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KEYENCE Vision Sensor MODEL: CV-X100

1. Cord length 2 5 m OP 26486 D sub 9 pin female 3 2 Ethernet TCP IP connection example To connect to the robot controller via Ethernet use the optional dedicated cable KEYENCE PN OP 66843 or a crossover LAN cable Also when a switching hub router is used use the cable suitable for the switching hub router specifications CV X100 Robot controller Crossover cable 3 m OP 66843 KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 4 Communication Settings for Robot Controller and Device Used Use a teach pendant to adjust the communication settings for the device to be used 4 1 Communication via RS 232C 4 1 1 RS 232 communication settings on robot controller Press F6 Setting F5 Communication and Token F3 Data Communication to display the Data Communication Settings window Select the line No 1 for RS 232C and press Edit to change the setting value Make the following settings to use the default RS 232 communication settings for CV X100 EMG PRTOT i 1 vom AA MES VS050A3 Jontworo MEMMNN EMEN Data Communication Settings Serial 1 A un SPP an vcs Serial 1 9B00bps No Parity Sbit StopBitl None Text MultiByt COM2 9600bps COM4 19200bps EA Ethernet 4 7 8 15 mo Serial 40 COMS 19200bps quy Serial 41 COME 19200bps Shortcut 3 Set COM Port SHIFT Number EMG PRTOT 1 vom pie oat V8050A3 Joint WOT 0 MEME NAMEN Data Communication Settings Serial 1
2. 9600 19200 38400 57600 115200 Ever EE Parity Binary CR LF ENC Shortcut s SHIFT KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 4 1 2 RS 232C communication settings for CV X100 series Press Global Communications amp I O RS 232C to display the RS 232C Non Procedural Settings window Select the desired setting item and change the value so that it agrees with the robot controller setting Changing the following settings is not required to use the default RS 232 communication settings for CV X100 Global YV RS 232C Non Procedural Camera Common RS 232C Non Procedural Settings Configurations of RS 232C non procedural communication with external devices can be System changed here Startup Mode Setting Set Account Language EtherNet IP Stop Bit 1 2 Parity Bit None Odd Even Flow Control None CTS RTS System Information Delimiter CR O cR LF Other Set Reboot PROFINET Data Length 8 bit set Trigger command Response to CV compatible Mode 4 1 3 Other settings for CV X100 series 1 Trigger Settings Press Set Camera to display the Camera Settings window Press the Trigger tab and select External Press Trigger Settings and check RS 232C check box for Trigger Mode CAM 1 Camera Settings gt Trigger Settings Trigger Mode 8 External O Internal Trigger Settings 4 Exte
3. 0 AT Usage Inputs a trigger Syntax X T lt Line No Trigger No gt Result data Line No 1 Universal port 2 to 3 Reserved 8 to 15 Ethernet client port lt Trigger No 1 to 4 Tito T4 1 TA Result data Returned as a character string Description A trigger 1s inputted The received data is sequentially stored from D dnCvxData 0 The maximum number of received data items 1s 30 Data exceeding the maximum number is not stored Example Include KEYENCE_CVX pcs Include the function for communication Sub Main Dim strResults as string Dim ILineNo as Integer ILineNo 8 Connect as Line No 8 IF Not ConnectCVX LineNo THEN Connection ON PrintDbg Connect NG EXIT SUB End IF IF Not X_T LineNo 1 strResults Then Execute T1 trigger PrintDBG Trigger NG EXIT SUB else PLO D dnCvData 0 D dnCvData 1 D dnCvData 2 Received data to position data End If DisconnectCVX ILineNo Connection OFF END Sub 15 KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 9 Sample Program Sample program of a communication command using KEYENCE CV X series Include KEYENCE CV X pcs Include the function for communication Sub Main Dim strResults as string Dim iLineNo as Integer Dim iProgNo as Integer Dim iTriggerNo as Integer Dim iSDNo as Integer iLineNo 8 Connect as Line No 8 ISDNo 1 SDNo 1 iProgNo 0 Program No 0 iTriggerNo 1 Trigger No 1 IF Not ConnectCV
4. Configures the trigger No Range 0 to 4 1 integer Sends the trigger command the trigger No set in 7 to CV X100 and receives data Displays the communication result Displays up to 30 items of received data Displayed data can be switched by using arrows Clears the received data Initializes the operation panel Use this button if a system error is caused by using a line No that does not exist NOTE Changing and triggers can be executed only when CV X100 series is 1n the run mode 17 KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 Revision History DENSO Robot Communication Sample Program User s manual KEYENCE Vision Sensor CV X100 150 170 Ver1 0 0 2013 2 13 First edition DENSO WAVE INCORPORATED No part of this manual may be duplicated or reproduced without permission The contents of this manual are subject to change without notice Every effort has been made to ensure that the information in this manual is accurate However should any unclear point error or omission be found please contact us Please note that we will not be responsible for any effects resulted from the use of this manual regardless of the above clauses 18
