel DI7
OFF

1 ms

ON Parallel BUSY signal
OFF

Continuous measurement

ACK signal ON (Command Completion Flag) OFF

(1) Set the DI0 to DI6 signals to ON or OFF based on the command to input. (2) After you have set the DI0 to DI6 signals, wait for at least 1 [ms] and then turn ON DI7. (3) The command will be executed, and the ACK signal will turn ON after execution of the command is
completed. (4) 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. * 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.
Precautions for Correct Use
If the DI7 is still ON after execution of a command is completed, the same command will be executed again. Confirm that the ACK signal is turned ON from OFF, and then create the program of the PLC side to turn the DI7 signal OFF from ON.

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Additional Information
From the PLC, set signals DI0 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.

� FHV Sensor control commands are input with the timing shown below using the DI0 to DI7 signals. In the FHV series, commands are executed with DI0, DI1, and DI7 signals.
(1) Parallel DI0 to DI6

Parallel DI7

(2) ON 1 ms
OFF

Parallel BUSY signal

ON OFF

(3) Command Request

(1) Set the DI0 to DI6 signals to ON or OFF based on the command to input. (2) After you have set the DI0 to DI6 signals, wait for at least 1 ms and then turn ON DI7. (3) Then check that the BUSY signal has turned ON, then turn OFF DI7. The BUSY signal 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.
Precautions for Correct Use
If the DI7 is still ON after execution of a command is completed, the same command will be executed again.
Additional Information
From the PLC, set signals DI0 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.

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2-6 Parallel Communications

2-6-9 Output Items

2-6-9 Output Items
In the FHV series, this processing item is unavailable.

Parallel Data Output
This processing item can not be used in the FHV series.

l 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 processing units such as expressions.

2

Measured item Judgement Data 0 to 7

Text string JG D00 to D07

Description Judgment result Results of expressions set for output data 0 to 7

l External Reference Tables (Parallel Data Output)
By specifying a number, the following data can be referenced from control commands or processing items that have a set/get processing unit data function.

Number

Data name

0

Judgment

5 to 12 128

Data 0 to Data 7 Data type

Get only Get only Get only Set/Get

Data range
0: No judgment (unmeasured) 1: Judgment result OK -1: Judgment result NG � BCD: -999 to 999 � Binary: -2147483.648 to 2147483.647
0: Binary 1: BCD

Parallel Judgment Output
This processing item can not be used in the FHV series.
l Measurement Results for Which Output 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 processing units such as expressions.

Measured item Judgment Data 0 to 15 Judge 0 to 15

Text string JG D00 to D15 J00 to J15

Description Judgment result Results of expressions set for output judgment data 0 to 15 Results of judgment on expressions set for output judgment data 0 to 15

l External Reference Tables (Parallel Judgment Output)
By specifying a number, the following data can be referenced from control commands or processing items that have a set/get processing unit data function.

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Number

Data name

Set/Get

0

Judgment

Get only

5 to 20

Data0 to Data 15

Get only

21 to 36

Judge 0 to Judge 15

Get only

103

Reflect to the overall judgment

Set/Get

136

Upper limit 0 for judgment

Set/Get

137

Lower limit 0 for judgment

Set/Get

138

Upper limit 1 for judgment

Set/Get

139

Lower limit 1 for judgment

Set/Get

140

Upper limit 2 for judgment

Set/Get

141

Lower limit 2 for judgment

Set/Get

142

Upper limit 3 for judgment

Set/Get

143

Lower limit 3 for judgment

Set/Get

144

Upper limit 4 for judgment

Set/Get

145

Lower limit 4 for judgment

Set/Get

146

Upper limit 5 for judgment

Set/Get

147

Lower limit 5 for judgment

Set/Get

148

Upper limit 6 for judgment

Set/Get

149

Lower limit 6 for judgment

Set/Get

150

Upper limit 7 for judgment

Set/Get

151

Lower limit 7 for judgment

Set/Get

152

Upper limit 8 for judgment

Set/Get

153

Lower limit 8 for judgment

Set/Get

154

Upper limit 9 for judgment

Set/Get

155

Lower limit 9 for judgment

Set/Get

156

Upper limit 10 for judgment Set/Get

157

Lower limit 10 for judgment Set/Get

158

Upper limit 11 for judgment Set/Get

159

Lower limit 11 for judgment Set/Get

160

Upper limit 12 for judgment Set/Get

161

Lower limit 12 for judgment Set/Get

162

Upper limit 13 for judgment Set/Get

163

Lower limit 13 for judgment Set/Get

164

Upper limit 14 for judgment Set/Get

165

Lower limit 14 for judgment Set/Get

166

Upper limit 15 for judgment Set/Get

167

Lower limit 15 for judgment Set/Get

Data range 0: No judgment (unmeasured) 1: Judgment result OK -1: Judgment result NG -999999999.9999 to 999999999.9999 0: No judgment (unmeasured) 1: Judgment result OK -1: Judgment result NG
0: ON, 1: OFF
-999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999 -999999999.9999 to 999999999.9999

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2 Methods for Connecting and Communicating with External Devices

2-6-10 Command Formats
You can input commands to control the Sensor from an external device using the DI0 to DI7 signals.

Input Format
Commands are input in the following formats.

lFH

� One Line

2

Input format (DI7 to DI0)

DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0

Execution Command

Command information

Set 0 (OFF) or 1 (ON) for each DI signal. Confirm commands and information, and turn DI7 (execution) ON with an interval of at least 1 [ms]. � Multi-line Random-trigger Mode
Two Lines Input format (DI7 to DI0 and DILINE0)

DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0 DILINE0

Execution Command

Command information Specifies the target line number for the command

Three or Four Lines Input format (DI7 to DI0, DILINE1, and DILINE0)
DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0 DILINE1

DILINE0

Execution Command

Command information Specifies the target line number for the command

Five to Eight Lines Input format (DI7 to DI0 and DILINE2 to DILINE0)
DI7 DI6 DI5 DI4 DI3 DI2 DI1 DI0 DILINE2

DILINE1

DILINE0

Execution Command

Command information

Specifies the target line number for the command

lFHV Input format (DI7 to DI0)

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DI7 DI1 DI0
Execution Command
Set 0 (OFF) or 1 (ON) for each DI signal. Confirm commands and information, and turn DI7 (execution) ON with an interval of at least 1 [ms].
Precautions for Correct Use In FHV series, commands equivalent to those of the FH series is available when the Smart Camera data unit interface is connected.

Command Lists
The commands and command formats are described in the following tables.
l One Line
� FH

Data

Description

Continuous Measurement

Performs measurement continuously while command is being input.

Switch Scene

Switches the measurement scene.

Switch Scene Group

Switches the measurement scene groups.

Clear Measurement Values
Clear Error
Clear Parallel OR +DO
Clear Wait State

Clears measurement values. The OR signal and DO signal are not cleared. Clears the error output. The ERROR indicator is also cleared.
Clears the OR signal and DO signal.
Clears the wait state of the parallel flow control processing item.

0: OFF 1: ON

Execute (DI7) 1
1 1

Input format (DI7 to DI0)

Command Command information

(DI6, DI5)

(DI4 to DI0)

*****

The Sensor Controller

00

does not check this signal, so a setting of either

0 or 1 makes no differ-

ence.

01

Input [Scene No.] in binary format (0 to 31).

Input [Scene Group No.]

11

in binary format (0 to

31).

Input example
10000000
Switching to Scene 2: 10100010 Switching to Scene Group 2: 11100010

1

10

00000

11000000

1

10

00001

1

10

00010

1

10

01111

11000001 11000010 11001111

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� FHV

Data

Description

Clear Measurement Values, Error, OR

Clears the measurement values, OR signal, and Error signal. The ERROR indicator is also cleared.

0: OFF 1: ON

Input format (DI7 to DI0)

Execute (DI7)

Command (DI1, DI0)

Input example

1

10

110

2

2-6-10 Command Formats

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l Multi-line Random-trigger Mode
� FH

Data

Description

Continuous Measurement

Performs measurement continuously while command is being input.

Switch Scene

Switches the measurement scene.

Switch Scene Group

Switches the measurement scene groups.

Clear Measurement Values

Clears measurement values. The OR signal and DO signal are not cleared.

Clear Error

Clears the error output. The ERROR indicator is also cleared.

Clear Parallel OR +DO

Clears the OR signal and DO signal.
*2

Input format (DI7 to DI0, DILINE0, DILINE1, and DILINE2)

Execute (DI7)

Command (DI6, DI5)

Command information (DI4 to DI0)

Line number
*1

*****

The Sensor Con-

troller does not

1

00 check this signal,

so a setting of ei-

ther 0 or 1 makes

no difference.

Input [Scene No.]

1

01 in binary format (0

to 31).

Specify the line

number to send a

command to.

� Two lines: 0 or

Input [Scene

1

11

Group No.] in binary format (0 to

� Three or four lines:

31).

00 (line 0)

01 (line 1)

10 (line 2)

11 (line 3)

� Five to eight

lines:

1

10 00000

000 (line 0)

001 (line 1)

010 (line 2)

011 (line 3)

100 (line 4)

101 (line 5)

110 (line 6)

1

10 00001

111 (line 7)

1

10 00010

Input example (DILINE2 to DILINE0, DI7 to DI5, and DI4 to
DI0)
Continuous measurement on line 1 when 2 lines are used: 0 100 00000
Switching to scene 2 on line 2 when 4 lines are used: 10 101 00010
Switching to scene group 3 on line 6 when 8 lines are used: 110 111 00011
Clearing the measurement results for line 1 when 2 lines are used: 1 110 00000
Clearing the error status for line 1 when 4 lines are used: 01 110 00001
Clearing the OR and Do signals for line 2 when 8 lines are used: 010 110 00010

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Data

Description

Input format (DI7 to DI0, DILINE0, DILINE1, and DILINE2)

Execute (DI7)

Command (DI6, DI5)

Command information (DI4 to DI0)

Line number
*1

Input example (DILINE2 to DILINE0, DI7 to DI5, and DI4 to
DI0)

Clears the wait

Clear Wait state of the paral-

State

lel flow control

1

10 01111

11001111

processing item.

*1. Two lines: DILINE0

2

Three or four lines: DILINE0 and DILINE1

Five to eight lines: DILINE0 to DILINE2

*2. Only the signals assigned to the line to which a command was sent can be cleared. The OR and DO

signals are not cleared for other lines. If the command is sent to a line that cannot use the DO signals,

only the OR signal will be cleared.

2-6-11 Time Charts
The ON/OFF timing of related signals during data output after the completion of measurement and during the sequence of operation from input of the control command until data output after the completion of measurement is indicated below in a timing chart.

Timing chart at startup
This section describes the timing chart at startup.

Precautions for Correct Use
� For details of functions and operation of each signal, refer to 2-6-8 I/O Signals on page 2-378.
� Input the STEP signals and DI0 to DI7 signals after the RUN signal turns ON.

ON READY signal
OFF

Power ON

ON RUN signal
OFF

ON STEP signal
OFF
(1) Turn ON power. (2) The READY signal turns ON when the trigger signal becomes acceptable. (3) The STEP signal is input after checking the RUN signal is ON.

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Output Control Timing Charts
This section provides timing charts for each output control type (none, handshaking, and synchronization output). In the FHV series, there is no DO 0 to DO 15, GATE signal.

Precautions for Correct Use
� For details of functions and operation of each signal, refer to 2-6-8 I/O Signals on page 2-378.

l Output Control: None

Example: Three Data Items Set for Parallel Data Output Time Chart

ON STEP signal
OFF

The signal is turned OFF when the BUSY signal turns ON.

BUSY signal ON OFF
OR signal

ON while the measurement process is being executed.

Turns ON when the overall judgement result is NG. (Output polarity: [ON for NG])

DO0 to DO15 signals
ON GATE signal
OFF

Data 0

Delay time Gate ON delay [ms]

(1 ms max.)

Output time

Output period

Data 1

Data 2

Output Unit executed. The total output time is as follows: Output period � Number of output data items.

(1) Turn ON the STEP signal while the BUSY signal is OFF.
(2) Measurement begins and the BUSY signal is turned ON during the measurement process.
(3) Measurement data is output when a Parallel Data Output Unit in the measurement flow is executed.
(4) 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. A delay of up to 1 [ms] will occur when the GATE signal is turned ON. (This applied only to the FH.) Set the GATE ON delay and output time for the GATE signal so that the total time does not exceed the output period.
(5) 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. Set the GATE ON delay and output time for the GATE signal so that the total time does not exceed the output period.
(6) If the output processing for the next data item is completed, the next GATE signal will be turned ON after the time set for the Output period has elapsed from the end of processing in step 5 above.
(7) After measurement is completed, the OR signal is output based on the measurement results and the BUSY signal is turned OFF.

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Precautions for Correct Use
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 were shorter than the total output time, the data output buffer will eventually overflow and data will be lost.

Additional Information When the parallel judgment output unit is performed, the GATE signal turns ON once.

l Output Control: Handshaking

2

Example: Three Data Items Set for Parallel Data Output

STEP signal

ON OFF

The signal is turned OFF when the BUSY signal turns ON.

BUSY signal

ON OFF

ON while the measurement process is being executed.

OR signal

DO0 to DO15 signals

GATE signal

ON OFF

DSA signal

ON OFF

Overall judgement (Output when measurements have been completed regardless of the DSA signal.)

Execution of the Parallel Data Output Unit

Data 0

Data 1

Data 2

Delay time (1 ms max.)
Gate ON delay [ms]

Timeout time (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

Timeout time (3))
A timeout error will occur if more than one data item is being output for one measurement and the DSA signal does not turn ON within the specified time after the GATE signal turns OFF.

the measurement flow.

Timeout time (2))

If the DSA signal does not turn OFF within the specified time after the GATE signal turns ON, a timeout error will occur.

(1) Turn ON the STEP signal while the BUSY signal is OFF. (2) Measurement begins and the BUSY signal is turned ON during the measurement process. (3) Turn ON the DSA signal from the external device to request data transmission after the STEP signal
turns ON. A timeout error will occur if the DSA signal were not turned ON within the set timeout interval from when the output data was output by the Output Unit in the measurement flow. (1) (4) After measurement is completed, the OR signal is output based on the measurement results and the BUSY signal is turned OFF. (5) Measurement data is output when a Parallel Data Output Unit in the measurement flow is executed. (6) The GATE signal is turned ON if the DSA signal is ON after data output processing. A delay of up to 1 [ms] will occur when the GATE signal is turned ON. (This applied only to the FH.)

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(7) The user (PLC) reads the data and turns OFF the DSA signal when the GATE signal turns ON. A timeout error will occur, if the DSA signal were not turned OFF within the specified time after the GATE signal turned ON. (2)
(8) The GATE signal turns OFF if the DSA signal is turned OFF. A timeout error will occur, if the DSA signal were not turned OFF within the specified time after the GATE signal turned ON. (2)
(9) A timeout error will occur, 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. (3)
Additional Information When the parallel judgment output unit is performed, the GATE signal turns ON once if the DSA signal is ON.

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l Output Control: Synchronization Control
Operation When Number of Delays Is Set to 2:

The signal is turned OFF when the BUSY signal turns ON.

ON

STEP signal

(1)

(2)

(3)

(4)

(5)

OFF

ON while measurements are being processed

ON BUSY signal

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

2

DO signal
ON GATE signal
OFF

(Result not output.)
Delay time (1 ms max.)

The results for (1) is output when the STEP signal turns ON the third time.

Result for (1) Result for (2) GATE ON delay

Result for (3)

Result for (4)

Output time

(1) Turn ON the STEP signal while the BUSY signal is OFF.
(2) The Overall Judgment (OR) signal is output when BUSY signal switched from ON to OFF.
(3) 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. A delay of up to 1 [ms] will occur when the GATE signal is turned ON. (This applied only to the FH.)
(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.

2-6-11 Time Charts

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Command Timing Charts

Precautions for Correct Use
� For details of functions and operation of each signal, refer to 2-6-8 I/O Signals on page 2-378.

l Continuous Measurement
Measurement is performed continuously while the DI7 signal is ON. Continuous measurement is stopped when the DI7 signal is turned OFF.

When an Expression Is Set in Parallel Data Output with No Output Control:

� Time Chart
ON DI5 to DI6 are turned OFF.
OFF

DI7 signal ON OFF
BUSY signal ON

Measurement

Continuous measurement started.

Measurement

End of continuous measurements

OR signal

OFF ON while the measurement process is being executed.
OR signal is not applied to load while measurement is running.

DO signal

Data 0

Load the OR signal of the last continuously measurement result when BUSY signal is turned OFF.

ON GATE signal
OFF
ON ACK signal
OFF

Delay time *1 (1 ms max.)

Gate ON delay [ms] Output time
Output period

*1 A delay of up to 1 ms will occur when the GATE signal is turned ON. (This applied only to the FH.)

� Input Signals

Signal DI5 to DI6 DI7

Description
These signals are turned OFF during continuous measurement. (i.e., while DI7 is ON.)
This is the execution trigger. After DI0 to DI6 are set, turn ON DI7 after an interval over 1 [ms]. Always keep this signal turned ON during continuous measurement. Continuous measurement is stopped when this signal is turned OFF.

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Precautions for Correct Use

� The measurement during continuous measurement is 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.

� Load the OR signal of the last continuously measurement result when BUSY signal is turned

OFF.

� When continuous measurement are ended, the measurement results from the last measure-

ment will be displayed.

� OR signal is not applied to load while measurement is running. When you want to get the

Overall judgment result during measurement, assign TJG to the Parallel Data Output or

Parallel Judgment Output. For details, refer to 1-3-1 Basic Control Operations of the Sensor

Controller on page 1-4.

2

� After the continuous measurement was completed, read the OR signal for the last measure-

ment results at the time when the BUSY signal switched from ON to OFF.

Additional Information
� When the input command is not received correctly, the ERROR signal turns ON. � Acquisition is difficult because the amount of time during which the BUSY signal is OFF dur-
ing 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 judgment output at the end of the flow.

2-6-11 Time Charts

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l Scene/Scene Group Switch
Scenes and scene groups are switched as follows. After the number of the desired scene or scene group is set in DI0 to DI6, turning ON DI7 switches the scene or scene group to the number set.

� Time Charts FH:
DI0 to DI6 signals

0

0100001 (to switch to scene 1)

DI7 signal BUSY signal

ON
OFF After at least 1 ms,
ON IN7 is turned ON.
OFF

Command Request

The PLC (user) turns OFF the signal again when the ACK signal is turned ON.

ON READY signal
OFF
ON ACK signal
OFF

The signal turns OFF when DI7 turns OFF.
Timeout [s]

� Output Signals

Signal BUSY
READY ACK

Description
Indicates that the Sensor Controller is currently switching the scene or scene group. Do not input next command while the BUSY signal is ON. Otherwise, on-going processing or commands 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 signal is ON. Turns ON when execution of the DI command is completed.

Additional Information When the input command is not received correctly, the ERROR signal turns ON.

Precautions for Correct Use
Do not switch the scene group during parallel continuous measurement or when the STEP signal is being input continuously. If you must switch 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 Changing the Scene or Scene Group in the Vision System FH/FHV Series User's
Manual (Cat. No.Z365). � Refer to Setting the Conditions That Are Related to Operation during Measurement in the
Vision System FH/FHV Series User's Manual (Cat. No.Z365).

� Input Signals (Scene/Scene Group Switching)

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Signal

Description

DI0 to DI4

Sets the scene number (0 to 31). When a DI terminal offset is set, the set offset is added.

DI5

ON

DI6

Scene switching: OFF

Scene Group switching: ON

DI7

This is the execution trigger.

After DI0 to DI6 are set, turn ON DI7 after an interval over 1 [ms].

After checking that the ACK signal has turned ON, turn DI7 OFF and then turn DI0 to DI6

OFF.

Refer to Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

2

Additional Information
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 Setting the Conditions That Are Related to Operation during Measurement in the Vision System FH/FHV Series User's Manual (Cat. No.Z365).

2-6-11 Time Charts

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l Clear Measurement Values
The measurement result is cleared as follows.

� Time Charts FH:
DI0 to DI6 signals

0

1000000

DI7 signal BUSY signal

ON
OFF Allow at least 1 ms and then turn ON IN7.
ON
OFF

ON READY signal
OFF
ON ACK signal
OFF

The PLC (user) turns OFF the signal again when the ACK signal is turned ON.
The signal turns OFF when DI7 turns OFF.

� Output Signals

Signal
BUSY READY ACK

Description 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]. Turns OFF when the command to clear the measurement value is being executed. Turns ON when execution of the DI command is completed.

� Input Signals

Signal DI0 to DI4 DI5 DI6 DI7

Description
Turns OFF.
Turns OFF.
Turns ON.
This is the trigger signal to clear a measurement value. After DI0 to DI6 are set, turn ON DI7 after an interval over 1 [ms]. After checking that the ACK signal has turned ON, turn DI7 OFF and then turn DI0 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 signal is turned ON or not by an external device, control the timing so that the DI7 signal is turned ON for approximately 5 [ms].

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l Clear Parallel OR+DO
The OR signal and DO signals are cleared as follows.

� Time Chart

FH:

DI0 to DI6 signals

0

1000010

The PLC (user) turns OFF the signal again

ON DI7 signal
OFF

when the ACK signal is turned ON.
2

Allow at least 1 ms and then turn ON DI7.

ON BUSY signal
OFF

ON READY signal
OFF

ON ACK signal
OFF
ON OR signal
OFF

DO0 to DO15 signal

0

The signal turns OFF when DI7 turns OFF.

� Output Signals

Signal BUSY
READY ACK OR DO0 to DO15

Description Turns ON while the OR and DO signals are cleared. The amount of time during which the BUSY signal is turned ON is approximately 1 [ms]. Turns OFF while the command to clear the OR and DO signals is executed. Turns ON when execution of the DI command was completed. It will turn OFF if it was turned ON. It will turn OFF if it was turned ON.

� Input Signals

Signal DI0 DI1 DI2 to DI4 DI5 DI6 DI7

Description
Turns OFF. Turns ON. Turns OFF. Turns OFF. Turns ON. This is the trigger signal to clear the OR and DO signal. After DI0 to DI6 are set, turn ON DI7 after an interval over 1 [ms]. After checking that the ACK signal has turned ON, turns DI7 OFF and then turn DI0 to DI6 OFF. Note, however, that the amount of time during which the BUSY signal is turned ON is approximately 1 [ms]. If an external device could not recognized the BUSY signal state, control the timing so that the DI7 signal is turned ON for approximately 5 [ms].

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l Clear Error
The error signal is cleared as follows.

� Time Chart

FH:

DI0 to DI6 signals

0

1000010

DI7 signal

ON
OFF Allow at least 1 ms and then turn ON DI7.

ON BUSY signal
OFF

ON READY signal
OFF
ON ACK signal
OFF
ON ERROR signal
OFF

� Output Signals

The PLC (user) turns OFF the signal again when the ACK signal is turned ON.
The signal turns OFF when DI7 turns OFF.

Signal BUSY
READY ACK ERROR

Description
Turns ON while the ERROR signal is cleared. The amount of time during which the BUSY signal is turned ON is approximately 1 [ms]. Turns OFF while the command to clear the ERROR signal is executed. Turns ON when execution of the DI command was completed. After the error is removed, the signal turns OFF when the FH executes the error clear processing.

� Input Signals

Signal DI0 DI1 to DI4 DI5 DI6 DI7

Description
Turns ON.
Turns OFF.
Turns OFF.
Turns ON.
This is the trigger signal to clear an error. After DI0 to DI6 are set, turn ON DI7 after an interval over 1 [ms]. After checking that the ACK signal has turned ON, turns DI7 OFF and then turn DI0 to DI6 OFF. Note, however, that the amount of time during which the BUSY signal is turned ON is approximately 1 [ms]. If an external device could not recognized the BUSY signal state, control the timing so that the DI7 signal is turned ON for approximately 5 [ms].

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l Clear Measurement Values, Error, OR
Clears the Measurement Values, OR signal and Error signal. The ERROR indicator is also cleared.

� Time Chart

FHV:

DI1, DI0 signal

10

00

The signal is turned signal turns OFF.

OFF

when

the

DI7

Allow at least 1 ms

ON DI7 signal

and then turn ON D17.

The signal is turned OFF when the BUSY signal turns ON.

2

OFF

STEP signal BUSY signal

ON
OFF STEP
ON input
OFF

The signal is turned OFF when the BUSY signal turns ON.

Measurement

Clear

ON READY signal
OFF

ON OR signal
OFF

ON ERROR signal
OFF
Refe to Clear Measurement Values on page 2-404, Clear Parallel OR+DO on page 2-405, Clear
Error on page 2-406 when using the Data Unit for the Smart Camera (Parallel Interface) FHV-
SDU10.

� Output Signals

Signal BUSY
READY OR ERROR

Description
The BUSY signal is ON during the command execution. The amount of time during which the BUSY signal is turned ON is approximately 1 [ms]. The READY signal is OFF during the command execution. It will turn OFF if it was turned ON. After the error is removed, the signal turns OFF when the FHV executes the error clear processing.

� Input Signals

Signal DI0 DI1

Turns OFF. Turns ON.

Description

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Signal DI7

Description
This is the trigger signal to clear Measurement Values, Error, OR signals. After DI0 and DI1 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 ON, turn DI7 OFF, and then turn DI0, DI1 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 signal is turned ON or not by an external device, control the timing so that the DI7 signal is turned ON for approximately 5 [ms].

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2-6-12 Parallel Troubleshooting

Problem

Cause

Action

Data is not output at all.

You have selected more than three lines in Multi-line Random-trigger Mode.

Decrease the number of lines or use a communications method other than parallel communications.

The Output setting is turned OFF.

Select Layout setup in the Window menu on the Main Window, and then turn ON the Output setting.

Even though there is more than

The data is being overwritten be- Read data only when the GATE sig-

one data output item, only the last cause the ON status of the GATE nal is ON.

2

data item is output.

signal is not being checked.

Use handshaking for the output

control to control the output timing.

STGOUT and 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 signal settings in the system settings.

Measurement is not executed even The STEP signal is chattering. when a STEP signal is input.

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.

The STEP signal is input at random.

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 remains OFF.

The image mode is set to Through Change the image mode to Freeze

Mode on the Main Window.

or Last NG.

Camera Image Input HDR or Camera Image Input HDR Lite is being used in the current measurement flow.

When using Camera Image Input HDR or Camera Image Input HDR Lite, the READY signal will turn OFF for the number of Camera images taken.

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 turn OFF for the number of Camera images taken.

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 slowest Camera exposure is completed.

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A
Appendices
A
A-1 Command Control ......................................................................................... A-2 A-1-1 Parameter Notation Examples for Command Control .................................... A-2 A-1-2 Details of Commands Used in EtherCAT Communications ............................ A-6 A-1-3 Command List................................................................................................. A-7 A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET .... A-15 A-1-5 Non-procedure Command Details ................................................................ A-85

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A-1

Appendices

A-1 Command Control

This section describes the commands that are used to control the Sensor Controller from an external device.

A-1-1 Parameter Notation Examples for Command Control
This section provides examples of binary inputs of parameters such as arguments for command control.

Additional Information
The storage order depends on the manufacturer of the connected PLC as follows: � OMRON and Yaskawa Electric PLCs: Upper byte followed by lower byte � Mitsubishi Electric PLCs: Lower byte followed by upper byte*1

*1:

The order of displayed sequence program may be from upper byte to low byte.

If it does not perform correctly, confirm the order of upper and low byte.

l Four-byte Data
The following example shows the input to switch the scene to scene number 5 with the Switch Scene command.

First word in Command Area +2 and +3 words +4 and +5 words

Description Command code: (1000 0030 hex) Scene number: (0000 0005 hex)

� OMRON or Yaskawa Electric PLCs Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5

Hexadecimal notation
1000 0030 0005 0000

Bit

15 - 12 11 - 8

7 - 4

0001 0000 0000 0000

0000 0000 0000 0000

0000 0011 0000 0000

3 - 0
0000 0000 0101 0000

Description Command code Scene number

� Mitsubishi Electric PLCs Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5

Hexadecimal notation
1000 0030 0500 0000

Bit

15 - 12 11 - 8

7 - 4

0001 0000 0000 0000

0000 0000 0101 0000

0000 0011 0000 0000

3 - 0
0000 0000 0000 0000

Description Command code Scene number

A-2

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A-1-1 Parameter Notation Examples for Command Control

Appendices

l 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\IMG01\LABEL.IFZ) with the Save Image command.

First word in Command Area +2 and +3 words +4 and +5 words +6 and +7 words

Description Command code: (4000 0070 hex) Image data number: 1 (0000 0001 hex) Save destination: (USBDisk\IMG01\LABEL.IFZ)

� OMRON or Yaskawa Electric PLCs Command (PLC to Sensor Controller)

First word in Command Area

Hexadecimal
notation

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

A

+2

4000

0100

0000

Command code

+3

0070

0000

0111

0000

+4

0001

0000

0001

Image data number

+5

0000

+6

5553

0101

0011

Save destination

+7

4244

0100

0010

0100

+6:5553 (US)

+8

6973

0110

1001

0111

0011

+7:4244 (BD)

+9

6b32

0110

1011

0011

0010

+8:6973 (is) +9:6b32 (k2)

+10

5c49

0101

1100

0100

1001

+10:5c49 (\I)

+11

4d47

0100

1101

0100

0111

+11:4d47 (MG)

+12

3031

0011

0000

0011

0001

+12:3031 (01)

+13

5c4c

0101

1100

0100

1100

+13:5c4c (\L)

+14

4142

0100

0001

0100

0010

+14:4142 (AB)

+15

454c

0100

0101

0100

1100

+15:454c (EL)

+16

2e49

0010

1110

0100

1001

+16:2e49 (.I) +17:465a (FZ)

+17

465a

0100

0110

0101

1010

� Mitsubishi Electric PLCs Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5

Hexadecimal
notation
4000 0070 0100 0000

15 - 12
0100 0000 0000 0000

Bit

11 - 8

7 - 4

0000 0000 0001 0000

0000 0111 0000 0000

3 - 0
0000 0000 0000 0000

Description Command code Image data number

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-3

Appendices

First word in Command Area
+6 +7 +8 +9 +10 +11 +12 +13 +14 +15 +16 +17

Hexadecimal
notation 5355 4442 7369 326b 495c 474d 3130 4c5c 4241 4c45 492e 5a46

15 - 12
0101 0100 0111 0011 0100 0100 0011 0100 0100 0100 0100 0101

Bit

11 - 8

7 - 4

0011 0100 0011 0011 1001 0111 0001 1100 0010 1100 1001 1010

0101 0100 0110 0110 0101 0100 0011 0101 0100 0100 0010 0100

3 - 0
0101 0010 1001 1011 1100 1101 0000 1100 0001 0101 1110 0110

Description
Save destination +6:5355 (SU) +7:4442 (DB) +8:7369 (si) +9:326b (2k) +10:495c (I\) +11:474d (GM) +12:3130 (10) +13:4c5c (L\) +14:4241 (BA) +15:4c45 (LE) +16:492e (I.) +17:5a46 (ZF)

l Specifying Real Numbers
Specify the actual value multiplied by 1,000 to specify a real number. In this example, the inputs are given to set the lower limit value (external reference number 137) of measurement coordinate X to 123.4 for the Search processing item that is registered to processing unit 1 by the Set Unit Data command.

First word in Command Area +2 and +3 words +4 and +5 words +6 and +7 words
+8 and +9 words

Description Command code: (1000 0050 hex) Unit number: 1 (0000 0001 hex) External reference number: 137 (0000 0089 hex) Lower limit of measurement coordinate X: 123.4 (x 1,000: 123,400 = 0001 E208 hex)

� OMRON or Yaskawa Electric PLCs Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 +6 +7 +8 +9

Hexadecimal
notation 1000 0050 0001 0000 0089 0000 e208 0001

15 - 12
0001 0000 0000 0000 0000 0000 1100 0000

Bit

11 - 8

7 - 4

0000 0000 0000 0000 0000 0000 0010 0000

0000 0101 0000 0000 1000 0000 0000 0000

3 - 0
0000 0000 0001 0000 1001 0000 1000 0001

Description
Command code Unit number External reference number Lower limit of measurement coordinate X

A-4

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

� Mitsubishi Electric PLCs Command (PLC to Sensor Controller)

First word in Command Area

Hexadecimal
notation

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+2

1000

0001

0000

Command code

+3

0050

0000

0101

0000

+4

0100

0000

0001

0000

Unit number

+5

0000

+6

8900

1000

1001

0000

External reference number

+7

0000

+8 +9

08e2 0100

0000 0000

1000 0001

1110 0000

0010 0000

Lower limit of measurement coordinate X

A

A-1 Command Control

A-1-1 Parameter Notation Examples for Command Control

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-5

Appendices

A-1-2 Details of Commands Used in EtherCAT Communications
Command codes and command parameters used in EtherCAT communications are specified as described below via the I/O port.

Command Code Command Parameter 0 to 3

:Holds the command code to execute. :Holds the parameter for the command to execute.

Precautions for Correct Use
Since Command Parameter 3 is the reserved area, it is unavailable. Use Command Parameter 0 to 2.

Command details written in the Appendix are described based on PLC memory addresses. When specifying command codes and command parameters in EtherCAT communications, replace the command details with the description in the table below.

First word in Command

Command Area Code

15-12

+2

0000

+3

0000

+4

0000

+5

0000

+6

0000

+7

0000

+8

0000

+9

0000

+10

0000

+11

0000

Bit

11-8

7-4

0000

3-0 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000

Command Code 4 bytes
Command Parameter 0 4 bytes
Command Parameter 1 4 bytes
Command Parameter 2 4 bytes
Command Parameter 3 4 bytes

A-6

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

A-1 Command Control

A-1-3 Command List

A-1-3 Command List
This section lists the commands that you can use with the FH or FHV series and the communications protocols for which each command is supported.

Additional Information
In addition to the standard communication 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 Custom Communications Commands in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

Precautions for Correct Use

A

� In the FHV, parallel commands other than measurements, errors, and OR signal clear are available when the parallel I/O signal extension unit (FHV-SDU10) for the Smart Camera data unit is connected. If not connected, only measurements, errors, and OR signal clear can be used.
� In the FHV, EtherCAT communication commands are available only when the EtherCAT interface communication unit (FHV-SDU30) for the Smart Camera data unit is connected.

l Execution Commands

OK: Applicable command, RST: Command with restricted execution, NA: Non-applicable command

Function
Performs measurement one time. Performs continuous measurement. Ends continuous measurements. Performs test measurement for the specified unit. Clears all measurement result values. Clears the data output buffer. Saves the current system data and scene group data in the Sensor Controller. Registers the model again.

Parallel Ref.: page 2-392 NA*1 OK NA
NA
OK NA
NA
NA

PLC link Ref.: page 2-175 OK OK OK
OK
OK NA
OK
OK

EtherNet/IP Ref.:
page 2-239 NA*1 OK OK
OK
OK OK
OK
OK

EtherCAT Ref.:
page 2-51

PROFINET Ref.: page 2-299

Non-procedure
Ref.: page 2-342

OK

NA*1

OK

NA

OK

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-7

Appendices

Function

Parallel Ref.: page 2-392

PLC link Ref.: page 2-175

EtherNet/IP Ref.:
page 2-239

EtherCAT Ref.:
page 2-51

PROFINET Ref.: page 2-299

Non-procedure
Ref.: page 2-342

Shifts the image display

position by the specified

NA

OK

amount.

OK

Zooms the image display

in or out by the specified

NA

OK

factor.

OK

Returns the display posi-

tion and display magnification to their default val-

NA

OK

ues.

OK

Copies the scene data.

NA

OK

Deletes the scene data.

NA

OK

Moves the scene data.

NA

OK

Registers the specified

image data as a regis-

NA

OK

RST*2

NA

OK

tered image.

Loads the specified reg-

istered image as the

NA

OK

measurement image.

OK

Responds in the re-

sponse areas +6+7 with the data that was set in

NA

OK

NA

command areas +4+5.

NA

Returns an entered text string without changing it.

NA

OK

Executes the specified

command string after a

NA

specified delay.

NA

OK

Adds a user account to a specified group ID.

NA

OK

RST*2

NA

OK

Deletes a specified user account.

NA

OK

RST*2

NA

OK

Branches to the start of

the measurement flow

NA

OK

(processing unit 0).

OK

Restarts the Sensor Controller.

NA

OK

Clear Error

OK

NA

NA*3

NA

Clear Parallel OR+DO

OK

NA

Clear Measurement Val-

ues, Error, OR*4

OK

NA

*1. You can execute the same operation with the Measurement Execution Bit (STEP signal is allocated for the parallel communications, EtherNet/IP, and PROFINET) 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 (EtherNet/IP and PROFINET: ERCLR,
EtherCAT: Error Clear) in the control signals. *4. Clear Measurement Values, Error, OR is only possible in the FHV series.

A-8

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

A-1 Command Control

A-1-3 Command List

l Commands to Get Status

OK: Applicable command, RST: Command with restricted execution, NA: Non-applicable command

Function

Parallel

PLC Link Ref.: page 2-176

EtherNet/IP Ref.:
page 2-240

EtherCAT Ref.:
page 2-52

PROFINET Ref.: page 2-299

Non-procedure
Ref.: page 2-342

Gets the current scene number.

NA

OK

Gets the current scene group number.

NA

OK

Gets the number of the

layout that is currently

NA

OK

displayed.

OK

A

Gets the number of the

Unit that is currently displayed in the specified

NA

OK

image display window.

OK

Gets the sub-image num-

ber that is currently displayed in the specified

NA

OK

image display window.

OK

Gets the image mode for

the specified image dis-

NA

OK

play window.

OK

Gets the input status

(prohibited/permitted) for the Communications

NA

OK

Modules.

OK

Gets the output status

(prohibited/permitted) to

NA

OK

an external device.

OK

Gets the ON/OFF status

for the specified parallel

NA

OK

I/O terminal.

OK

Gets the ON/OFF status

of all parallel terminals

NA

OK

except for DI terminals.

OK

Gets the ON/OFF status

of all parallel DI termi-

NA

OK

nals.

OK

Gets the user name for

the user account current-

NA

OK

RST*1

NA

OK

ly logged in.

Gets the group ID for the

account currently logged

NA

OK

RST*1

NA

OK

in.

Gets the current state of the operation log.

NA

OK

*1. You cannot execute tag data link commands. Execute the command with message communications.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-9

Appendices

l Commands to Set Status

OK: Applicable command, RST: Command with restricted execution, NA: Non-applicable command

Function

Parallel Ref.: page 2-392

PLC link Ref.: page 2-176

EtherNet/IP Ref.:
page 2-240

EtherCAT Ref.:
page 2-52

PROFINET Ref.: page 2-300

Non-procedure
Ref.: page 2-343

Switches to the specified scene number.

OK

Switches to the scene

group with the specified

OK

number.

OK

Sets the layout number and switches the image.

NA

OK

Sets the number of the

Unit to display in the specified image display

NA

OK

window.

OK

Sets the number of the

sub-image to display in the specified image dis-

NA

OK

play window.

OK

Sets the image mode for

the specified image dis-

NA

OK

play window.

OK

Permits/prohibits inputs

to the Communications

NA

OK

Modules.

OK

Permits/prohibits outputs to external devices.

NA

OK

Sets the ON/OFF status

of the specified parallel

NA

OK

I/O terminal.

OK

Sets the ON/OFF status

of all parallel terminals

NA

OK

except for DO terminals.

OK

Sets the ON/OFF status

of all parallel DO termi-

NA

OK

nals.

OK

Switches the currently logged in account.

NA

OK

RST*1

NA

OK

Sets the state of the operation log.

NA

OK

*1. You cannot execute tag data link commands. Execute the command with message communications.

A-10

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-1 Command Control

Appendices

l Commands to Read Data

OK: Applicable command, RST: Command with restricted execution, NA: Non-applicable command

Function

Parallel

PLC link Ref.: page 2-177

EtherNet/IP Ref.:
page 2-241

EtherCAT Ref.:
page 2-53

PROFINET Ref.: page 2-301

Non-procedure
Ref.: page 2-344

Gets the specified processing unit data.

NA

OK

Gets the date and time.

NA

OK

RST*1

NA

OK

Gets the Sensor Controller version information.

NA

OK

RST*1

NA

OK

Gets settings related to image logging.

NA

OK

RST*1

NA

OK

A

Gets the image logging folder name.

NA

OK

RST*1

NA

OK

Gets the data logging folder name.

NA

OK

RST*1

NA

OK

Gets the screen capture folder name.

NA

OK

RST*1

NA

OK

Gets the prefix for the file

name in which logged

NA

OK

RST*1

NA

OK

images are saved.