5. Item Settings Judged Value Variables Symbols sing Select Candidate List T101 ShapeTrax2 Pattern Y Position Result Judged Label ShapeTrax2 Pattern XY Position Result All Pattern Angle Result Pattern XY Position amp Angle Result Pattern Match Result Pattern Scale Result Select T101 ShapeTrax2 Pattern XY Position amp Angle Result 0 Setting Count 6 256 No Output Data E Edit String T101 ShapeTrax2 Number of Detected Patterns Result T101 ShapeTrax2 Pattern XY Position amp Angle Result 0 T101 ShapeTrax2 Pattern XY Position amp Angle Result 1 T101 ShapeTrax2 Pattern XY Position amp Angle Result 2 T101 ShapeTrax2 Pattern XY Position amp Angle Result 3 T101 ShapeTrax2 Pattern XY Position amp Angle Result 4 KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 4 2 Communication via Ethernet TCP IP 4 2 1 Ethernet TCP IP communication settings on robot controller 1 Press F6 Setting F5 Communication and Token F2 Network and Permission to display the Communication Settings window Set the IP address and subnet mask of the robot controller so that the robot controller and CV X100 series are within the same subnet mask EMG PRTCT Ml kd m v MJTOEN DSW VS0S0A3 Joint WO TO Communication Settings Property Permission Read Write DHCP Disable IP Address 192 168 0 1 Subnet mask 255 255 255 0 Gateway 0 0 0 0 MAC Address 00 30 64 21 11 72 Com
6. DENSO ROBOT Communication Sample Program KEYENCE Vision Sensor MODEL CV X100 Series CV X100 150 170 QM Sample Program User s manual Introduction This document is a user s manual for the sample program to use KEY ENCE Vision Sensor CV X100 Series connected to the DENSO robot controller For details and handling of the connected device refer to the user s manual of KEYENCE Vision Sensor CV X100 Series Caution 1 This library is designed exclusively for DENSO robot controller RC8 series and cannot be used for other devices Note that the functions and performance cannot be guaranteed if this product is used without observing instructions in this manual or modified 2 All products and company names mentioned are trademarks or registered trademarks of their respective holders This manual covers the following product KEYENCE CV X100 Series Important To ensure proper and safe operation be sure to read Safety Precautions Manual before using the library Notice to Customers 1 Risks associated with using this product The user of this product shall be responsible for embedding and using the product software on a system and any result from using it Contents Introduction Notice to Customers E Ounvthneor This Sample ossa etd umane Cn tese pui uten sce Oe NTR occ ALR A i LC AR 1 2 SES LO AN PO dT TU UU TEE 2 DOW bo COME sscsitodaeituna on Ins d tulumi tuit dili beta Epiit a
7. Trigger Settings CAM 1 Camera Settings 99 dk Trigger Mode 8 External CO Internal oi 7 External Terminal 7 Mouse RS 232C 4 Ethernet TCP IP Trigger Mode O External 4 PLC Link PC Program Q Internal 001 ms 4 EtherNet IP 4 PROFINET Trigger Settings Trigger Delay ms Run Screen Update Mode Global Settings Live Image in Run Mode 2 Output Settings Press Output to display the Output Settings window Select Ethernet Non Procedural and press Select Data to display the Output Item Settings window Output Settings Ethernet Non Procedural Output Settings Specifies output details for performing the result oulpul through the non procedural communication via the Ethernet interface in this equipment Judgment Settings OR Terminal OUT Terminal A Output No Output Data Preview RS 232C Non Procedural O Lu t p Lu t A D T101 ShapeTrax2 Number of Detected Patterns 0004 m A 1 T101 ShapeTrax2 Pattern X Position Resui 0 00497 161 Pattern Y Position Resun 0 00545 470 Pattern Angle Result 0 00000 692 A 2 T101 ShapeTrax2 Pattern X Position Resutt 1 01182 152 Pattern Y Position Resuh 1 00611 869 Pattern Angle Resultlt 00164 132 3 T101 ShapeTrax2 Pattern X Position Result 2 00785 182 Select Result Output at Skipped Too Output 0 None Data Delimiter Comma v KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 S