Gets the conditions set for data logging.

NA

OK

Gets the parallel DI ter-

minal offset data that is

NA

OK

set.

OK

*1. You cannot execute tag data link commands. Execute the command with message communications.

A-1-3 Command List

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-11

Appendices

l Commands to Write Data

OK: Applicable command, RST: Command with restricted execution, NA: Non-applicable command

Function
Sets the specified unit data. Sets the date and time. Changes the settings related to image logging.
*2

Parallel
NA NA NA

PLC link Ref.: page 2-177
OK
OK
OK

EtherNet/IP Ref.:
page 2-241
OK RST*1
RST*1

EtherCAT Ref.:
page 2-53

PROFINET Ref.: page 2-301

Non-procedure
Ref.: page 2-344

OK

NA

OK

NA

OK

Sets the name for the im-

age logging folder.

NA

OK

RST*1

NA

OK

*2

Sets the name for the screen capture folder.

NA

OK

RST*1

NA

OK

Sets the name for the da-

ta logging folder.
*2

NA

OK

RST*1

NA

OK

Sets the prefix for the file

name in which logged

NA

OK

RST*1

NA

OK

images are saved.

Sets the data logging

conditions.

NA

OK

*2

OK

Sets the parallel DI terminal offset data.

NA

OK

*1. You cannot execute tag data link commands. Execute the command with message communications. *2. When you save data, the save destination differs depending on Sensor Controller model.
The save destination differ depending on the Sensor Controller type. When you use FH series/FHV, do not save to the any folder except RAMDisk and external storage device (such as C:\ProgramFiles\FZ). It is possible not to perform correctly due to the decrease of Scene data storage region.

Save destination RAMDisk External storage

C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

FH/FHV series

A-12

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

A-1 Command Control

A-1-3 Command List

l File Load Commands
The load destination differs depending on the Sensor Controller model.

Load destination RAMDisk External storage

C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

FH/FHV series

OK: Applicable command, RST: Command with restricted execution, NA: Non-applicable command

Function

Parallel

PLC link Ref.: page 2-177

EtherNet/IP Ref.:
page 2-242

EtherCAT

PROFINET

Nonprocedure Ref.:
page 2-345

Loads the scene data.

NA

OK

RST*1

NA

OK

Loads the scene group data.

NA

OK

RST*1

NA

A
OK

Loads the system data.

NA

OK

RST*1

NA

OK

Loads the system + scene group 0 data.

NA

OK

RST*1

NA

OK

*1. You cannot execute tag data link commands. Execute the command with message communications.

l File Save Commands
The save destination to use differs by Sensor Controller model. When you use FH series/FHV series, do not save to the any folder except RAMDisk and storage device (such as C:\Program Files\FZ). It is possible not to perform correctly due to the decrease of Scene data storage region.

Save destination RAMDisk External storage

C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

FH/FHV series

OK: Applicable command, RST: Command with restricted execution, NA: Non-applicable command

Function
Saves the scene data.
Saves the scene group data. Saves the system data.
Saves the image data stored in the the Sensor Controller's memory. Saves all image data in the Sensor Controller's memory with ifz format in external storage. Saves the last logging image.

Parallel NA NA NA NA
NA
NA

PLC link Ref.: page 2-178 OK OK OK
OK
OK
OK

EtherNet/IP Ref.:
page 2-242 RST*1 RST*1 RST*1 RST*1
RST*1
RST*1

EtherCAT NA

PROFINET

Non-procedure
Ref.: page 2-345

NA

OK

NA

OK

NA

OK

NA

OK

NA

OK

NA

OK

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-13

Appendices

Function

Parallel

PLC link Ref.: page 2-178

EtherNet/IP Ref.:
page 2-242

EtherCAT

PROFINET

Non-procedure
Ref.: page 2-345

Saves the system +

scene group 0 data that

is currently used by the

NA

OK

RST*1

NA

OK

Sensor Controller in a

file.

Captures the screen.

NA

OK

RST*1

NA

OK

*1. You cannot execute tag data link commands. Execute the command with message communications.

A-14

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET
This section provides details on the communications commands.

Single Measurement

Performs measurement one time.

Command (PLC to Sensor Controller)

First word in Command Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

A

+2

1010

0001

0000

0001

0000

+3

0010

0000

0001

0000

Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
1010 0010

Bit

15 - 12 11 - 8

7 - 4

0001 0000

0000 0000

0001 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Start Continuous Measurements

Performs continuous measurement.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
1020 0010

Bit

15 - 12 11 - 8

7 - 4

0001 0000

0000 0000

0010 0001

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
1020 0010

Bit

15 - 12 11 - 8

7 - 4

0001 0000

0000 0000

0010 0001

3 - 0
0000 0000

Description
Command code Response target command codes

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-15

Appendices

First word in Response Area
+4 +5

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000

3 - 0
0000 0000

Description
Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

End Continuous Measurements

Ends continuous measurements.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
1030 0010

Bit

15 - 12 11 - 8

7 - 4

0001 0000

0000 0000

0011 0001

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
1030 0010

Bit

15 - 12 11 - 8

7 - 4

0001 0000

0000 0000

0011 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Execute Unit Test

Performs test measurement for the specified unit.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5

Command code
1040 0010
-

Bit

15 - 12 11 - 8

7 - 4

0001 0000 0000 0000

0000 0000 0000 0000

0100 0001 0000 0000

3 - 0
0000 0000 0000 0000

Description Command code Unit No.

A-16

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Precautions for Correct Use
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 In-
put FHV, Camera Image Input HDR, and Camera Image Input HDR Lite.

Response (Sensor Controller to PLC)

First word in Response Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+2

1040

0001

0000

0100

0000

Command code

+3

0010

0000

0001

0000

Response target command co-

des

+4

-

0000

Response code

A

+5

-

0000

Command execution result

OK: 0 (0000 0000)

NG: Not 0 (0000 0000)

Clear Measurement Values

Clears all measurement result values.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
2010 0010

Bit

15 - 12 11 - 8

7 - 4

0010 0000

0000 0000

0001 0001

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
2010 0010

Bit

15 - 12 11 - 8

7 - 4

0010 0000

0000 0000

0001 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-17

Appendices

Clear Data Output Buffer

Clears the data output buffer.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
2020 0010

Bit

15 - 12 11 - 8

7 - 4

0010 0000

0000 0000

0010 0001

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
2020 0010

Bit

15 - 12 11 - 8

7 - 4

0010 0000

0000 0000

0010 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Clear I/O Output Memory

Clear the I/O memory of the Fieldbus data output destination.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
2030 0010

Bit

15 - 12 11 - 8

7 - 4

0010 0000

0000 0000

0011 0001

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3 +4 +5

Command code
2030 0010

Bit

15 - 12 11 - 8

7 - 4

0010 0000 0000 0000

0000 0000 0000 0000

0011 0001 0000 0000

3 - 0
0000 0000 0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

A-18

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Clear Measurement State

Clears the measurement result value, data output buffer, and I/O memory of the Fieldus data output destination.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
2040 0010

Bit

15 - 12 11 - 8

7 - 4

0010 0000

0000 0000

0100 0001

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

A

First word in Response Area
+2 +3 +4 +5

Command code
2040 0010

Bit

15 - 12 11 - 8

7 - 4

0010 0000 0000 0000

0000 0000 0000 0000

0100 0001 0000 0000

3 - 0
0000 0000 0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Save Data in Sensor Controller

Saves the current system data and scene group data in the Sensor Controller.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
3010 0010

Bit

15 - 12 11 - 8

7 - 4

0011 0000

0000 0000

0001 0001

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
3010 0010

Bit

15 - 12 11 - 8

7 - 4

0011 0000

0000 0000

0001 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-19

Appendices

Re-register Model

Registers the model again.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 +6 +7 +8 +9

Command code
4010 0010
-

Bit

15 - 12 11 - 8

7 - 4

0100 0000 0000 0000 0000 0000 0000 0000

0000 0000 0000 0000 0000 0000 0000 0000

0001 0001 0000 0000 0000 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000 0000 0000 0000

Description
Command code
Unit No.
Model No.
Specifies the target data. When the setting value is expressed in binary, if bit 0 of the first word in the Command Area + 8 is 1, the model is re-registered. When the setting value is expressed in binary, if the bit 1 is 1, the reference position is updated. When the setting value is expressed in binary, if the bit 2 is 1, the detection position is updated. Example) 011: To re-register/update the model and reference position 101: To re-register/update the model and detection point 111: To re-register/update everything

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4010 0010

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0001 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

A-20

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Scroll

The image display window whose number is specified is moved to 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)

First word in Command Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+2

5010

0101

0000

0001

0000

Command code

+3

0010

0000

0001

0000

+4

-

0000

Display image window number

A

+5

-

0000

+6

-

0000

X movement distance (camera

+7

-

0000

coordinate)

+8

-

0000

Y movement distance (camera

+9

-

0000

coordinate)

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
5010 0010

Bit

15 - 12 11 - 8

7 - 4

0101 0000

0000 0000

0001 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

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 Area
+2 +3 +4 +5

Command code
5020 0010
-

Bit

15 - 12 11 - 8

7 - 4

0101 0000 0000 0000

0000 0000 0000 0000

0010 0001 0000 0000

3 - 0
0000 0000 0000 0000

Description Command code Display image window number

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-21

Appendices

First word in Command Area
+6 +7

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000

3 - 0
0000 0000

Description
Sets magnification. (Value multiplied by 1000) Example) 25%: Enter 250 (0.25 � 1,000) 1,600%: Enter 16000 (16 � 1,000)

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
5020 0010

Bit

15 - 12 11 - 8

7 - 4

0101 0000

0000 0000

0010 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 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 Area
+2 +3 +4 +5

Command code
5030 0010
-

Bit

15 - 12 11 - 8

7 - 4

0101 0000 0000 0000

0000 0000 0000 0000

0011 0001 0000 0000

3 - 0
0000 0000 0000 0000

Description
Command code
Display image window number 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: 0 to 4

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
5030 0010

Bit

15 - 12 11 - 8

7 - 4

0101 0000

0000 0000

0011 0001

3 - 0
0000 0000

Description
Command code Response target command codes

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

First word in Response Area
+4 +5

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000

3 - 0
0000 0000

Description
Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

A

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-23

Appendices

Copy Scene Data

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)

First word in Command Area
+2 +3 +4 +5 +6 +7

Command code
7010 0010
-

Bit

15 - 12 11 - 8

7 - 4

0111 0000 0000 0000 0000 0000

0000 0000 0000 0000 0000 0000

0001 0001 0000 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000 0000

Description Command code Copy source scene No. Copy destination scene No.

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
7010 0010

Bit

15 - 12 11 - 8

7 - 4

0111 0000

0000 0000

0001 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

A-24

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Delete Scene Data

Deletes the data for the scene whose number is specified with command argument 1.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5

Command code
7020 0010
-

Bit

15 - 12 11 - 8

7 - 4

0111 0000 0000 0000

0000 0000 0000 0000

0010 0001 0000 0000

3 - 0
0000 0000 0000 0000

Description Command code Number of the scene to delete

Response (Sensor Controller to PLC)

A

First word in Response Area
+2 +3

Command code
7020 0010

Bit

15 - 12 11 - 8

7 - 4

0111 0000

0000 0000

0010 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Move Scene Data

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 Area
+2 +3 +4 +5 +6 +7

Command code
7030 0010
-

Bit

15 - 12 11 - 8

7 - 4

0111 0000 0000 0000 0000 0000

0000 0000 0000 0000 0000 0000

0011 0001 0000 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000 0000

Description Command code Source scene number Target scene number

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-25

Appendices

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
7030 0010

Bit

15 - 12 11 - 8

7 - 4

0111 0000

0000 0000

0011 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Register Image Data

Registers the specified image data as a registered image. After the command is executed, the status will be the same as when the image was registered with the Registered Image Manager. If the source is the last measured image (0), command argument 3 (logged image number of file name) can be omitted.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 +6 +7

Command code
8010 0010
-

+8

-

+9

-

:

-

Bit

15 - 12 11 - 8

7 - 4

1000 0000 0000 0000 0000 0000

0000 0000 0000 0000 0000 0000

0001 0001 0000 0000 0000 0000

0000 0000 0000

3 - 0
0000 0000 0000 0000 0000 0000
0000 0000 0000

Description
Command code
Any data (0 to 999)
Data type of source 0: Last measured image 1: Logged image 2: Image file Logged image number or file name When the source is a logged image, specify the logging file number. (0 to Number of logged images in Controller - 1) When the source is an image file, specify the image file. name (0 to 256 characters)

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
8010 0010

Bit

15 - 12 11 - 8

7 - 4

1000 0000

0000 0000

0001 0001

3 - 0
0000 0000

Description
Command code Response target command codes

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

First word in Response Area
+4 +5

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000

3 - 0
0000 0000

Description
Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Load Registered Image

Loads the specified registered image as the measurement image.

After the command is executed, the status will be the same as when the image was loaded with the

Registered Image Manager.

Command (PLC to Sensor Controller)

A

First word in Command Area
+2 +3 +4 +5

Command code
8020 0010
-

Bit

15 - 12 11 - 8

7 - 4

1000 0000 0000 0000

0000 0000 0000 0000

0010 0001 0000 0000

3 - 0
0000 0000 0000 0000

Description
Command code
Registered image number (0 to 999)

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
8020 0010

Bit

15 - 12 11 - 8

7 - 4

1000 0000

0000 0000

0010 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Echo

Returns an entered text string without changing it. 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 word in Command Area
+2 +3

Command code
9010 0010

Bit

15 - 12 11 - 8

7 - 4

1001 0000

0000 0000

0001 0001

3 - 0
0000 0000

Description Command code

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-27

Appendices

First word in Command Area
+4 +5

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000

3 - 0
0000 0000

Description Any data (2 words)

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
9010 0010

Bit

15 - 12 11 - 8

7 - 4

1001 0000

0000 0000

0001 0001

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000
0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Any data (2 words)

Add User Account

Adds a user account to a specified group ID. If the group ID for the account of the user currently logging in belongs is not 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 word in Command Area
+2 +3 +4 +5

Command code
a010 0010
-

+6

-

:

-

+21

-

+22

-

:

-

+37

-

+38

-

:

-

+53

-

+54

-

:

-

+70

-

Bit

15 - 12 11 - 8

7 - 4

1010 0000 0000 0000

0000 0000 0000 0000

0001 0001 0000 0000

0000 0000 0000

0000 0000 0000 0000 0000 0000 0000 0000 0000

3 - 0
0000 0000 0000 0000
0000 0000 0000
0000 0000 0000 0000 0000 0000 0000 0000 0000

Description
Command code
Group ID 0 to 7 to which the user account to be added belongs. User name of the user account to add Single-byte alphanumeric characters: 2 to 20 characters Password of user account to add
User name of the user account (UG0) that has the right to add user accounts. Password (UG0)

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
a010 0010

Bit

15 - 12 11 - 8

7 - 4

1010 0000

0000 0000

0010 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Delete User Account

A

Deletes a specified user account.

If the group ID for the account of the user currently logging in belongs is not 0, a command error oc-

curs.

If the user account to be set has already existed, it will be overwritten with the new account.

If the specified user account does not exist, a command acknowledge returns.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 : +19 +20 : +35 +36 : +52

Command code
a020 0010
-

Bit

15 - 12 11 - 8

7 - 4

1010 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000

0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000

0010 0001 0000 0000 0000 0000 0000 0000 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000

Description
Command code
User name of the user account to delete
User name of the user account (UG0) that has the right to delete user accounts Password (UG0)

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
a020 0010

Bit

15 - 12 11 - 8

7 - 4

1010 0000

0000 0000

0010 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-29

Appendices

Return to Start of Flow

Branches to the start of the measurement flow (processing unit 0).Only supports execution of commands in the flow.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
b010 0010

Bit

15 - 12 11 - 8

7 - 4

1011 0000

0000 0000

0001 0001

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
b010 0010

Bit

15 - 12 11 - 8

7 - 4

1011 0000

0000 0000

0001 0001

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Restart

Restarts the Sensor Controller.

Precautions for Correct Use
When the Restart command is executed, BUSY does not turn off even after the command execution bit turns off. After the Restart command is executed, perform a memory clear of BUSY on the PLC side.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
f010 0010

Bit

15 - 12 11 - 8

7 - 4

1111 0000

0000 0000

0001 0001

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC) There is no response because restarting is performed.

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Get Scene Number

Gets the current scene number.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
1000 0020

Bit

15 - 12 11 - 8

7 - 4

0001 0010

0000 0000

0000 0010

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

A

+2

1000

0001

0000

Command code

+3

0020

0000

0010

0000

Response target command co-

des

+4

-

0000

Response code

+5

-

0000

Command execution result

OK: 0 (0000 0000)

NG: Not 0 (0000 0000)

+6

-

0000

Response data

+7

-

0000

Got scene No.

Get Scene Group Number

Gets the current scene group number.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
2000 0020

Bit

15 - 12 11 - 8

7 - 4

0010 0000

0000 0000

0000 0010

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
2000 0020

Bit

15 - 12 11 - 8

7 - 4

0010 0000

0000 0000

0000 0010

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-31

Appendices

First word in Response Area
+6 +7

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000

3 - 0
0000 0000

Description
Response data Got scene group No.

Get Layout Number

Gets the number of the layout that is currently displayed.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5

Command code
4000 0020
-

Bit

15 - 12 11 - 8

7 - 4

0100 0000 0000 0000

0000 0000 0000 0000

0000 0010 0000 0000

3 - 0
0000 0000 0000 0000

Description
Command code
Item to get 0: Local 1: Remote

Precautions for Correct Use
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 is used, unexpected operation may occur when the command is executed.

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4000 0020

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0000 0010

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000
0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Current layout number (0 to 8)

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Get Display Image Unit Number

Gets the number of the Unit that is currently displayed in the specified image display window.

Command (PLC to Sensor Controller)

First word in Command Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+2

5010

0101

0000

0001

0000

Command code

+3

0020

0000

0010

0000

+4

-

0000

Display image window number

+5

-

0000

FH: Image display window

number (0 to 23)

A

FZ5:

Displaying 1 image: 1

Displaying 2 images: 1 and 2

Displaying 4 images: 1 to 4

Displaying thumbnails: 0 to 4

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
5010 0020

Bit

15 - 12 11 - 8

7 - 4

0101 0000

0000 0000

0001 0010

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000
0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Unit No.

Get Display Sub-image Number

Gets the sub-image number that is currently displayed in the specified image display window.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
5020 0020

Bit

15 - 12 11 - 8

7 - 4

0101 0000

0000 0000

0010 0010

3 - 0
0000 0000

Description Command code

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-33

Appendices

First word in Command Area
+4 +5

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000

3 - 0
0000 0000

Description
Display image window number 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: 0 to 4

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
5020 0020

Bit

15 - 12 11 - 8

7 - 4

0101 0000

0000 0000

0010 0010

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000
0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Sub image number

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Get Image Display Status

Gets the image mode for the specified image display window.

Command (PLC to Sensor Controller)

First word in Command Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+2

5030

0101

0000

0011

0000

Command code

+3

0020

0000

0010

0000

+4

-

0000

Display image window number

+5

-

0000

FH: Image display window

number (0 to 23)

A

FZ5:

Displaying 1 image: 1

Displaying 2 images: 1 and 2

Displaying 4 images: 1 to 4

Displaying thumbnails: 0 to 4

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
5030 0020

Bit

15 - 12 11 - 8

7 - 4

0101 0000

0000 0000

0011 0010

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000
0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Image mode 0: Through 1: Freeze or Freeze and Last NG together 2: Last NG

Get Communications Input Status

Gets the input status (prohibited/permitted) for the Communications Modules.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
7010 0020

Bit

15 - 12 11 - 8

7 - 4

0111 0000

0000 0000

0001 0010

3 - 0
0000 0000

Description Command code

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-35

Appendices

First word in Command Area
+4 +5

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000

3 - 0
0000 0000

Description
Communication module types 0: Serial (Ethernet) 1: Serial (RS-232C/422) 2: Parallel I/O 3: Fieldbus 4: Remote operation

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
7010 0020

Bit

15 - 12 11 - 8

7 - 4

0111 0000

0000 0000

0001 0010

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000
0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Input state 0: Prohibited 1: Permitted

Get Communications Output Status

Gets the output status (prohibited/permitted) to an external device.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
7020 0020

Bit

15 - 12 11 - 8

7 - 4

0111 0000

0000 0000

0010 0010

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
7020 0020

Bit

15 - 12 11 - 8

7 - 4

0111 0000

0000 0000

0010 0010

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

First word in Response Area
+6 +7

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000

3 - 0
0000 0000

Description
Response data Output state 0: Prohibited 1: Permitted

A

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-37

Appendices

Get Parallel Terminal Status

Gets the ON/OFF status for the specified parallel I/O terminal. Set the parallel I/O terminals with the terminal type and number. For how to set, refer to the following example and the description in the table. Example: When you want to get the terminal status of STEP0 in Line 0. 1. Select 0 in the terminal type. STEP is set.
2. Select 0 in the terminal number, STEP0 of Line0 is set.
3. Send the settings specified in the above step 1 and 2 to the specified port number of Line0.
4. The specified terminal status will be responded.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5

Command code
8010 0020
-

Bit

15 - 12 11 - 8

7 - 4

1000 0000 0000 0000

0000 0000 0000 0000

0001 0010 0000 0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000 0000 0000
0000 0000

Description
Command code
Terminal type: Set the terminal by combining the Terminal number. Specified terminal differs according to the Sensor Controller series. For details, refer to*1. Terminal number: Set the terminal by combining the Terminal type. Specified terminal differs according to the Sensor Controller series. For details, refer to*1.

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
8010 0020

Bit

15 - 12 11 - 8

7 - 4

1000 0000

0000 0000

0001 0010

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000
0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Terminal status 0:OFF 1:ON

*1. Terminal type and Terminal numbe

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-1 Command Control

Appendices

FH-1000/2000/3000/5000 series Sensor Controller

Terminal type

STEP 0

DSA

1

DI

2

DI_LINE 11

0 STEP0 DSA0 DI0 DILINE0

1 STEP1 DSA1 DI1 DILINE1

2 STEP2
DI2 DILINE2

Terminal number

3

4

STEP3 STEP4

-

DI3

DI4

-

5 STEP5
DI5
-

6 STEP6
DI6
-

7 STEP7
DI7
-

FH-L/FHV series Sensor Controller

Terminal type

Terminal number

0

1

2

3

4

5

6

7

STEP 0

STEP0

-

DSA

1

DSA0

-

A

DI

2

DI0

DI1

DI2

DI3

DI4

DI5

DI6

DI7

DI_LINE 11

-

Precautions for Correct Use
� When the Multi-line Random-trigger mode is selected in the following series, usable signal type or assignment are differ depending on the used number of Lines. � FH-1000 series � FH-2000 series � FH-3000 series � FH-5000 series For more details of Operation mode, refer to Multi-line Random-trigger Mode Signal Specifications on page 2-384.
� The terminal status of each line can be got by sending this command to the port number allocated to them. For signals that are common in all lines, the terminal status can be got from any line used. When the terminal status for an unusable line or a different line was got, the response code will be OK and the response data will always be 0. Check the status of the received data by changing the actual parallel terminal status.

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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Appendices

Get All Parallel Terminal Status

Gets the ON/OFF status of all parallel terminals except for DI terminals. For how to set, refer to the following example and the description in the table. Example: When you want to get the terminal status except DI terminal of Line 0. 1. Send a command to get the all of the terminal status to the specified port number of Line0.
2. All of the parallel terminal status except DI are responded.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
8020 0020

Bit

15 - 12 11 - 8

7 - 4

1000 0000

0000 0000

0010 0010

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
8020 0020

Bit

15 - 12 11 - 8

7 - 4

1000 0000

0000 0000

0010 0010

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000
0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data The parallel terminal status except DI. (0: OFF / 1:ON) The parallel terminal except DI can be assigned to the BIT of Response data. This assignment differs by the Sensor Controller series or by line in use. For more details, refer to *1.

*1: Response data

FH-1000/2000/3000/5000 series Sensor Controller

Supported bit
BIT0 BIT1 BIT2 BIT3 BIT4

Line 0 STEP0 DSA0 DILINE0 DILINE1 DILINE2

Line 1 STEP1 DSA1 DILINE0 DILINE1 DILINE2

Line 2 STEP2 0 DILINE0 DILINE1 DILINE2

Terminal

Line 3

Line 4

STEP3 STEP4

0

DILINE0 DILINE0

DILINE1 DILINE1

DILINE2 DILINE2

Line 5 STEP5 0 DILINE0 DILINE1 DILINE2

Line 6 STEP6 0 DILINE0 DILINE1 DILINE2

Line 7 STEP7 0 DILINE0 DILINE1 DILINE2

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Supported bit

Line 0

Line 1

Line 2

Terminal

Line 3

Line 4

Line 5

Line 6

Line 7

BIT5

0

BIT6

0

BIT7

0

BIT8

0

BIT9

0

BIT10

0

BIT11

0

BIT12

0

BIT13

0

BIT14

0

BIT15

0

A

FH-L series Sensor Controller

Supported bit
BIT0 BIT1 BIT2 BIT3 BIT4 BIT5 BIT6 BIT7 BIT8 BIT9 BIT10 BIT11 BIT12 BIT13 BIT14 BIT15

Terminal Line 0
STEP0 DSA0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

Precautions for Correct Use
� When the Multi-line Random-trigger mode is selected in the following series, usable signal type or assignment are differ depending on the used number of Lines. � FH-1000 series � FH-2000 series � FH-3000 series � FH-5000 series For more details of Operation mode, refer to Multi-line Random-trigger Mode Signal Specifications on page 2-384.
� The terminal status of each line can be got by sending this command to the port number allocated to them. For signals that are common in all lines, the terminal status can be got from any line used. When the terminal status for an unusable line or a different line was got, the response code will be OK and the response data will always be 0. Check the status of the received data by changing the actual parallel terminal status.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-41

Appendices

Get All Parallel DI Terminal Status

Gets the ON/OFF status of all parallel DI terminals. For how to set, refer to the following example and the description in the table. Example: When you want to get the Parallel DI terminal status of Line 0. 1. Send a command to get the Parallel DI terminal at once to the specified port number of Line0.
2. All of the Parallel terminal status are responded.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
8030 0020

Bit

15 - 12 11 - 8

7 - 4

1000 0000

0000 0000

0011 0010

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
8030 0020

Bit

15 - 12 11 - 8

7 - 4

1000 0000

0000 0000

0011 0010

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000
0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Parallel DI terminal status (0: OFF / 1: ON) The Parallel DI terminal can be assigned to the BIT of Response data. This assignment differs by the Sensor Controller series or by line in use. For more details, refer to *1.

*1. Response data

FH-1000/2000/3000/5000 series Sensor Controller

Supported bit
BIT0 BIT1 BIT2 BIT3 BIT4

Line 0 DI0 DI1 DI2 DI3 DI4

Line 1 DI0 DI1 DI2 DI3 DI4

Line 2 DI0 DI1 DI2 DI3 DI4

Terminal

Line 3

Line 4

DI0

DI1

DI2

DI3

DI4

Line 5 DI0 DI1 DI2 DI3 DI4

Line 6 DI0 DI1 DI2 DI3 DI4

Line 7 DI0 DI1 DI2 DI3 DI4

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Supported bit

Line 0

Line 1

Line 2

Terminal

Line 3

Line 4

Line 5

Line 6

Line 7

BIT5

DI5

BIT6

DI6

BIT7

DI7

BIT8

0

BIT9

0

BIT10

0

BIT11

0

BIT12

0

BIT13

0

BIT14

0

BIT15

0

A

FH-L series Sensor Controller

Supported bitt
BIT0 BIT1 BIT2 BIT3 BIT4 BIT5 BIT6 BIT7 BIT8 BIT9 BIT10 BIT11 BIT12 BIT13 BIT14 BIT15

Terminal Line 0
DI0 DI1 DI2 DI3 DI4 DI5 DI6 DI7 0 0 0 0 0 0 0 0

Precautions for Correct Use
This command gets the terminal state of each line by specifying its port number. When getting the terminal state of an unusable line, the response code will be OK and the response data will always be 0. Check the status of the received data by changing the actual parallel terminal status.

Get Login Account Name
Gets the user name for the user account currently logged in.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-43

Appendices

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5

Command code
9000 0020
-

Bit

15 - 12 11 - 8

7 - 4

1001 0000 0000 0000

0000 0000 0000 0000

0000 0010 0000 0000

3 - 0
0000 0000 0000 0000

Description
Command code
Item to be got 0: Local 1: Remote

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
9000 0020

Bit

15 - 12 11 - 8

7 - 4

1001 0000

0000 0000

0000 0010

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000
0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Got user name

A-44

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Get Logging Account Group ID

Gets the group ID for the account currently logged in.

Command (PLC to Sensor Controller)

First word in Command Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+2

9010

1001

0000

0001

0000

Command code

+3

0020

0000

0010

0000

+4

-

0000

Item to be got

+5

-

0000

0: Local

1: Remote

A

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
9010 0020

Bit

15 - 12 11 - 8

7 - 4

1001 0000

0000 0000

0001 0010

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000
0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Got affiliated group ID

Get Operation Log State

Gets the current state of the operation log.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
a000 0020

Bit

15 - 12 11 - 8

7 - 4

1010 0000

0000 0000

0000 0010

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
a000 0020

Bit

15 - 12 11 - 8

7 - 4

1010 0000

0000 0000

0000 0010

3 - 0
0000 0000

Description
Command code Response target command codes

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-45

Appendices

First word in Response Area
+4 +5
+6 +7

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000

-

0000

-

0000

3 - 0 0000 0000
0000 0000

Description
Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Got Operation log state 0: OFF 1: ON

Switch Scene

Switches to the specified scene number.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5

Command code
1000 0030
-

Bit

15 - 12 11 - 8

7 - 4

0001 0000 0000 0000

0000 0000 0000 0000

0000 0011 0000 0000

3 - 0
0000 0000 0000 0000

Description Command code Scene No.

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
1000 0030

Bit

15 - 12 11 - 8

7 - 4

0001 0000

0000 0000

0000 0011

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Switch Scene Group

Switches to the scene group with the specified number.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
2000 0030

Bit

15 - 12 11 - 8

7 - 4

0010 0000

0000 0000

0000 0011

3 - 0
0000 0000

Description Command code

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-1 Command Control

Appendices

First word in Command Area
+4 +5

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000

3 - 0
0000 0000

Description Scene group No.

Response (Sensor Controller to PLC)

First word in Response Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+2

2000

0010

0000

Command code

+3

0030

0000

0011

0000

Response target command co-

des

+4 +5

-

0000

Response code

-

0000

Command execution result

A

OK: 0 (0000 0000)

NG: Not 0 (0000 0000)

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-47

Appendices

Set Layout Number

Sets the layout number and switches the image.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5

Command code
4000 0030
-

Bit

15 - 12 11 - 8

7 - 4

0100 0000 0000 0000

0000 0000 0000 0000

0000 0011 0000 0000

+6

-

0000

+7

-

0000

3 - 0
0000 0000 0000 0000
0000 0000

Description
Command code
Item to be got 0: Local 1: Remote Layout number 0: Layout 0 1: Layout 1 2: Layout 2 3: Layout 3 4: Layout 4 5: Layout 5 6: Layout 6 7: Layout 7 8: Layout 8

Precautions for Correct Use
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 is used, unexpected operation may occur when the command is executed.

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4000 0030

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0000 0011

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Set Display Image Unit Number

Sets the number of the Unit to display in the specified image display window.

Command (PLC to Sensor Controller)

First word in Command Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+2

5010

0101

0000

0001

0000

Command code

+3

0030

0000

0011

0000

+4

-

0000

Display image window number

+5

-

0000

FH: Image display window

number (0 to 23)

A

FZ5:

Displaying 1 image: 1

Displaying 2 images: 1 and 2

Displaying 4 images: 1 to 4

Displaying thumbnails: 0 to 4

+6

-

0000

Unit number (-1 to unit number

+7

-

0000

of current scene -1)

If you specify -1, Define

displayed unit is set.

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
5010 0030

Bit

15 - 12 11 - 8

7 - 4

0101 0000

0000 0000

0001 0011

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Set Display Sub-image Number

Sets the number of the sub-image to display in the specified image display window.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
5020 0030

Bit

15 - 12 11 - 8

7 - 4

0101 0000

0000 0000

0010 0011

3 - 0
0000 0000

Description Command code

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-49

Appendices

First word in Command Area
+4 +5
+6 +7

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000

-

0000

-

0000

3 - 0 0000 0000
0000 0000

Description
Display image window number 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: 0 to 4 Sub image number

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
5020 0030

Bit

15 - 12 11 - 8

7 - 4

0101 0000

0000 0000

0010 0011

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Set Image Display Status

Sets the image mode for the specified image display window.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5

Command code
5030 0030
-

Bit

15 - 12 11 - 8

7 - 4

0101 0000 0000 0000

0000 0000 0000 0000

0011 0011 0000 0000

3 - 0
0000 0000 0000 0000

+6

-

0000

+7

-

0000

Description
Command code
Display image window number 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: 0 to 4 Image mode 0: Through 1: Freeze or Freeze and Last NG together 2: Last NG

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
5030 0030

Bit

15 - 12 11 - 8

7 - 4

0101 0000

0000 0000

0011 0011

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Set Communications Input Status

A

Permits/prohibits inputs to the Communications Modules.

Any communication module whose input state is set to Prohibit (0) accepts no communications what-

soever. However, 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 Area
+2 +3 +4 +5

Command code
7010 0030
-

Bit

15 - 12 11 - 8

7 - 4

0111 0000 0000 0000

0000 0000 0000 0000

0001 0011 0000 0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000 0000 0000
0000 0000

Description
Command code
Communication module types 0: Serial (Ethernet) 1: Serial (RS-232C/422) 2: Parallel I/O 3: Fieldbus 4: Remote operation Input state 0: Prohibited 1: Permitted

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
7010 0030

Bit

15 - 12 11 - 8

7 - 4

0111 0000

0000 0000

0001 0011

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-51

Appendices

Set Communications Output Status

Permits/prohibits outputs to external devices.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5

Command code
7020 0030
-

Bit

15 - 12 11 - 8

7 - 4

0111 0000 0000 0000

0000 0000 0000 0000

0010 0011 0000 0000

3 - 0
0000 0000 0000 0000

Description
Command code
Output state 0: Prohibited 1: Permitted

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
7020 0030

Bit

15 - 12 11 - 8

7 - 4

0111 0000

0000 0000

0010 0011

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Set Parallel Terminal Status

Sets the ON/OFF status of the specified parallel I/O terminal. Specifies the Parallel terminal with a combination of terminal type, terminal number, and terminal status. For how to set, refer to the following example and the description in the table. Example: When you want to set the OR3 of Line3 status. 1. Select 6 in terminal type, OR is set.
2. Select 3 in terminal number, OR3 is set.
3. Select 1 in terminal status, OR3 terminal switches from OFF to ON.
4. Send the command set in the above step 1 to 3 to the port number of Line 3.
5. Executed results of the command is responded.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
8010 0030

Bit

15 - 12 11 - 8

7 - 4

1000 0000

0000 0000

0001 0011

3 - 0
0000 0000

Description Command code

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

First word in Command Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+4

-

0000

Terminal type:

+5

-

0000

Set the terminal by combining

the Terminal number.

Specified terminal differs ac-

cording to the Sensor Controller

series. For details, refer to*1.

+6

-

0000

Terminal number:

+7

-

0000

Set the terminal by combining

the Terminal type.

Specified terminal differs ac-

cording to the Sensor Controller

series. For details, refer to*1.

A

+8

-

0000

Terminal status

+9

-

0000

Set the specified terminal sta-

tus. (0: OFF/1: ON)

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
8010 0030

Bit

15 - 12 11 - 8

7 - 4

1000 0000

0000 0000

0001 0011

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

*1. Terminal type and terminal number

FH-1000/2000/3000/5000 series Sensor Controller

Terminal type

RUN

3

ERR

4

BUSY

5

OR

6

GATE

7

READY 8

DO

9

ACK

10

0 RUN0 ERROR/ ERROR0 BUSY0 OR0 GATE0 READY0 DO0 ACK

1 RUN1 ERROR1
BUSY1 OR1 GATE1 READY1 DO1
-

2 RUN2 ERROR2
BUSY2 OR2
READY2 DO2
-

Terminal number

3

4

RUN3

-

ERROR3

-

BUSY3 OR3
READY3 DO3
-

BUSY4 OR4
READY4 DO4
-

5 -
BUSY5 OR5
READY5 DO5
-

6 -
BUSY6 OR6
READY6 DO6
-

7 -
BUSY7 OR7
READY7 DO7
-

Terminal type 8

RUN

3

-

ERR

4

-

BUSY

5

-

Terminal number

9

10

11

12

13

14

15

-

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A-53

Appendices

Terminal type

OR

6

GATE

7

READY 8

DO

9

ACK

10

8 DO8 -

9 DO9 -

FH-L series Sensor Controller

Terminal type

RUN

3

ERR

4

BUSY

5

OR

6

GATE

7

READY 8

DO

9

ACK

10

0 RUN ERROR BUSY0 OR0 GATE0 READY0 DO0
-

1 DO1 -

10 DO10 -

Terminal number

11

12

-

DO11

DO12

-

13 DO13 -

14 DO14 -

15 DO15 -

2 DO2 -

Terminal number

3

4

-

DO3

DO4

-

5 DO5 -

6 DO6 -

7 DO7 -

Terminal type

RUN

3

ERR

4

BUSY

5

OR

6

GATE

7

READY 8

DO

9

ACK

10

8 DO8 -

9 DO9 -

10 DO10 -

Terminal number

11

12

-

DO11

DO12

-

13 DO13 -

14 DO14 -

15 DO15 -

Precautions for Correct Use
� When the Multi-line Random-trigger mode is selected in the following series, usable signal type or assignment are differ depending on the used number of Lines. � FH-1000 series � FH-2000 series � FH-3000 series � FH-5000 series For more details of Operation mode, refer to Multi-line Random-trigger Mode Signal Specifications on page 2-384.
� The terminal status of each line can be got by sending this command to the port number allocated to them. For signals that are common in all lines, the terminal status can be got from any line used. When the terminal state of an unusable or a different line was set, the response code will be OK and the set terminal state will be discarded. Check the status of the received data by changing the actual parallel terminal status.

A-54

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Set All Parallel Terminal Status

Sets the ON/OFF status of all parallel terminals except for DO terminals. For how to set, refer to the following example and the description in the table. Example: When you want to set the Parallel terminal status, except DO of Line 0, to ON at once: 1. Set the terminal status ON to the desired assignment BIT of Parallel terminal except DO.
2. Send the specified command set in the above step 1 to the port number of Line 0.
3. Executed results of the command is responded.

Command (PLC to Sensor Controller)

First word in Command Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

A

+2

8020

1000

0000

0010

0000

Command code

+3

0030

0000

0011

0000

+4

-

0000

Terminal status

+5

-

0000

Set the terminal status (0:

OFF/1: ON) to the assigned ter-

minal of each BIT.

For details of the assigned ter-

minal, refer to *1.

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
8020 0030

Bit

15 - 12 11 - 8

7 - 4

1000 0000

0000 0000

0010 0011

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

*1. Assigned terminal to each bit

FH-1000/2000/3000/5000 series Sensor Controller

Supported bit
BIT0 BIT1
BIT2 BIT3 BIT4 BIT5 BIT6

Line 0 RUN0 ERROR/ ERROR0 BUSY0 OR0 GATE0 READY0 ACK

Line 1 RUN1 ERROR1
BUSY1 OR1 GATE1 READY1 ACK

Line 2 RUN2 ERROR2
BUSY2 OR2
READY2 ACK

Terminal

Line 3

Line 4

RUN3

-

ERROR3 ERROR

BUSY3 OR3
READY3 ACK

BUSY4 OR4
READY4 ACK

Line 5 -
ERROR
BUSY5 OR5
READY5 ACK

Line 6 -
ERROR
BUSY6 OR6
READY6 ACK

Line 7 -
ERROR
BUSY7 OR7
READY7 ACK

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A-55

Appendices

Supported bit
BIT7 BIT8 BIT9 BIT10 BIT11 BIT12 BIT13 BIT14 BIT15

Line 0 -

Line 1 -

Line 2 -

Terminal

Line 3

Line 4

-

Line 5 -

Line 6 -

Line 7 -

FH-L series Sensor Controller

Supported bit
BIT0 BIT1 BIT2 BIT3 BIT4 BIT5 BIT6 BIT7 BIT8 BIT9 BIT10 BIT11 BIT12 BIT13 BIT14 BIT15

Terminal Line 0
RUN ERROR BUSY OR0 GATE0 READY0 ACK
-

Precautions for Correct Use
� When the Multi-line Random-trigger mode is selected in the following series, usable signal type or assignment are differ depending on the used number of Lines. � FH-1000 series � FH-2000 series � FH-3000 series � FH-5000 series For more details of Operation mode, refer to Multi-line Random-trigger Mode Signal Specifications on page 2-384.
� The terminal status of each line can be got by sending this command to the port number allocated to them. For signals that are common in all lines, the terminal status can be got from any line used. When the terminal state of an unusable or a different line was set, the response code will be OK and the set terminal state will be discarded. Check the status of the received data by changing the actual parallel terminal status.