8. X 1LineNo Then Connection ON PrintDbg Connect NG EXIT SUB End IF IF Not PW iLineNo iSDNo iProgNo Then Change the program No PrintDbg Change NG EXIT SUB END IF IF Not X T iLineNo iTriggerNo strResults Then Execute the trigger PrintDBG Trigger NG EXIT SUB else P O D_dnCvxData 0 D dnCvxData 1 D dnCvxData 2 Received data to position data End If DisConnectC VX iLineNo Connection OFF END Sub 16 KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 10 Operation Panel Screen This sample provides the following operation panel screen This operation panel uses functions defined by the sample to check operations etc after connecting to the device See the following as an application example of the operation panel Main screen V f a a UU VS050A3 Joint WO TO 1 MAN UO AUTOEN DSW E 2 Change mode tange 5 y rogram 7 Trigger ds Receive Ds dp to exit 7 Shortcut Shortcut Description Each button functions as follows pe xt qx d iw spe sa 10 11 12 Configures the Line No to connect CV X100 to Range 1 to 3 8 to 15 integer Switches CV X100 to the run mode Switches CV X100 to the setup mode Configures the SD No to change the program No Range 1 to 2 integer Configures the program No Range 0 to 999 integer Sends the SD No set in 4 and the program No set in 5 to CV X100 to change the program settings
9. are defined in the standard commands of CV X100 series Not all the commands of the device are supported NOTE There is a limitation on executing each function depending on conditions of CV X100 series For details refer to the CV X100 series user s manual For example trigger input is accepted only when CV X100 series is in the run mode 7 Static Variable Used in Function Static variables used 1n this program are as follows 30 variables are declared as Double type Change the number in the specification statement to change the size of received data a D dnOvxDaia 80 static D dnCvxData 30 as Double Received data double NOTE Static variables can be used in the controller of version 1 3 or later 11 KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 8 Function Description Usage Changes the program No Syntax X PW lt Line No gt lt SD No gt lt Program No gt lt Line No gt 1 Universal port 2 to 3 Reserved 8 to 15 Ethernet client port lt SD No gt 1 SD1 2 SD2 lt Program No gt 0 to 999 Description The program No of CV X100 1s changed Example Include KEYENCE CVX pcs Sub Main Dim ILineNo as Integer lLineNo 8 IF Not ConnectCVX ILineNo THEN PrintDbg Connect NG EXIT SUB End IF IF Not X_PW LineNo 1 2 Then PrintDBG Switch NG EXIT SUB End If DisconnectCVX ILineNo END Sub 12 Include the function for communication Connect
10. as Line No 8 Connection ON Switches to Program No 2 of SD1 Connection OFF KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 X RO Usage Switches to the run mode Syntax X Ro lt Line No gt lt Line No gt 1 Universal port 2 to 3 Reserved 8 to 15 Ethernet client port Description CV X100 1s switched to the run mode Example Include KEYENCE CVX pes Include the function for communication Sub Main Dim ILineNo as Integer ILineNo 8 Connect as Line No 8 IF Not ConnectCVXQLineNo THEN Connection ON PrintDbg Connect NG EXIT SUB End IF IF Not X RO ILineNo Then Changes to the run mode PrintDBG Switch NG EXIT SUB End If DisconnectCVX ILineNo Connection OFF END Sub 13 KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 X S0 Usage Switches to the setup mode Syntax X So lt Line No gt lt Line No gt 1 Universal port 2 to 3 Reserved 8 to 15 Ethernet client port Description CV X100 is switched to the setup mode Example Include KEYENCE CVX pes Include the function for communication Sub Main Dim ILineNo as Integer ILineNo 8 Connect as Line No 8 IF Not ConnectCVX lLineNo THEN Connection ON PrintDbg Connect NG EXIT SUB End IF IF Not X SO ILineNo Then Changes to the setup mode PrintDBG Switch NG EXIT SUB End If DisconnectCVX ILineNo Connection OFF END Sub 14 KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1