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Set All Parallel DO Terminal Status

Sets the ON/OFF status of all parallel DO terminals. For how to set, refer to the following example and the description in the table. Example) When you want to set the Parallel DO terminals status of Line 0, to ON at once: 1. Set the terminals status ON to the desired assignment BIT of the Parallel DO terminal status.
2. Send the specified command set in the above step 1 to the port number of Line 0.
3. Executed results of the command is responded.

Command (PLC to Sensor Controller)

First word in Command Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

A

+2

8030

1000

0000

0011

0000

Command code

+3

0030

0000

0011

0000

+4

-

0000

Terminal status

+5

-

0000

The Parallel terminal state (0:

OFF / 1: ON) is assigned to BIT

of the Terminal status.

This assignment differs by the

Sensor Controller series or by

line in use. For more details, re-

fer to *1.

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
8030 0030

Bit

15 - 12 11 - 8

7 - 4

1000 0000

0000 0000

0011 0011

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

*1. Assigned terminal to each bit

FH-1000/2000/3000/5000 series Sensor Controller

Supported bit
BIT0 BIT1 BIT2 BIT3 BIT4 BIT5

Line 0 DO0 DO1 DO2 DO3 DO4 DO5

Line 1 DO0 DO1 DO2 DO3 DO4 DO5

Line 2 DO0 DO1 DO2 DO3 DO4 DO5

Terminal

Line 3

Line 4

DO0

DO1

DO2

DO3

DO4

DO5

Line 5 DO0 DO1 DO2 DO3 DO4 DO5

Line 6 DO0 DO1 DO2 DO3 DO4 DO5

Line 7 DO0 DO1 DO2 DO3 DO4 DO5

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Appendices

Supported bit
BIT6 BIT7 BIT8 BIT9 BIT10 BIT11 BIT12 BIT13 BIT14 BIT15

Line 0 DO6 DO7 DO8 DO9 DO10 DO11 DO12 DO13 DO14 DO15

Line 1 DO6 DO7 DO8 DO9 DO10 DO11 DO12 DO13 DO14 DO15

Line 2 DO6 DO7 DO8 DO9 DO10 DO11 DO12 DO13 DO14 DO15

Terminal

Line 3

Line 4

DO6

DO7

DO8

DO9

DO10

DO11

DO12

DO13

DO14

DO15

Line 5 DO6 DO7 DO8 DO9 DO10 DO11 DO12 DO13 DO14 DO15

Line 6 DO6 DO7 DO8 DO9 DO10 DO11 DO12 DO13 DO14 DO15

Line 7 DO6 DO7 DO8 DO9 DO10 DO11 DO12 DO13 DO14 DO15

FH-L series Sensor Controller

Supported bit
BIT0 BIT1 BIT2 BIT3 BIT4 BIT5 BIT6 BIT7 BIT8 BIT9 BIT10 BIT11 BIT12 BIT13 BIT14 BIT15

Terminal Line 0
DO0 DO1 DO2 DO3 DO4 DO5 DO6 DO7 DO8 DO9 DO10 DO11 DO12 DO13 DO14 DO15

Precautions for Correct Use
This command sets the terminal state of each line by specifying its port number.When the terminal state of an unusable or a different line was set, the response code will be OK and the set terminal state will be discarded. Check the status of the received data by changing the actual parallel terminal status.

Switch Login Account
Switches the currently logged in account.

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A-1 Command Control

Appendices

Command (PLC to Sensor Controller)

First word in Command Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+2

9000

1001

0000

Command code

+3

0030

0000

0011

0000

+4

-

0000

Item to be got

+5

-

0000

0: Local

1: Remote

+6

-

0000

User name of user account

:

-

0000

+13

-

0000

+14

-

0000

Password

:

-

0000

A

+21

-

0000

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
9000 0030

Bit

15 - 12 11 - 8

7 - 4

1001 0000

0000 0000

0000 0011

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

A-59

Appendices

Set Operation Log State

Sets the state of the operation log. 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 word in Command Area
+2 +3 +4 +5

Command code
a000 0030
-

Bit

15 - 12 11 - 8

7 - 4

1010 0000 0000 0000

0000 0000 0000 0000

0000 0011 0000 0000

3 - 0
0000 0000 0000 0000

Description
Command code
Logging operation state 0: OFF 1: ON

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
a000 0030

Bit

15 - 12 11 - 8

7 - 4

1010 0000

0000 0000

0000 0011

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Get Unit Data

Gets the specified processing unit data.

Precautions for Correct Use
� You can set or get only numeric data in processing unit data. � Character string data such as comparison strings for general-purpose character tests, judg-
ment comparison strings for bar codes or 2D codes, or OCR recognition strings cannot be set or got.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 +6 +7

Command code
1000 0040
-

Bit

15 - 12 11 - 8

7 - 4

0001 0000 0000 0000 0000 0000

0000 0000 0000 0000 0000 0000

0000 0010 0000 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000 0000

Description Command code
Unit No.
Data number in the External Reference Tables.

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FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

Appendices

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Response (Sensor Controller to PLC)

First word in Response Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+2

1000

0001

0000

Command code

+3

0040

0000

0010

0000

Response target command co-

des

+4

-

0000

Response code

+5

-

0000

Command execution result

OK: 0 (0000 0000)

NG: Not 0 (0000 0000)

+6

-

0000

Got data

+7

-

0000

(Value multiplied by 1000)

A

Get Date and Time

Gets the date and time.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
2000 0040

Bit

15 - 12 11 - 8

7 - 4

0010 0000

0000 0000

0000 0100

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
2000 0040

Bit

15 - 12 11 - 8

7 - 4

0010 0000

0000 0000

0000 0100

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

+8

-

0000

+9

-

0000

+10

-

0000

+11

-

0000

+12

-

0000

+13

-

0000

+14

-

0000

+15

-

0000

+16

-

0000

+17

-

0000

3 - 0
0000 0000
0000 0000
0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Year data: 1900 to 2100
Month data: 1 to 12
Date data: 1 to 31
Hour data: 0 to 23
Minute data: 0 to 59
Second data: 0 to 59

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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Appendices

Get Version Information

Gets the Sensor Controller version information.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
3000 0040

Bit

15 - 12 11 - 8

7 - 4

0011 0000

0000 0000

0000 0100

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
3000 0040

Bit

15 - 12 11 - 8

7 - 4

0011 0000

0000 0000

0000 0100

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

+8

-

0000

+9

-

0000

:

-

0000

:

-

0000

3 - 0 0000 0000
0000 0000
0000 0000 0000 0000 0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Version information character string

Get Settings Related to Image Logging

Gets settings related to image logging.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
4000 0040

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0000 0100

3 - 0
0000 0000

Description Command code

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A-1 Command Control

Appendices

First word in Command Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+4

-

0000

[Identifier 0] [Identifier 1]

+5

-

0000

[Identifier 0]: Logging

+6

-

0000

[Identifier 1]: Identifier of setting

+7

-

0000

to get � imageLogging (image log-

:

-

0000

ging)

:

-

0000

� imageLoggingDirectory (im-

age log saving destination

folder name)

� imageLoggingHeader (prefix

of image log filename)

� dataLogging (data logging) � dataLoggingDirectory (data

A

log saving destination folder

name)

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4000 0040

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0000 0100

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

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Appendices

First word in Response Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+6

-

0000

[Identifier 0] [Identifier 1]

+7

-

0000

[Identifier 0]: Logging

+8

-

0000

[Identifier 1]: Identifier of setting

+9

-

0000

to get � For imageLogging (image

:

-

0000

log):

:

-

0000

0 (will not save), 1 (save

when NG), 2 (save all)

� For imageLoggingDirectory

(image log saving

destination folder name):

Destination folder name

(half-width alphanumeric)

� For imageLoggingHeader

(prefix of image logfile

name):

Prefix of image log file name

(halfwidth alphanumeric)

� For dataLogging (data log-

ging):

0 (will not save), 1 (save

when NG), 2 (save all)

� For dataLoggingDirectory:

saving destination folder

name (half-width alphanu-

meric)

*1. Regarding the storage destination folder The storage destination folder differ according to the Sensor Controller series. � FH series/FHV series RAM disk: C:\Data\RAMDisk External storage device: E:\, F:\ � Do not save to any folder except RAMDisk and external storage device (such as C:\ProgramFiles\FZ). It is possible not to perform correctly due to the decrease of Scene data storage region.

Get Image Logging Folder Name

Gets the image logging folder name.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
4010 0040

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0001 0100

3 - 0
0000 0000

Description Command code

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A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Response (Sensor Controller to PLC)

First word in Response Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+2

4010

0011

0000

Command code

+3

0040

0000

0111

0000

Response target command co-

des

+4

-

0000

Response code

+5

-

0000

Command execution result

OK: 0 (0000 0000)

NG: Not 0 (0000 0000)

+6

-

0000

Response data

+7

-

0000

Folder name (absolute path)

:

-

0000

A

Get Data Logging Folder Name

Gets the data logging folder name.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
4020 0040

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0010 0100

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4020 0040

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0010 0100

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

:

-

0000

3 - 0 0000 0000
0000 0000
0000 0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Folder name (absolute path)

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Appendices

Get Screen Capture Folder Name

Gets the screen capture folder name.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
4030 0040

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0011 0100

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4030 0040

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0011 0100

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

:

-

0000

3 - 0 0000 0000
0000 0000
0000 0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Folder name (absolute path)

Get Image Logging Prefix

Gets the prefix for the file name in which logged images are saved.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
4040 0040

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0100 0100

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4040 0040

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0100 0100

3 - 0
0000 0000

Description
Command code Response target command codes

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Appendices

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

First word in Response Area
+4 +5
+6 +7 :

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000

-

0000

-

0000

-

0000

3 - 0 0000 0000
0000 0000 0000

Description
Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Image logging prefix character string

Get Data Logging Conditions

A
Gets the conditions set for data logging.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
4050 0040

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0101 0100

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4050 0040

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0101 0100

+4

-

0000

+5

-

0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000
0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data Data logging condition gotten 0: None 1: Only NG 2: All

Get Parallel Terminal Offset
Gets the parallel DI terminal offset data that is set. The parallel DI terminal offset is the value that is added to the DI0-DI4 command parameter when a parallel command is executed. This command is only performed properly after the offset value was set using Set Parallel Terminal Offset command.

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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Appendices

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
4060 0040

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0110 0100

3 - 0
0000 0000

Description Command code

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3 +4 +5

Command code
4060 0040
-

Bit

15 - 12 11 - 8

7 - 4

0100 0000 0000 0000

0000 0000 0000 0000

0110 0100 0000 0000

+6

-

0000

+7

-

0000

3 - 0 0000 0000 0000 0000
0000 0000

Description
Command code Response target command codes
Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000) Response data got parallel DI terminal offset value 0 to 9999

Set Unit Data

Sets the specified unit data.

Precautions for Correct Use
� You can set or get only numeric data in processing unit data. � Character string data such as comparison strings for general-purpose character tests, judg-
ment comparison strings for bar codes or 2D codes, or OCR recognition strings cannot be set or got.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 +6 +7 +8 +9

Command code
1000 0050 0000 0000 0000 0000 0000 0000

Bit

15 - 12 11 - 8

7 - 4

0001 0000 0000 0000 0000 0000 0000 0000

0000 0000 0000 0000 0000 0000 0000 0000

0000 0101 0000 0000 0000 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000 0000 0000 0000

Description
Command code
Unit No.
Data number in the External Reference Tables. Data to be set (Value multiplied by 1000)

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A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
1000 0050

Bit

15 - 12 11 - 8

7 - 4

0001 0000

0000 0000

0000 0101

+4

0000

+5

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Set Date and Time

A

Sets the date and time.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 +6 +7 +8 +9 +10 +11 +12 +13 +14 +15

Command code
2000 0050 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000

Bit

15 - 12 11 - 8

7 - 4

0010 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000

0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000

0000 0101 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000 0000

Description Command code Year data: 1900 to 2100 Month data: 1 to 12 Date data: 1 to 31 Hour data: 0 to 23 Minute data: 0 to 59 Second data: 0 to 59

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
2000 0050

Bit

15 - 12 11 - 8

7 - 4

0010 0000

0000 0000

0000 0101

+4

0000

+5

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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Appendices

Change Settings Related to Image Logging

Changes the settings related to image logging.

Command (PLC to Sensor Controller)

First word in Command Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+2

4000

0100

0000

Command code

+3

0050

0000

0101

0000

+4

0000

[Identifier 0] [Identifier 1] [Set

+5

0000

value]

+6

0000

[Identifier 0]: Logging

+7

0000

[Identifier 1]: Identifier of settings data to set and set value.

:

0000

Separate the setting name and

:

0000

set value with 00 (NULL).

� imageLogging + 0 (do not

save)/1 (save only NG)/2

(save all)

� imageLoggingDirectory (im-

age logging folder name) +

folder_name*1*2 (single-byte alphanumeric characters) � imageLoggingHeader + Prefix_for_image_logging_file_name (singlebyte alphanumeric characters) � DataLogging + 0 (do not save)/1 (save only NG)/2 (save all) � dataLoggingDirectory (data logging folder name) + folder_name (single-byte alphanumeric characters)

*1. If the name of a folder that does not exist is specified, a new folder will be created. *2. Regarding the storage destination folder
The storage destination folder differ according to the Sensor Controller series. � FH series/FHV series
RAM disk: C:\Data\RAMDisk External storage device: E:\, F:\ � Do not save to any folder except RAMDisk and external storage device (such as C:\ProgramFiles\FZ).
It is possible not to perform correctly due to the decrease of Scene data storage region.

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A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4000 0050

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0000 0101

+4

0000

+5

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Set Image Logging Folder Name

A

Sets the name for the image logging folder.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 :

Command code
4010 0050
-

Bit

15 - 12 11 - 8

7 - 4

0100 0000 0000 0000 0000

0000 0000 0000 0000 0000

0001 0101 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000

Description
Command code
Name of the image capture folder with the absolute path Up to 230 characters

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4010 0050

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0001 0101

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

FH/FHV Series Vision System User's manual for Communication Settings (Z342-E1)

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Appendices

Set Data Logging Folder Name

Sets the name for the data logging folder.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 :

Command code
4020 0050
-

Bit

15 - 12 11 - 8

7 - 4

0100 0000 0000 0000 0000

0000 0000 0000 0000 0000

0010 0101 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000

Description
Command code
Name of the data logging folder with the absolute path. Up to 247 characters

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4020 0050

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0010 0101

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Set Screen Capture Folder Name

Sets the name for the screen capture folder.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 :

Command code
4030 0050
-

Bit

15 - 12 11 - 8

7 - 4

0100 0000 0000 0000 0000

0000 0000 0000 0000 0000

0011 0101 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000

Description
Command code
Name of the image capture folder with the absolute path. Up to 227 characters

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4030 0050

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0011 0101

3 - 0
0000 0000

Description
Command code Response target command codes

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A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

First word in Response Area
+4 +5

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000

3 - 0
0000 0000

Description
Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Set Image Logging Prefix

Sets the prefix for the file name in which logged images are saved.

Command (PLC to Sensor Controller)

A

First word in Command Area

Command code

15 - 12

Bit

11 - 8

7 - 4

3 - 0

Description

+2

4040

0100

0000

0100

0000

Command code

+3

0050

0000

0101

0000

+4

-

0000

Image logging prefix

+5

-

0000

Up to 32 characters

:

-

0000

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4040 0050

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0100 0101

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Set Data Logging Conditions

Sets the data logging conditions.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3

Command code
4050 0050

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0101 0101

3 - 0
0000 0000

Description Command code

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Appendices

First word in Command Area
+4 +5 :

Command code
-

Bit

15 - 12 11 - 8

7 - 4

0000 0000 0000

3 - 0
0000 0000 0000

Description
Data logging condition 0: None 1: Only NG 2: All

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4050 0050

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0101 0101

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

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A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Set Parallel Terminal Offset

Sets the parallel DI terminal offset data.

The parallel DI terminal offset is the value that is added from the DI0 to DI4 command parameter when

a parallel command is executed.

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 using from DI0 to DI6.

� Without an Offset:

You can set only values between the minimum value of 0 and the maximum value of 127 (0111 1111

binary). � With an Offset:

A

Adding an offset of 100 allows you to specify numeric values from a minimum value of 100 to a max-

imum value of 227 (127 + 100) by specifying the same values as those used without offsets.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5

Command code
4060 0050
-

Bit

15 - 12 11 - 8

7 - 4

0100 0000 0000 0000

0000 0000 0000 0000

0110 0101 0000 0000

3 - 0
0000 0000 0000 0000

Description
Command code
Parallel DI terminal offset data 0 to 9999

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3 +4 +5

Command code
4060 0050
-

Bit

15 - 12 11 - 8

7 - 4

0100 0000 0000 0000

0000 0000 0000 0000

0110 0101 0000 0000

3 - 0
0000 0000 0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

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Appendices

Load Scene Data

Loads the scene data.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 +6 +7 :

Command code
1000 0060
-

Bit

15 - 12 11 - 8

7 - 4

0001 0000 0000 0000 0000 0000 0000

0000 0000 0000 0000 0000 0000 0000

0000 0110 0000 0000 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000 0000 0000

Description
Command code
Number of scene to read
Name of the file to be read with the absolute path. Up to 256 characters

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
1000 0060

Bit

15 - 12 11 - 8

7 - 4

0001 0000

0000 0000

0000 0110

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Load Scene Group Data

Loads the scene group data.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 +6 +7 :

Command code
2000 0060
-

Bit

15 - 12 11 - 8

7 - 4

0010 0000 0000 0000 0000 0000 0000

0000 0000 0000 0000 0000 0000 0000

0000 0110 0000 0000 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000 0000 0000

Description
Command code
Number of scene group to read
Name of the file to be read with the absolute path. Up to 256 characters

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A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
2000 0060

Bit

15 - 12 11 - 8

7 - 4

0010 0000

0000 0000

0000 0110

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Load System Data

A

Loads the system data.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 :

Command code
3000 0060
-

Bit

15 - 12 11 - 8

7 - 4

0011 0000 0000 0000 0000

0000 0000 0000 0000 0000

0000 0110 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000

Description
Command code
Name of the file to be read with the absolute path. Up to 256 characters

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
3000 0060

Bit

15 - 12 11 - 8

7 - 4

0011 0000

0000 0000

0000 0110

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

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Appendices

Load All Data

Loads the system + scene group 0 data.

Precautions for Correct Use
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 Area
+2 +3 +4 +5 :

Command code
5000 0060
-

Bit

15 - 12 11 - 8

7 - 4

0101 0000 0000 0000 0000

0000 0000 0000 0000 0000

0000 0110 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000

Description
Command code
Name of the file to be read with the absolute path. Up to 256 characters

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
5000 0060

Bit

15 - 12 11 - 8

7 - 4

0101 0000

0000 0000

0000 0110

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Save Scene Data

Saves the scene data.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 +6 +7 : +135

Command code
1000 0070
-

Bit

15 - 12 11 - 8

7 - 4

0001 0000 0000 0000 0000 0000 0000 0000

0000 0000 0000 0000 0000 0000 0000 0000

0000 0111 0000 0000 0000 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000 0000 0000 0000

Description
Command code
Scene No. to save
[Absolute path of save destination and save filename] Up to 256 characters

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Appendices

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
1000 0070

Bit

15 - 12 11 - 8

7 - 4

0001 0000

0000 0000

0000 0111

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

A

A-1 Command Control

A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

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Appendices

Save Scene Group Data

Saves the scene group data.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 +6 +7 :

Command code
2000 0070
-

Bit

15 - 12 11 - 8

7 - 4

0010 0000 0000 0000 0000 0000 0000

0000 0000 0000 0000 0000 0000 0000

0000 0111 0000 0000 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000 0000 0000

Description
Command code
Scene group No. to save
[Absolute path of save destination and save filename] Up to 256 characters

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
2000 0070

Bit

15 - 12 11 - 8

7 - 4

0010 0000

0000 0000

0000 0111

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Save System Data

Saves the system data.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 :

Command code
3000 0070
-

Bit

15 - 12 11 - 8

7 - 4

0011 0000 0000 0000 0000

0000 0000 0000 0000 0000

0000 0111 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000

Description
Command code
[Absolute path of save destination and save filename] Up to 256 characters

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A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
3000 0070

Bit

15 - 12 11 - 8

7 - 4

0011 0000

0000 0000

0000 0111

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Save Image Data

A

Saves the image data stored in the the Sensor Controller's memory.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 +6 +7 :

Command code
4000 0070
-

Bit

15 - 12 11 - 8

7 - 4

0100 0000 0000 0000 0000 0000 0000

0000 0000 0000 0000 0000 0000 0000

0000 0111 0000 0000 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000 0000 0000

Description
Command code
Image data No.
[Absolute path of save destination and save filename] Up to 256 characters

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4000 0070

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0000 0111

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

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Appendices

Save All Image Data

Saves all image data in the Sensor Controller's memory with ifz format in external storage.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 :

Command code
4010 0070
-

Bit

15 - 12 11 - 8

7 - 4

0100 0000 0000 0000 0000

0000 0000 0000 0000 0000

0001 0111 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000

Description
Command code
[Absolute path of save destination] (The file name is given automatically.) Up to 256 characters

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4010 0070

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0001 0111

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Save Last Logging Image

Saves the last logging image.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 :

Command code
4020 0070
-

Bit

15 - 12 11 - 8

7 - 4

0100 0000 0000 0000 0000

0000 0000 0000 0000 0000

0010 0111 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000

Description
Command code
[Absolute path of save destination and save filename] Up to 256 characters

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A-1-4 Command Details for PLC Link, EtherNet/IP, EtherCAT, and PROFINET

Appendices

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
4020 0070

Bit

15 - 12 11 - 8

7 - 4

0100 0000

0000 0000

0010 0111

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

Save All Data

A

Saves the system + scene group 0 data that is currently used by the Sensor Controller in a file.

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 :

Command code
5000 0070
-

Bit

15 - 12 11 - 8

7 - 4

0101 0000 0000 0000 0000

0000 0000 0000 0000 0000

0000 0111 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000

Description
Command code
[Absolute path of save destination and save filename] Up to 256 characters

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
5000 0070

Bit

15 - 12 11 - 8

7 - 4

0101 0000

0000 0000

0000 0111

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

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Appendices

Capture Screen

Captures the screen. The argument specifies a file name and extension in the absolute path of the save destination. The extension is "bmp". If there is no argument, the folder in which the captured image is saved is determined by the system data settings, and the file name is the time stamp. The extension is "bmp". For details, refer to Capturing Screen Images in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

Command (PLC to Sensor Controller)

First word in Command Area
+2 +3 +4 +5 :

Command code
6000 0070
-

Bit

15 - 12 11 - 8

7 - 4

0110 0000 0000 0000 0000

0000 0000 0000 0000 0000

0000 0111 0000 0000 0000

3 - 0
0000 0000 0000 0000 0000

Description
Command code
[Absolute path of save destination and save filename] When 00 00 00 00 is set in +4 or higher, the command operates without an argument

Response (Sensor Controller to PLC)

First word in Response Area
+2 +3

Command code
6000 0070

Bit

15 - 12 11 - 8

7 - 4

0110 0000

0000 0000

0000 0111

+4

-

0000

+5

-

0000

3 - 0 0000 0000
0000 0000

Description
Command code Response target command codes Response code Command execution result OK: 0 (0000 0000) NG: Not 0 (0000 0000)

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A-1 Command Control

A-1-5 Non-procedure Command Details

Appendices

A-1-5 Non-procedure Command Details
This section describes details of commands used in Non-procedure communications.

ALLIMAGESAVE or AIS
Writes all the image data in the image buffer (specified with main unit logging image) to external storage in ifz format.
<Command format>

A L L I MAGE S AV E
or

C R
Destination folder name (256 characters max.)
A

AI S

C R
Destination folder name (256 characters max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

Destination folder name

The folder name to save image data. Specify the folder name as an absolute path. The save destination to use differs by Sensor Controller model.

Save destination RAMDisk External storage

FH series/FHV series*1 C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

*1. Do not specify a save destination other than RAMDisk or External storage. The saved Scene data area may be reduced and the Sensor Controller will not perform correctly.

(Example) When you save the data to IMG01 folder of the external storage: <Command>

\

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Appendices
BKDLOAD
Reads system + scene group 0 data. <Command format>

<Response format> When processing is performed normally:

When processing is not performed normally:

File name of system + scene group data

The name of the file containing the System data and Scene group 0 data you wish to load. Specify the file name as an absolute path. The file name needs the BKD extension. The file which has BKD extension can be load. The load destination to use differs by Sensor Controller model.

Load destination

FH series/FHV series

RAMDisk

C:\Data\RAMDisk

External storage

E:\, F:\, G:\, H:\, M:\

Precautions for Correct Use Do not turn off the power to the Sensor Controller until there is a response.

(Example) When you load the following case from the Sensor Controller: � Drive name: USBDisk2 � Folder name of the external storage: IMG01 � File name: LABEL1.BKD

\ <Response>

\

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Appendices
BKDSAVE
The system + scene group 0 data currently being used by the Sensor Controller is saved to a file. <Command format>

A-1 Command Control

A-1-5 Non-procedure Command Details

<Response format> When processing is performed normally:
A
When processing is not performed normally:

File name of system + scene group data

The name of the file containing the System data and Scene group 0 data you wish to save. Specify the folder name as an absolute path. The file name needs the BKD extension. The save destination to use differs by Sensor Controller model.

Save destination RAMDisk External storage

FH series/FHV series*1 C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

*1. Do not specify a save destination other than RAMDisk or External storage, i.e. C:\ProgramFiles\FZ. The saved Scene data area may be reduced and the Sensor Controller will not perform correctly.

Precautions for Correct Use Do not turn off the power to the Sensor Controller until there is a response.

(Example) When you save the following case to the Sensor Controller: � Data: The current System + Scene group 0 � Drive name: USBDisk2 � Folder name of the external storage: IMG01 � File name: LABEL1.BKD

SAVE \ <Response>

\

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Appendices

BRUNCHSTART or BFU
Branches to the flow head (processing unit No. 0). This command can only be executed when the corresponding flow control processing item is used.
<Command format>

or

B

F

U

C R

<Response format> When processing is performed normally:

When processing is not performed normally:

CLRMEAS
Clears all of the measurement values of the current scene.
<Command format>

<Response format> When processing is performed normally:

When processing is not performed normally:

Window display status after clearing

Judgment result Value Character string

Unmeasured (0) 0 Null character

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A-1 Command Control

A-1-5 Non-procedure Command Details

Appendices

CPYSCEN 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.

CPYSCENE

C R
Copy destination scene No. (3 digits max.) Copy source scene No. (3 digits max.)

or

A

CSD

C R
Copy destination scene No. (3 digits max.) Copy source scene No. (3 digits max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

Copy destination scene No.
Copy destination scene No.

Specifies the scene No. to copy from (0 to the number of scenes in the scene group - 1). Specifies the scene No. to copy to (0 to the number of scenes in the scene group - 1).

(Example) Copying the scene data for Scene 2 to Scene 10:

DATALOGCOND or DLC
Getting the data logging condition
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Appendices
Gets the data logging condition for system data. Gets the data logging condition on the logging setting screen. <Command format>
or
<Response format> When processing is performed normally:

When processing is not performed normally:

Data logging condition

0: None 1: Only NG 2: All

(Example) When data logging condition is set to None: <Command>

Setting the data logging condition Sets the data logging conditions for system data. Sets the Data logging condition on the Logging Setting window .
<Command format>

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A-1 Command Control

or

<Response format> When processing is performed normally:

When processing is not performed normally:

Data logging condition

0: None 1: Only NG 2: All

(Example) When setting the data logging condition to All:

Appendices
A

A-1-5 Non-procedure Command Details

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Appendices
DATALOGFOLDER or DLF
Getting the data logging folder name Gets the set data logging folder name. <Command format>
or
<Response format> When processing is performed normally:

When processing is not performed normally:

<Parameters explanation> 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:
<Command>

\

Setting the data logging folder name Sets the data logging folder name.
<Command format>

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A-1 Command Control

Appendices

DA T A L OGF O L DER
or

C R
Data logging folder name (128 characters max.)

DLF

C R
Data logging folder name (128 characters max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

A

Data logging folder name

The name of the file containing the data when data logging performs. Specify the file name as an absolute path. The save destination to use differs by Sensor Controller model.

Save destination RAMDisk External storage

FH series/FHV series*1 C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

*1. Do not specify a save destination other than RAMDisk or External storage, i.e. C:\ProgramFiles\FZ The saved Scene data area may be reduced and the Sensor Controller will not perform correctly.

(Example) When setting the data logging folder name to USBDisk:

\

A-1-5 Non-procedure Command Details

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Appendices
DATASAVE
Saves System + Scene group data to the Sensor Controller's memory. <Command format>
<Response format> When processing is performed normally:
When processing is not performed normally:
Additional Information � Executing DATASAVE command while you use Scene group 1 to 31, System + Scene group
data is saved to the Sensor Controller's memory. � Do not turn off the power to the Sensor Controller until there is a response.

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Appendices
DATE
Getting date and time Gets the date and time from the internal calendar timer in the Sensor Controller. <Command format>
<Response format> When processing is performed normally:
A

A-1 Command Control

A-1-5 Non-procedure Command Details

When processing is not performed normally:

Year/Month/Date/Hour/Minute/Second

Year: 4 digits Month: 2 digits Date: 2 digits Hour: 2 digits Minute: 2 digits Second: 2 digits

(Example) When the current date and time is 08/30/2007, 12:30:00:

Setting date and time Changes the date and time of the internal calendar timer in the Sensor Controller. <Command format>
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Appendices
<Response format> When processing is performed normally:
When processing is not performed normally:
Additional Information <Hour: 2 digits>, <Minute: 2 digits>, and <Second: 2 digits> 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 <second> only, omitting <minute> and <second>, and omitting <hour>,<minute>, and <second>. Patterns that cannot be used include omitting <hour> only and omitting <minute> only. (Example) When changing the date and time to 8/30/2007, 12:30:00: <Command>
<Response>

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A-1 Command Control

A-1-5 Non-procedure Command Details

Appendices

DELSCENE or DSD
Deletes the data for the scene whose number is specified with command argument 1.

DE L SCENE

C R

Scene No. (3 digits max.)

or

DSD

C R

A
Scene No. (3 digits max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

Scene No.

Specify the scene No. to delete the scene data for (0 to the number of scenes in the scene group -1).

(Example) Deleting the scene data for Scene 2:

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Appendices
DIOFFSET or DIO
Gets or sets the value of the parallel DI terminal offset data. The parallel DI terminal offset is the value that is added to the DI0 to DI4 command parameter when a parallel command is executed. It is convenient to use a parallel DI terminal offset in cases such as the following. Example: Creating a custom communications command for parallel communications that sets a numeric value using DI0 to DI6: � Without an Offset:
You can set only values between the minimum value of 0 and the maximum value of 27 (0111 1111 binary). � 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 parallel DI terminal offset data Gets the parallel DI terminal offset data. After the Set Parallel Terminal Offset command was performed to set the offset value, this command is only performed properly.
<Command format>
or
<Response format> When processing is performed normally:

When processing is not performed normally:

Parallel DI terminal offset data

This is the value that is set for the parallel DI terminal offset data (0 - 9999).

(Example) When the parallel DI terminal offset data is 10:

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Appendices

A-1 Command Control

A-1-5 Non-procedure Command Details

Additional Information When the value of the parallel DI terminal offset data is set to 10, the Switch Scene parallel command will change the scene to scene 10 instead of scene 0 when 0 is specified in the target scene parameter. <Command>
<Response>

A

Sets the parallel DI terminal offset data Sets the parallel DI terminal offset data.

D I OFFSET

C R

or DIO

Parallel DI terminal offset data (max. 4 digits)
C R

Parallel DI terminal offset data (max. 4 digits)
<Response format> When processing is performed normally:

When processing is not performed normally:

Parallel DI terminal offset data

This is the value that is set for the parallel DI terminal offset data (0 - 9999).

(Example) Setting the parallel DI terminal offset data to 10. <Command>

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Appendices
<Response>
DIPORTCOND or DPC
Gets the ON/OFF states of all parallel DI terminals at once. For how to use the command to get status, refer to the following example. Example: To get the parallel DI terminal status of Line 0. 1. Send the parallel DI terminal status command to the port number assigned to Line 0. 2. A response of the parallel DI terminal status will be received. <Command format>
or
<Response format> When processing is performed normally:

When processing is not performed normally:

Terminal state

Responds with the DI0-DI7 states (0-255). � 1st bit: DI0 � 2nd bit: DI1 : � 8th bit: DI7

Precautions for Correct Use
This command gets the terminal state of each line by specifying its port number. When getting the terminal state of an unusable line, the response code will be OK and the response data will always be 0. Check the status of the received data by changing the actual parallel terminal status.

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(Example) When DI0 and DI4 are ON: <Command>
<Response>

Appendices

A-1 Command Control

A-1-5 Non-procedure Command Details

A DOPORTCOND or DPC
Sets the ON/OFF states of all parallel DO terminals at once. For how to set the DO terminal state, refer to the following. Example: When you set the parallel DO terminal state of Line 0 to ON: 1. Set the command which turns the terminal state ON to the parallel DO terminal of assignment BIT. 2. Send the command set in the above step 1 to the port number of Line 0. 3. Executed result is responded. <Command format>
or
<Response format> When processing is performed normally:
When processing is not performed normally:
<Parameters explanation>

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Appendices

Terminal state

Specify the DO terminals to switch ON (0-65535). � 1st bit: DO0
2nd bit: DO1 : 16th bit: DO15

Precautions for Correct Use
This command sets the terminal state of each line by specifying its port number.When the terminal state of an unusable or a different line was set, the response code will be OK and the set terminal state will be discarded. Check the status of the received data by changing the actual parallel terminal status.

(Example) When setting DO0 and DO4 ON:
<Command>

ECHO or EEC
Returns as is any character string sent by an external device. Only single-byte alphanumerics can be used.

ECHO
or

C R
Arbitrary character string (256 characters max.)

EEC

C R
Arbitrary character string (256 characters max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

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Appendices

A-1 Command Control

A-1-5 Non-procedure Command Details

Arbitrary character string

Sets the character string returned as is. The response is the character string set here as is.

(Example) When returning the character string "TEST."

EEC

T

E

S

T

C R

A

T

E

S

T

C R

IMAGECAPTURE or EIC
Captures the screen. The folder into which the captured image is saved depends on the system data setting. The file name depends on the argument. � No argument: Time stamp
For details, refer to Capturing Screen Images in the Vision System FH/FHV Series User's Manual (Cat. No. Z365). � 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.
<Command format> No argument:

or

With argument: I MAGECA P TURE
or

C R
File name (256 characters max.)

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Appendices

EIC

C R

File name (256 characters max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

File name

The folder name to save image data when image logging performs. Specify the folder name as an absolute path. The file name needs the "BMP" extension. The save destination to use differs by Sensor Controller model.

Save destination RAMDisk External storage

FH series/FHV series*1 C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

*1. Do not specify a save destination other than RAMDisk or External storage, i.e. C:\ProgramFiles\FZ The saved Scene data area may be reduced and the Sensor Controller will not perform correctly.

(Example) When capturing an image to the file named abc.bmp.

\

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IMAGECAPTUREFOLDER or ICF
Getting the screen capture folder name Gets the set screen capture folder name. <Command format>
or
<Response format> When processing is performed normally:

Appendices
A

A-1 Command Control

A-1-5 Non-procedure Command Details

When processing is not performed normally:

Screen capture fold- Responds with the name of the folder that the screen capture is saved to with its abso-

er name

lute path.

(Example) When the screen capture save destination is set to RAMDisk:

\

Setting the screen capture folder name Sets the screen capture folder name. <Command format>
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Appendices

I MAGECAP TURE FOL DER
or

C R
Screen capture folder name (128 characters max.)

I CF

C R
Screen capture folder name (128 characters max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

Screen capture folder name

Image display window number. Specify the folder name as an absolute path. The save destination to use differs by Sensor Controller model.

Save destination RAMDisk External storage

FH series/FHV series*1 C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

*1. Do not specify a save destination other than RAMDisk or External storage, i.e. C:\ProgramFiles\FZ The saved Scene data area may be reduced and the Sensor Controller will not perform correctly.

(Example) When setting the screen capture folder name to USBDisk:

\

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A-1-5 Non-procedure Command Details

Appendices

IMAGEDISPCOND or IDC
Gets image mode Gets the image mode for the specified Image Display window.

I MAGED I SPCOND or

C R
Image display window number (2 digits max.)

I DC

C R

Image display window number (2 digits max.)

A

<Response format> When processing is performed normally:

When processing is not performed normally:

Image display window number
Image mode

Display image window number FH: Image display window number (0 to 23)
0: Through 1: Freeze or Freeze and Last NG together 2: Last NG

(Example) When getting the image mode of the image display window 1 (through):

Sets image mode
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Appendices

Sets the image mode for the specified Image Display window.

I MAGED I SPCOND
or

C R
Image mode (1 digit) Image display window number (2 digits max.)

I DC

C R
Image mode (1 digit) Image display window number (2 digits max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

Image display window number
Image mode

Display image window number FH: Image display window number (0 to 23)
0: Through 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:

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Appendices

IMAGEFIT or EIF

Returns the display position and display zoom ratio for the image display window to their default values.

Before fitting

After fitting

A

A-1 Command Control

A-1-5 Non-procedure Command Details

I MAGE F I T or

C R
Image display window number (2 digits max.)

EIF

C R
Image display window number (2 digits max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

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Appendices

Image display window number

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)

(Example) When returning the display position and display zoom ratio for the image display window 1 to their default values

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IMAGELOGFOLDER or ILF
Getting the image logging folder name Gets the set image logging folder name. <Command format>
or
<Response format> When processing is performed normally:

Appendices
A

A-1 Command Control

A-1-5 Non-procedure Command Details

When processing is not performed normally:

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: <Command>

\

Setting the image logging folder name Sets the image logging folder name.
<Command format>

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Appendices

I MAGE L OGFO L DER

or

I LF

C R

Image logging folder name (128 characters max.)

<Response format> When processing is performed normally:

C R
Image logging folder name (128 characters max.)

When processing is not performed normally:

Image Logging folder name

The folder name to save image data when image logging performs. Specify the folder name as an absolute path. The save destination to use differs by Sensor Controller model.

Save destination RAMDisk External storage

FH series/FHV series*1 C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

*1. Do not specify a save destination other than RAMDisk or External storage. The saved Scene data area may be reduced and the Sensor Controller will not perform correctly.

(Example) When setting the image logging folder name to USBDisk:

\

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Appendices

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.

I

MA

G

E

L

OG

H

E

A

D

E

R

C R

or

A

When processing is performed normally:

A-1 Command Control

A-1-5 Non-procedure Command Details

When processing is not performed normally:

Image logging 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:

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.
<Command format>

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Appendices

I MAGE L OGHE ADER
or

C R
Image logging prefix (32 characters max.)

I LH

C R
Image logging prefix (32 characters max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

Image logging prefix

Sets the prefix for the name of the file the image logging is saved to (with a maximum of 32 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: <Command>

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Appendices

IMAGESCROLL or EIS

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.

Before scrolling

After scrolling

A-1 Command Control

A-1-5 Non-procedure Command Details

A

I MAGESCROL L
or

C R
Movement amount Y Movement amount X Image display window number (2 digits max.)

EIS

C R
Movement amount Y Movement amount X Image display window number (2 digits max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

Image display window number
Movement amount X Movement amount Y

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)
Sets the X-direction movement distance (camera coordinate system).
Sets the Y-direction movement distance (camera coordinate system).

(Example)

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Appendices

When moving the image display window 1 image in parallel 20 in the X direction and 10 in the Y direction:

EIS

1

20

1

0

C R

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.

I MAGESUBNO or

C R
Image display window number (2 digits max.)

I SN

C R
Image display window number (2 digits max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

Image display window number
Sub image number

Number of the image display window for which to get the image mode. FH: Image display window number (0 to 23)
Responds with the number 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.

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Appendices

A-1 Command Control

A-1-5 Non-procedure Command Details

Setting the number of the currently displayed sub-image Sets the number of the sub-image displayed in the specified image display window.

A

I MAGESUBNO

C R

Sub image number (3 digits max.) Image display window number (2 digits max.)

or

I SN

C R
Sub image number (3 digits max.) Image display window number (2 digits max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

Image display window number
Sub image number

Number of the image display window for which to get the image mode. FH: Image display window number (0 to 23)
Sets the number (0 to 31) 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:

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Appendices

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.

I MAGEUN I TNO or

C R
Image display window number (2 digits max.)

I UN

C R
Image display window number (2 digits max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

Image display window number
Unit No.

Number of the image display window for which to get the unit number. FH: Image display window number (0 to 23)
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: <Command>

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A-1-5 Non-procedure Command Details

Appendices

Setting the number of the displayed unit Sets the number of the unit displayed in the specified image display window.

I MAGEUN I TNO or

C R
Unit No. Image display window number (2 digits max.)

I UN

C R

Unit No.

Image display window number (2 digits max.)

A

When processing is performed normally:

When processing is not performed normally:

Image display window number
Unit No.

Number of the image display window for which to get the unit number. FH: Image display window number (0 to 23)
Sets the number (0 to number of units in current scene -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. <Command>

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Appendices

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)

After zooming (zoom out)

I MAGE Z OOM or

C R
Magnification (6 digits max.) Image display window number (2 digits max.)

EIZ

C R
Magnification (6 digits max.) Image display window number (2 digits max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

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Appendices

Image display window number
Magnification

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)
Sets the zoom ratio (250-16,000). 250 means 25%; 16,000 means 1600%.

(Example) When zooming in image display window 1 to 200%:

<Response>
A

IMGSAVE
Saves image data.
<Command format>

A-1-5 Non-procedure Command Details

<Response format> When processing is performed normally:

When processing is not performed normally:

Image data No.

Specifies the No. of the image data to be saved(0 to max. number of logging
images (I_MAX)).*1 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. For details of the maximum number of images that can be logged (I_MAX), refer to Number of Logged Images in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).

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Appendices

Destination folder name

The folder name to save image data. Specify the folder name as an absolute path. The file name needs the "IFZ" extension. The save destination to use differs by Sensor Controller model.

Save destination RAMDisk External storage

FH series/FHV series*2 C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

*1. 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 of the maximum number of images that can be logged (I_MAX), refer to Number of Logged Images in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).
*2. Do not specify a save destination other than RAMDisk or External storage, i.e. C:\ProgramFiles\FZ The saved Scene data area may be reduced and the Sensor Controller will not perform correctly.

Precautions for Correct Use
� If the specified file name already exists, this existing file will be overwritten. � Do not turn off the power to the Sensor Controller until there is a response.

(Example) When you save the following case: � Number of image data: 3 � File name: LABEL1.IFZ � Drive name: USBDisk2 � Folder name of the external storage: IMG01
<Command>

\

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INPUTTRANSSTATE or ITS
Getting communication module input states Gets the input state (permitted/prohibited) for communication modules. <Command format>
or
<Response format> When processing is performed normally:

Appendices
A

A-1-5 Non-procedure Command Details

When processing is not performed normally:

Communication module types
Input state

0: Serial (Ethernet) 1: Serial (RS-232C/422) 2: Parallel IO 3: Fieldbus 4: Remote operation
0: Prohibited 1: Permitted

(Example) Getting the input status when serial (Ethernet) inputs are enabled (= 1):

I TS

0

C R

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Appendices

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.
<Command format>

or

<Response format> When processing is performed normally:

When processing is not performed normally:

(Example) Setting the serial (RS-232C/422) input state to prohibited:

I TS <Response>

0

C R

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A-1-5 Non-procedure Command Details

Appendices
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. <Command format>

or
A
<Response format> When processing is performed normally:

When processing is not performed normally:

File name

The folder name to save image data. Specify the folder name as an absolute path. The save destination differs by Sensor Controller model.

Save destination RAMDisk External storage

FH series/FHV series*1 C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

*1. Do not specify a save destination other than RAMDisk or External storage. The saved Scene data area may be reduced and the Sensor Controller will not perform correctly.

(Example) When saving the last input image to the file named abc.ifz:

\

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Appendices
Additional Information � When the extension is ifz, the image is saved with the specified file name. � 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.
LAYOUTNO or DLN
Gets or sets the current layout number. Precautions for Correct Use 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 is used, unexpected operation may occur when the command is executed.
Getting the layout number Gets the number of the currently displayed layout. <Command format>
or
<Response format> When processing is performed normally:

When processing is not performed normally:

Acquisition target Layout number

0: Local 1: Remote
Current layout number (0 to 8)

(Example)

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A-1-5 Non-procedure Command Details

When the currently displayed window (local) is the RUN window:: <Command>
<Response>
Setting the layout number Sets the layout number and switches the window. <Command format>
or
<Response format> When processing is performed normally:
When processing is not performed normally:
(Example) When displaying the RUN window (local): <Command>
<Response>

Appendices
A

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Appendices
LOGINACCOUNT or LAI
Gets the user name for the currently logged in user account. Gets the user ID for the currently logged in account. <Command format>
or
<Response format> When processing is performed normally:

When processing is not performed normally:

Acquisition target User ID

0: Local 1: Remote
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):

Switching the currently logged in account Switches the currently logged in account.

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A-1 Command Control

Appendices

L OG I NACCOUN T

C R
Password (32 characters max.) User ID (32 characters max.) Setting target (1 digit)

or

LA I

C R
Password (32 characters max.) User ID (32 characters max.) Setting target (1 digit)

A

When processing is performed normally:

When processing is not performed normally:

Settable Objects
User ID Password

0: Local 1: Remote Specify the ID for the user to switch (32 characters maximum). Specify the password for the user to switch (32 characters maximum).

(Example) When switching to user ID abc with password efg (local):

A-1-5 Non-procedure Command Details

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Appendices
LOGINACCOUNTGROUP or LAG
Gets the group ID in the user account used by the user currently logging in. <Command format>
or
<Response format> When processing is performed normally:

When processing is not performed normally:

Acquisition target Group ID

0: Local 1: Remote
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:

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A-1-5 Non-procedure Command Details

MEASURE or M
Executing measurement Executes measurement one time. <Command format>
<Response format> When processing is performed normally: � Non-procedure
� Normal (Fxxx series)

Appendices
A

When processing is not performed normally:

Additional Information For Normal (Fxxx series method), refer to 2-5-9 Command Formats on page 2-340.

Measurement result

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. Refer to 2-5-11 Output Format on page 2-346.

Starts continuous measurement Starts continuous measurement.

<Response format> When processing is performed normally:

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Appendices

When processing is not performed normally:

Measurement result

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. Refer to 2-5-11 Output Format on page 2-346.

Completes continuous measurement Continuous measurement ends.

<Response format> When processing is performed normally:

When processing is not performed normally:

Additional Information
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. For detail, refer to 2-5-11 Output Format on page 2-346 and 2-2-5 Output Data Settings (Processing Item Registration) on page 2-152.

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MEASUREUNIT or MTU
Performs a test measurement on the specified unit.
<Command format>

Appendices

or

A
<Response format>
When processing is performed normally:

When processing is not performed normally:

Unit No.

Specifies the unit number to run a test with: 0 to the uppermost unit model number in the scene.

(Example) The following sample command runs a test on unit number 5: <Command>

A-1-5 Non-procedure Command Details

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MOVESCENE or MSD

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.

MOV S C E N E

C R
Target scene number (3 digits max.) Source scene number (3 digits max.)

or

MSD

C R
Target scene number (3 digits max.) Source scene number (3 digits max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

Source scene number
Target scene number

Specifies the scene number to copy scene data from: 0 to the number of the scenes in the scene group -1.
Specifies the target scene number for copying scene data: 0 to the number of the scenes in the scene group -1.

(Example) The following sample command moves the scene data saved under scene 2 to scene 10:

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A-1-5 Non-procedure Command Details

OPELOGCOND or OLC
Gets logging operation state Gets the logging operation state. <Command format>
or
<Response format> When processing is performed normally:

Appendices
A

When processing is not performed normally:

Logging opera- 0: OFF

tion state

1: ON

(Example) The following sample command returns an enabled logging operation state:

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.
<Command format>

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Appendices
or
<Response format> When processing is performed normally:
When processing is not performed normally:
(Example) The following sample command enables the logging operation state: <Command> <Response>
OUTPUTTRANSSTATE or OTS
Gets output state to external device Gets the output state to an external device: Enabled or Disabled: <Command format> or <Response format> When processing is performed normally:

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When processing is not performed normally:

Output state

0: Prohibited 1: Permitted

(Example) The following sample command retrieves the output state, Enabled:

Appendices
A

A-1 Command Control

A-1-5 Non-procedure Command Details

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.
<Command format>

or

<Response format> When processing is performed normally:

When processing is not performed normally:

(Example) Setting the output status to external devices to prohibited or prohibiting output to external devices:

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Appendices
<Command>
<Response>
PARAALLCOND or PAC
Gets all parallel terminal states at once, except for DI terminals Gets the ON/OFF states of all parallel terminals at once, except for DI terminals. For how to set, refer to the following contents or example. Example: When you want to get the parallel terminal state of Line 0 except DO to turn ON at once: 1. Send this command to the port number set on Line 0. 2. The parallel terminal state except DI is responded. <Command format>
or
<Response format> When processing is performed normally:

When processing is not performed normally:

Terminal state

Terminal state 0: OFF 1: ON For assigned terminal to each bit, refer to *1.

*1: Assigned terminal to each bit FH-1000/2000/3000/5000 series Sensor Controller

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A-1 Command Control

A-1-5 Non-procedure Command Details

Appendices

Supported bit

Line 0

Line 1

Line 2

Terminal

Line 3

Line 4

Line 5

Line 6

Line 7

BIT0

STEP0 STEP1 STEP2 STEP3 STEP4 STEP5 STEP6 STEP7

BIT1

DSA0

DSA1

0

BIT2

DILINE0 DILINE0 DILINE0 DILINE0 DILINE0 DILINE0 DILINE0 DILINE0

BIT3

DILINE1 DILINE1 DILINE1 DILINE1 DILINE1 DILINE1 DILINE1 DILINE1

BIT4

DILINE2 DILINE2 DILINE2 DILINE2 DILINE2 DILINE2 DILINE2 DILINE2

BIT5

0

BIT6

0

BIT7

0

BIT8

0

BIT9

0

BIT10

0

BIT11

0

A

BIT12

0

BIT13

0

BIT14

0

BIT15

0

FH-L series Sensor Controller

Supported bit
BIT0 BIT1 BIT2 BIT3 BIT4 BIT5 BIT6 BIT7 BIT8 BIT9 BIT10 BIT11 BIT12 BIT13 BIT14 BIT15

Terminal Line 0
STEP0 DSA0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

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Appendices
Precautions for Correct Use
� When the Multi-line Random-trigger mode is selected in the following series, usable signal type or assignment are differ depending on the used number of Lines. � FH-1000 series � FH-2000 series � FH-3000 series � FH-5000 series For more details of Operation mode, refer to Multi-line Random-trigger Mode Signal Specifications on page 2-384.
� The terminal status of each line can be got by sending this command to the port number allocated to them. For signals that are common in all lines, the terminal status can be got from any line used. When the terminal status for an unusable line or a different line was got, the response code will be OK and the response data will always be 0. Check the status of the received data by changing the actual parallel terminal status.
(Example) The following sample command returns the state of enabled STEP0 and DSA1:
<Command>
<Response>

The response of 1001 (binary) is given as 9 (decimal).
Sets all parallel terminal states at once, except for DO terminals Sets the ON/OFF state of all Parallel terminals except for DO terminals. For how to set, refer to the following: Example) When you want to set the Parallel DO terminals state of Line 0, to ON at once: 1. Set the terminals state ON to the desired assignment BIT of the Parallel DO terminal state. 2. Send the specified command set in the above step 1 to the port number of Line 0. 3. Executed result of command is responded.
<Command format>
or

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Appendices

A-1 Command Control

A-1-5 Non-procedure Command Details

<Response format> When processing is performed normally:

When processing is not performed normally:

A
Terminal state

Terminal state

0: OFF 1: ON

For assigned terminal to each bit, refer to *1.

*1: Assigned terminal to each bit FH-1000/2000/3000/5000 series Sensor Controller

Supported bit
BIT0 BIT1
BIT2 BIT3 BIT4 BIT5 BIT6 BIT7 BIT8 BIT9 BIT10 BIT11 BIT12 BIT13 BIT14 BIT15

Line 0 RUN0 ERROR /ERROR0 BUSY0 OR0 GATE0 READY0 ACK -

Line 1 RUN1
ERROR1
BUSY1 OR1 GATE1 READY1 ACK -

Line 2 RUN2
ERROR2
BUSY2 OR2 READY2 ACK -

Terminal

Line 3

Line 4

RUN3

-

ERROR3 ERROR

BUSY3 OR3 READY3 ACK -

BUSY4 OR4 READY4 ACK -

Line 5 -
ERROR
BUSY5 OR5 READY5 ACK -

Line 6 -
ERROR
BUSY6 OR6 READY6 ACK -

Line 7 -
ERROR
BUSY7 OR7
READY7 ACK -

FH-L series Sensor Controller

Supported bit
BIT0 BIT1 BIT2

Terminal Line 0
RUN ERROR BUSY

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Appendices

Supported bit
BIT3 BIT4 BIT5 BIT6 BIT7 BIT8 BIT9 BIT10 BIT11 BIT12 BIT13 BIT14 BIT15

Terminal Line 0
OR0 GATE0 READY0 ACK -

Precautions for Correct Use
� When the Multi-line Random-trigger mode is selected in the following series, usable signal type or assignment are differ depending on the used number of Lines. � FH-1000 series � FH-2000 series � FH-3000 series � FH-5000 series For more details of Operation mode, refer to Multi-line Random-trigger Mode Signal Specifications on page 2-384.
� The terminal status of each line can be got by sending this command to the port number allocated to them. For signals that are common in all lines, the terminal status can be got from any line used. When the terminal state of an unusable or a different line was set, the response code will be OK and the set terminal state will be discarded. Check the status of the received data by changing the actual parallel terminal status.
(Example) The following sample command activates RUN:
<Command>

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Appendices

PARAPORTCOND or PPC

Gets the specified status of parallel I/O Gets the ON/OFF information of specified parallel I/O terminal. Specify the parallel terminal with combination of terminal type and terminal number. For how to set, refer to the following: Example: When you want to get the terminal status of STEP0 and Line0
1. Set 0 in terminal type, STEP is specified.

2. Set 0 in terminal number, STEP0 of Line0 is specified.

3. Send the specified command set in the above step 1 and 2 to the port number of Line0.

4. The specified terminal status is responded.

A

or

<Response format> When processing is performed normally:

A-1-5 Non-procedure Command Details

When processing is not performed normally:

Terminal type
Terminal number
Terminal state

Set the terminal by combining Terminal number. Specified terminal differ according to the Sensor Controller series. For detail, refer to*1. Set the terminal by combining Terminal type. Specified terminal differ according to the Sensor Controller series. For detail, refer to*1. 0: OFF 1: ON

*1 : Terminal type and Terminal number FH-1000/2000/3000/5000 series Sensor Controller

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Appendices

Terminal type

STEP

0

DSA

1

DI

2

DI LINE

11

0 STEP0 DSA0 DIO DILINE0

1 STEP1 DSA1 DI1 DILINE1

2 STEP2 DI2 DILINE2

Terminal number

3

4

STEP3 STEP4

-

DI3

DI4

-

5 STEP5 DI5 -

6 STEP6 DI6 -

7 STEP7 DI7 -

FH-L series Sensor Controller

Terminal type

STEP

0

DSA

1

DI

2

DI LINE

11

0 STEP0 DSA0 DIO -

1 DI1 -

2 DI2 -

Terminal number

3

4

-

DI3

DI4

-

5 DI5 -

6 DI6 -

7 DI7 -

Precautions for Correct Use
� When the Multi-line Random-trigger mode is selected in the following series, usable signal type or assignment are differ depending on the used number of Lines. � FH-1000 series � FH-2000 series � FH-3000 series � FH-5000 series For more details of Operation mode, refer to Multi-line Random-trigger Mode Signal Specifications on page 2-384.
� The terminal status of each line can be got by sending this command to the port number allocated to them. For signals that are common in all lines, the terminal status can be got from any line used. When the terminal status for an unusable line or a different line was got, the response code will be OK and the response data will always be 0. Check the status of the received data by changing the actual parallel terminal status.

(Example) The following sample command gets the state of STEP1:

PPC 0 <Response>

1

C R

Sets the state of specified parallel I/O terminal Sets the specified parallel I/O terminal: ON/OFF Specifies the Parallel terminal with a combination of terminal type, terminal number and terminal status.

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Appendices
For how to set, refer to the following contents or example. Example: When you want to set the OR3 terminal status of Line 3: 1. Set 6 in terminal type, OR is specified. 2. Set 6 in terminal type, OR3 is specified. 3. Set 1 in terminal type, OR3 terminal is set to OFFON. 4. Sends the specified command which set the above step 1 and 3 to the port number of Line 3. 5. Executed result of command is responded. <Command format>
A
or

A-1-5 Non-procedure Command Details

<Response format> When processing is performed normally:

When processing is not performed normally:

Terminal type
Terminal number
Terminal state

Set the terminal by combining Terminal number. Specified terminal differs according to the Sensor Controller series. For detail, refer to *1. Set the terminal by combining Terminal type. Specified terminal differs according to the Sensor Controller series. For detail, refer to *1. 0: OFF 1: ON

*1: Terminal type and terminal number a. FH-1000/2000/3000/5000 series Sensor Controller

Terminal type

Terminal number

0

1

2

3

4

5

6

7

RUN

3

RUN0 RUN1 RUN2 RUN3

-

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Appendices

Terminal type

ERR

4

BUSY

5

OR

6

GATE

7

READY

8

DO

9

ACK

10

0 ERROR / ERROR0 BUSY0 OR0 GATE0 READY0 DO0 ACK

1
ERROR1
BUSY1 OR1 GATE1 READY1 DO1
-

2
ERROR2
BUSY2 OR2
READY2 DO2
-

Terminal number

3

4

ERROR3

-

BUSY3 OR3
READY3 DO3
-

BUSY4 OR4
READY4 DO4
-

5
-
BUSY5 OR5
READY5 DO5
-

6
-
BUSY6 OR6
READY6 DO6
-

7
-
BUSY7 OR7
READY7 DO7
-

Terminal type

RUN

3

ERR

4

BUSY

5

OR

6

GATE

7

READY

8

DO

9

ACK

10

8 DO8 -

9 DO9 -

10 DO10 -

Terminal number

11

12

-

DO11

DO12

-

13 DO13 -

14 DO14 -

15 DO15 -

b. FH-L series Sensor Controller

Terminal type

RUN

3

ERR

4

BUSY

5

OR

6

GATE

7

READY

8

DO

9

ACK

10

0 RUN ERROR BUSY0 OR0 GATE0 READY0 DO0 -

1 DO1 -

2 DO2 -

Terminal number

3

4

-

DO3

DO4

-

5 DO5 -

6 DO6 -

7 DO7 -

Terminal type

RUN

3

ERR

4

BUSY

5

OR

6

GATE

7

READY

8

DO

9

ACK

10

8 DO8 -

9 DO9 -

10 DO10 -

Terminal number

11

12

-

DO11

DO12

-

13 DO13 -

14 DO14 -

15 DO15 -

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Precautions for Correct Use
� When the Multi-line Random-trigger mode is selected in the following series, usable signal type or assignment are differ depending on the used number of Lines. � FH-1000 series � FH-2000 series � FH-3000 series � FH-5000 series For more details of Operation mode, refer to Multi-line Random-trigger Mode Signal Specifications on page 2-384.
� The terminal status of each line can be got by sending this command to the port number allocated to them. For signals that are common in all lines, the terminal status can be got from any line used. When the terminal state of an unusable or a different line was set, the response code will be OK and the set terminal state will be discarded. Check the status of the received data by changing the actual parallel terminal status.
A
(Example)
Setting READY0 to ON:

PPC

8

0

1

C R

A-1-5 Non-procedure Command Details

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Appendices

REIMAGE 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 was executed is the same as after the operation was executed for the Register Button in the Registered Image Manager. When the source to register is 0, the last measured image, command argument 3, can be omitted.

<Command format> REG I MAGE
or

C R
Logging image number/File name (256 characters max.) Source to register (1 digit) Registered image file name/Registered image number (256 characters max.)

<Response format> When processing is performed normally:

Logging image number/Finle name (256 characters max.) Source to register (1 digit)
Registered image file name/Registered image number (256 characters max.)

When processing is not performed normally:

Registered image file name/Registered image number
Source to register
Logging image number/ File name

Specifies a registered image file name (0 to 256 characters) or a registered image number (0 to 999).
0: Last measured image 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 -1. If you have specified an image file, specify a file name with 0 to 256 characters.

(Example) a. When registering a last measured image as ABC.ifz of the registered image file.

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A-1 Command Control

A-1-5 Non-procedure Command Details

<Response>
b. When registering an image with registered image number 100 and logging image number 10: <Command>
<Response>
A
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. <Command format>

or
Registered image file name/Registered image number (256 characters max.)
<Response format> When processing is performed normally:

When processing is not performed normally:

Registered image file name/Registered image number

Specifies a registered image file name (0 to 256 characters) or a registered image number (0 to 999).

(Example) a. When loading a registered image file, ABC.ifz, as a measured image:

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Appendices
<Response>
b. When loading an image with registered image number 100 as a measured image: <Command> <Response>
Precautions for Correct Use JPG (JFZ) format image files cannot be registered or loaded.
RESET
Restart the Sensor Controller. <Command format>
<Response format> None

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Appendices

SCENE or S
Gets scene number Gets the current scene No.
<Command format>

<Response format> When processing is performed normally:

C R

A

O

K

C R

Scene No. (3 digits max.)

When processing is not performed normally:

Scene No.

The got scene No. (currently used scene No.) is output as a response (0 to 127).

(Example) When scene 0 is being used:

A-1-5 Non-procedure Command Details

Switch Scene No. Switches the scene number to be used.

SCENE

C R
Scene No. (3 digits max.)

<Response format> When processing is performed normally:

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Appendices

When processing is not performed normally:

Scene No.

Specifies the scene No. after switching (0 to 127).

(Example) When switching to scene 2:

SCNDATA
Gets scene variable value Gets the value for a set scene variable.
<Command format>
S C N D A T A variable name + type idetifier CR

<Response format> When processing is performed normally:
Current value CR

When processing is not performed normally:

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Appendices

A-1 Command Control

A-1-5 Non-procedure Command Details

Specifies a scene variable to get with the variable name and the type identifier. � Specify a scene variable with the variable name and the type identifier. SC

that indicates the kind of variables is not necessary.

Ex.: When SC.aaa& is specified, enter aaa& � When an array is specified for scene variables, specify its elements.

Ex.: Enter like aaa&(10), bbb#(3.5). � An error will be returned when the number of array dimensions or the number

Variable name + type identifier

of its elements is wrongly specified. Ex.: An error is returned if getting bbb#(0) from bbb#(20,10) were attempted. Ex.: An error is returned if getting the value for ccc&(10) were attempted when

the defined array variable (ccc&) is one dimension and the number of its ele-

ments is five. � If a non-existant variable name were specified, an error will be returned de-

pending on the set contents.

1) An error is returned if Option Explicit commands are used in Scene control macro.

A

2) Other than 1), the current value = 0 is returned.

Current value

The current value for the set variable is returned.

Sets value to scene variable Sets a value to the element of a scene variable.

S C ND A T A

variable name + type identifier

<Response format> When processing is performed normally:

Set value CR

When processing is not performed normally:

Variable name + type identifier

Specifies a scene variable to get with the variable name and the type identifier. � Specify a scene variable with the variable name and the type identifier. SC
that indicates the kind of variables is not necessary. Ex.: When SC.aaa& is specified, enter aaa& � When an array is specified for scene variables, specify its elements. Ex.: Enter like aaa&(10), bbb#(3.5). � An error will be returned when the number of array dimensions or the number of its elements is wrongly specified. Ex.: An error is returned if getting bbb#(0) from bbb#(20,10) were attempted. Ex.: An error is returned if getting the value for ccc&(10) were attempted when the defined array variable (ccc&) is one dimension and the number of its elements is five. � If a non-existant variable name were specified, an error will be returned depending on the set contents. 1) An error is returned if Option Explicit commands are used in Scene control macro. 2) Other than 1), the current value = 0 is returned.

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Appendices

Set value

Specifes a value to set.

Precautions for Correct Use
If a different type of value were specified to a variable set by the variable name and the type identifier, an error is not returned but the following processing is applied. � Although the variable name and type identifier are an integer type, if a floating-point value
were set to the variable: The decimals of the value are rounded down. (Ex.: When -1.7 is set, -1 is set. When 1.7 is set, 1 is set.) � Although the variable name and type identifier are a floating-point type, if an integer value were set the variable: The decimals are added and set. (Ex.: When 35 are set, 35.0 set set.) � Although the variable name and type identifier are an integer type or a floating-point type, if a character string were set to the variable: 0 is set. � Although the variable name and type identifier are a character string type, if an integer or floating-point value were set to the variable. The value is set as a character string. (Ex.: When 35 is set, the value is set as "35" character string. When 17.1 is set, The value is set as "17.1" character string.)

Additional Information
If the value of a non-existent variable were set when Option Explicit command is not used in Scene control macro, a variable area will be secured and the set value will be set to it. However, the variable will not be displayed in the scene variable window. When the scene variable is newly added, the set value becomes visible.

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Appendices

SCNGROUP or SG
Gets scene group number Gets the current scene group No.
<Command format>

<Response format> When processing is performed normally:
A

When processing is not performed normally:

Scene group No.

The acquired scene group No. (currently used scene group No.) is output as a response (0 to 31).

(Example) When scene group 0 is being used:

A-1-5 Non-procedure Command Details

Switches the scene group number Switches the scene group number to be used. <Command format>
<Response format> When processing is performed normally:
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Appendices

When processing is not performed normally:

Scene group No.

Specifies the scene group No. after switching (0 to 31).

(Example) When switching to scene group 2:

Precautions for Correct Use
Do not switch the scene group during parallel continuous measurement or when the STEP signal is being input continuously. If you must switch 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 Changing the Scene or Scene Group in the Vision System FH/FHV Series User's
Manual (Cat. No.Z365). � Refer to Setting the Conditions That Are Related to Operation during Measurement in the
Vision System FH/FHV Series User's Manual (Cat. No.Z365).

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A-1-5 Non-procedure Command Details

Appendices

SCNLOAD
Loads scene data.

SCN L OAD

C R
File name of scene data Scene No. (3 digits max.)

<Response format> When processing is performed normally:

A
When processing is not performed normally:

Scene No. File name of scene data

Specifies the scene No. to be read (0 to 127)

The name of the file containing the Scene data you wish to load. Specify the file name as an absolute path. The file name needs the "SCN" extension. The file which has "SCN" extension can be load. The load destination to use differs by Sensor Controller model.

Save destination

FH series/FHV series

RAMDisk

C:\Data\RAMDisk

External storage

E:\, F:\, G:\, H:\, M:\

Precautions for Correct Use Do not turn off the power to the Sensor Controller until there is a response.

(Example) When you load the following case to the Sensor Controller as Scene 2: � SCNLOAD folder name: LABEL1.SCN � Drive name: USBDisk2 � Folder name of the external storage: IMG01

\

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Appendices

SCNSAVE
Saves scene data.

SCNSAVE

C R
Save destination Scene No. (3 digits max.)

<Response format> When processing is performed normally:

When processing is not performed normally:

Scene number Destination

Specify the Scene number to save. (0 to 127)
The name of the file containing the Scene data you wish to save. Specify the file name as an absolute path. The file name needs the "SCN" extension. Save destination folder differ depending on the Sensor Controller series.

Save destination RAMDisk External storage

FH series/FHV series*1 C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

*1. Do not specify a save destination other than RAMDisk or External storage. The saved Scene data area may be reduced and the Sensor Controller will not perform correctly.

Precautions for Correct Use
� If the specified file name already exists, this existing file will be overwritten. � Do not turn off the power to the Sensor Controller until there is a response. � For the FH/FHV series, do not save to a non-volatile area on the C drive (such as C:\Pro-
gramFiles\FZ). This would reduce the storage area for scene data etc. and make correct operation impossible.

(Example) When you save the following case: � Scene number: 3 � SCNSAVE file name: LABEL1.SCN � Drive name: USBDisk2 � Folder name of the external storage: IMG01
<Command>

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\

Appendices

A-1 Command Control

A-1-5 Non-procedure Command Details

SGRLOAD
Loads scene group data.
<Command format>
A

<Response format> When processing is performed normally:

When processing is not performed normally:

Scene group No. File name of Scene group data

Specifies the scene group No. to be loaded (0 to 31)

The name of the file containing the Scene group data you wish to load. Specify the file name as an absolute path. The file name needs the "SGP" extension. The file which has "SGP" extension can be load. The load destination to use differs by Sensor Controller model.

Load destination

FH series/FHV series

RAMDisk

C:\Data\RAMDisk

External storage

E:\, F:\, G:\, H:\, M:\

Precautions for Correct Use Do not turn off the power to the Sensor Controller until there is a response.

(Example) When you load the following case: � Scene group number: 3 � SCNLOAD file name: LABEL1.SGP � Drive name: USBDisk2 � Folder name of the external storage: IMG01

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Appendices

\

Additional Information For the USB memory drive, see Saving Data to the FH/FHV in the Vision System FH/FHV Series User's Manual (Cat. No. Z365).
SGRSAVE
Saves scene group data. <Command format>

<Response format> When processing is performed normally:

When processing is not performed normally:

Scene group No. Destination

Specifies the scene group No. to save (0 to 31).

The name of the file containing the Scene Group data you wish to save. Specify the folder name as an absolute path. The file name needs the "SGP" extension. The save destination folder differs depending on the Sensor Controller series.

Save destination

FH series/FHV series
*1

RAMDisk External storage

C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

*1. Do not specify a save destination other than RAMDisk or External storage, i.e. C:\ProgramFiles\FZ The saved Scene data area may be reduced and the Sensor Controller will not perform correctly.

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Appendices

Precautions for Correct Use
� If the specified file name already exists, this existing file will be overwritten. � Do not turn off the power to the Sensor Controller until there is a response. � For the FH/FHV series, do not save to a non-volatile area on the C drive (such as C:\Pro-
gramFiles\FZ). This would reduce the storage area for scene data etc. and make correct operation impossible.

(Example)

When you save the following case:

� Scene group number: 3

� SCNSAVE file name: LABEL1.SGP

� Drive name: USBDisk2

� Folder name of the external storage: IMG01

A

\

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Appendices
SYSDATA
Gets settings related to logging Gets settings related to current logging. <Command format>

<Response format> When processing is performed normally:

When processing is not performed normally:

Data

Identifier

Image logging

imageLogging

Folder name of image logging save destination

imageLoggingDirectory

Prefix for image logging file name imageLoggingHeader

Data logging

dataLogging

Name of destination folder for saving data logging

dataLoggingDirectory

Setting value
0: None 1: Only NG 2: All
Save destination folder name (onebyte alphanumeric character)
Prefix for image logging file name (one-byte alphanumeric characters)
0: None 1: Only NG 2: All
Save destination folder name (onebyte alphanumeric character)

Precautions for Correct Use
The save destination folder differs depending on the Sensor Controller model.For the FH/FHV 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.

Save destination RAMDisk External storage

C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

FH series/FHV series

(Example) Getting the image logging setting when the setting for the current image logging save condition is 1 (save only NG):

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A-1-5 Non-procedure Command Details

<Command>
<Response>
The current image logging save condition is 1: Only NG. Changes settings related to logging Changes settings related to logging. <Command format>

Appendices
A

<Response format> When processing is performed normally:

When processing is not performed normally:

Data

Identifier

Image logging

imageLogging

Folder name of image logging save destination

imageLoggingDirectory

Prefix for image logging file name imageLoggingHeader

Data logging

dataLogging

Name of destination folder for saving data logging

dataLoggingDirectory

Setting value
0: None 1: Only NG 2: All
Save destination folder name (onebyte alphanumeric character)
Prefix for image logging file name (one-byte alphanumeric characters)
0: None 1: Only NG 2: All
Save destination folder name (onebyte alphanumeric character)

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Precautions for Correct Use
The save destination folder differs depending on the Sensor Controller model.For the FH/FHV 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.

Save destination RAMDisk External storage

C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

FH series/FHV series

(Example) a. When creating settings so that data logging is only performed during NG errors:

<Command> SYSDATA <Response>

Logg i ng

da t aLogg i ng

1

C R

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Appendices

SYSLOAD
Loads system data.
<Command format>

<Response format> When processing is performed normally:
A
When processing is not performed normally:

File name of System data

The name of the file containing the System data you wish to load. Specify the file name as an absolute path. The file name needs the "INI" extension. The file which has "INI" extension can be load. The load destination to use differs by Sensor Controller model. Load destination

Load destination

FH series/FHV series

RAMDisk

C:\Data\RAMDisk

External storage

E:\, F:\, G:\, H:\, M:\

Precautions for Correct Use Do not turn off the power to the Sensor Controller until there is a response.

(Example) When you load the following case: � SYSLOAD file name: LABEL1.INI � Drive name: USBDisk2 � Folder name of the external storage: IMG01

\ <Response>

\

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Appendices
SYSSAVE
Saves system data. <Command format>

<Response format> When processing is performed normally:

When processing is not performed normally:

Destination

The name of the file containing the System data you wish to save. Specify the folder name as an absolute path. The file name needs the "INI" extension. Save destination folder differs depending on the Sensor Controller series.

Save destination

FH series/FHV series
*1

RAMDisk External storage

C:\Data\RAMDisk E:\, F:\, G:\, H:\, M:\

*1. Do not specify a save destination other than RAMDisk or External storage, i.e. C:\ProgramFiles\FZ The saved Scene data area may be reduced and the Sensor Controller will not perform correctly.

Precautions for Correct Use
� If the specified file name already exists, this existing file will be overwritten. � Do not turn off the power to the Sensor Controller until there is a response. � For the FH/FHV series, do not save to a non-volatile area on the C drive (such as C:\Pro-
gramFiles\FZ). This would reduce the storage area for scene data etc. and make correct operation impossible.

(Example) When you save the following case: � SYSSAVE file name: LABEL1.INI � Drive name: USBDisk2 � Folder name of the external storage: IMG01

\ <Response>

\

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Appendices
A

A-1 Command Control

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Appendices

TIMER or TMR
Issues the specified command string after a specified delay. <Command format>
or
<Response format> When processing is performed normally:

1,024 characters) 1,024 characters)

When processing is not performed normally:

Latency Command string

Specifies the required delay to when the specified command is issued in milliseconds, 100 to 99999.
Specifies the command string. (Max: 1,024 characters)

(Example) Getting the current scene number (scene 1) after 3,000 [ms].

TMR 3 0 0 0 <Response>

S

C R

1

C R

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Appendices
UNITDATA or UD
Getting processing unit parameters and measurement values The set parameters and measurement values for the processing units set in the scene currently being used are got. <Command format>

A-1 Command Control

A-1-5 Non-procedure Command Details

A
<Response format> When processing is performed normally:

When processing is not performed normally:

Processing unit No.
External reference table No.
Measurement value

Specifies the processing unit number (0 to the number of unit items -1).
Varies depending on the specified processing unit processing items. For details, refer to External Reference Table for each processing item in the Vision System FH/FHV series Processing Item Function Reference Manual(Cat. No. Z341).
The acquired measurement value is output as a response.

(Example) Getting the value of the search judgment result (external reference No. 0) that was set in processing unit 5 for the judgement OK status:

1

C R

O

K

C R

Changing processing unit parameters The set parameters for the processing units set in the scene currently being used are changed.

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Appendices
<Command format>

<Response format> When processing is performed normally:

When processing is not performed normally:

Processing unit No.
External reference table No.
Setting Data

Specifies the processing unit number (0 to the number of unit items -1).
Varies depending on the specified processing unit processing items. For details, refer to External Reference Table for each processing item in the Vision System FH/FHV series Processing Item Function Reference Manual(Cat. No. Z341).
Sets the value of the settings data.

(Example) a. When Skipping angle (external reference table No. 124 value) in Search set as the 6th processing unit (processing unit number 5) is changed to 10:

b. When Verification string (external reference table No. 139 value) in Character Inspection set as the 7th processing unit (processing unit number 6) is changed to ABC

UN I TDATA

6

139

A

B

C

C R

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Appendices

Additional Information
To set a character string which includes spaces, enclose the character string with " ". Example: Setting the character string to compare (value of the external reference table No. 164 value) as "ABC EFG" of the second processing unit (Processing unit No.1). UNITDATA 1 164 "ABC EFG"

UPDATEMODEL or UMD
Re-registers a model using the current image.

U P D A T EMO D E L

C R

A

Target data (1 digit) Model No. Processing unit No.

or

UMD

C R

Target data (1 digit) Model No. Processing unit No.
<Response format> When processing is performed normally:

When processing is not performed normally:

Processing unit No. Model No.

Specifies the processing unit number of a model to re-register: 0 to the number of unit items - 1.
Specifies the model number to register a model: 0 to the uppermost unit model number in the unit. Specifying a nonexistent model number causes an error.

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Appendices

Target data

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 is updated. When the setting value is expressed in binary, if the 3rd bit is 1, the detection position is updated. Example) � When only re-registering the model: 1 x 1 + 2 x 0 + 4 x 0 = 1 (setting value) � When only updating the reference position: 1 x 0 + 2 x 1 + 4 x 0 = 2 (setting value) � When updating or re-registering everything: 1 x 1 + 2 x 1 + 4 x 1 = 7 (setting val-
ue)

(Example) The following sample command re-registers a model with unit number 3, model number 0 and target data 1:

UMD

3

0

1

C R

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.

U S E R A CCOUN T

C R

or UAD

Password (UG0) (32 characters max.) User name (UG0) (32 characters max.) Password (32 characters max.) User ID (32 characters max.) Affiliated group ID (1 digit)
C R

<Response format> When processing is performed normally:

Password (UG0) (32 characters max.) User name (UG0) (32 characters max.) Password (32 characters max.) User ID (32 characters max.) Affiliated group ID (1 digit)

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Appendices

A-1 Command Control

A-1-5 Non-procedure Command Details

When processing is not performed normally:

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 (UG0)

Specifies the user name for a user belonging to the UG0 group (32 characters maximum).

Password (UG0)

Specifies the password for the above UG0 group user (32 characters maximum).

A

(Example) Using the UG0 password efg for user olduser to add an account with user name newuser with password abc in the UG0 group

abc

o l duse r

e

f

g

C R

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.

U S E R A CCOUN T or

C R
Password (UG0) (32 characters max.) User name (UG0) (32 characters max.) User ID (32 characters max.)

UAD

C R

Password (UG0) (32 characters max.) User name (UG0) (32 characters max.) User ID (32 characters max.)

<Response format> When processing is performed normally:

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When processing is not performed normally:

User ID User name (UG0) Password (UG0)

Specifies the user ID of the user to be deleted with up to 32 characters. Specifies the user name for a user belonging to the UG0 group (32 characters maximum). Specifies the password for the above UG0 group user (32 characters maximum).

(Example) Using the UG0 password efg for user olduser to delete an account with user name newuser with password abc: <Command>

UAD 0 n ewu s e r <Response>

o l duse r

e

f

g

C R

VERGET
Gets the Sensor Controller version information. <Command format>
<Response format> When processing is performed normally:

When processing is not performed normally:

Version information

� Sensor Controller model name � Software version

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Appendices

(Example) When your software version is 5.00, and the date is June 1, 2013:
<Command>

FZ / FH / F J - XXX

O

K

C R

Ve r . 5 . 00

2

0

1

3

/

0

6

/

0

1

C R

A

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Appendices

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OMRON Corporation Industrial Automation Company
Kyoto, JAPAN
Contact: www.ia.omron.com

Regional Headquarters OMRON EUROPE B.V. Wegalaan 67-69, 2132 JD Hoofddorp The Netherlands Tel: (31)2356-81-300/Fax: (31)2356-81-388

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Authorized Distributor:

Cat. No. Z342-E1-14

0620