11. et items to output to the robot controller Output Item Settings Judged Value Variables Symbols String Select Candidate List T101 ShapeTrax2 Pattern Y Position Result ShapeTrax2 Pattern XY Position Result Pattern Angle Result Pattern XY Position amp Angle Result Pattern 96 Match Result Pattern Scale Result Select T101 ShapeTrax2 Pattern XY Position amp Angle Result 0 No Output Data Edit String Setting Count 6 256 ShapeTrax2 Number of Detected Patterns Result 1 T101 ShapeTrax2 Pattern XY Position amp Angle Result 0 2 T101 ShapeTrax2 Pattern XY Position amp Angle Result 1 3 T101 ShapeTrax2 Pattern XY Position amp Angle Result 2 4 T101 ShapeTrax2 Pattern XY Position amp Angle Result 3 ShapeTrax2 Pattern XY Position amp Angle Result 4 10 KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 5 Sample Program Execution Procedure 1 Include the function defined program KEYENCE CVX pcs into the program created by the user 2 If the function is called CV 100X receives and executes the command 3 CV X100 generates a response and sends it to RC8 4 The data received by RC8 is stored to the static variable D dnCvxData 0 sequentially from the received response 5 The user program processes the next program based on the received data 6 Function 6 1 Function The functions with the function names shown 1n the following table
12. munication settings to communicate with WINCAPS Cancel OK Shortcut 9 SHIFT 2 Make client communication settings with CV 100X series Press F6 Setting F5 Communication and Token F3 Data Communication to display the Data Communication Settings window Select the client line No to use for the Ethernet line No 2 EMG FRTCT 4 Of a VSOSDAS Joint WO T 0 96 u 4 AUTOEN DSW veu EEE Data Communication Settings up erial Server 4 TCP 49152 Text MultiByte COM 9600bps Serial 2 COM 38400bps ma Serial 3 COMM 19200bps Sewer do TCP 49153 Text Multibyte cemer 0 TCP 49154 Text Multibyte m Ethernet 4 7 8 15 sever TCP 48155 Text Multibyte mm Serial 40 COMS 19200bps ma Serial 41 COMB 19200bps TCP 192 166 0 10 6500 Text Multibyte Client 8 TCP 182 158 D 1 49153 Text Multibyte iw KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 Press Edit to change the setting value Make the following settings to use the default Ethernet communication settings for CV X100 1 EMG FRTCT 4 of VS050A3 Joint W 0 T 0 ICON 4 AUTOEN DSW ET dom wor E Data Communication Settings Client 8 TCP UDP 192 168 0 10 8500 SHIFT 4 2 2 Ethernet TCP IP communication settings for CV X100 series Press Global Communications amp I O Network to display the Network Settings window Set the IP address and subnet mask so tha
13. onnectCVX 1 Exit Function i Using the dedicated communication i format for CV X100 data transmission is performed KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 2 How to Import 2 1 What is import Retrieving of the files from this library into the project to use in WINCAPSIII is called import Importing files enables using the retrieved program 2 2 How to import files to project Select Project Add Existing File on WINCAPSIII to import the following files into the project Main pns KEYENCE CVX p CS Project Connect Debug Arm Tool Window He ig Add Program Ctrl N m DES Make on boot setting of program files Folder Program list after import Project window g Project RC8_KEYENCE_CVX100 hes Te Source Files Project window Model tree Arm operation Program list No File name Title Make on boo Priority 1 EF Main pns Normal 2 KEYENCE CVX pcs KEYEMCE CVA pecs OFF Normal 3 amp KEYENCE CVX sample pcs KEYENCE CVX sample OFF Normal Program list Output Search Result KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 3 How to Connect 3 1 RS 232C connection example A communication cable needs to be connected to establish communication between the CV X100 series and a robot controller To connect to the robot controller via RS 232C use the optional dedicated cable KEYENCE PN OP 26486 OP 26487 CV X100 OP 26487 Robot controller
14. rnal Terminal 2 Mouse Trigger Mode A RS 232C 4 Ethernet TCP IP External 7 PLC Link PC Program Q Internal 001 ms A EtherNet IP k PROFINET Trigger Signal Trigger 1 Ww Trigger Settings Trigger Delay ms Run Screen Update Mode Global Settings Live Image in Run Mode KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 2 Output Settings Press Output to display the Output Settings window Select RS 232C Non Procedural and press Select Data to display the Output Item Settings window Output Settings RS 232C Non Procedural Output Settings Specifies output details for performing the result output in the RS 232C non procedural mode in this equipment Judgment Settings OR Terminal OUT Terminal V Output No Output Data Output 0 T101 ShapeTrax2 Number of Detected Patterns 0004 Ethernet Non Procedural 1 T101 ShapeTrax2 Pattern X Position Result 0 00497 161 SD Card 2 Pattern Y Position Result 0 00545 470 PC Program Pattern Angle Result 0 00000 692 PLC Link 2 T101 ShapeTrax2 Pattern X Position Result 1 01182 152 EtherNet IP Pattern Y Position Result 1 00611 869 PROFINET Pattern Angle Result 1 00164 132 FTP 3 T101 ShapeTrax2 Pattern X Position Result 2 00755 182 Image Output Select Result Output at Skipped Tool Output 0 Global Settings None Set items to output to the robot controller Output
15. set c u pd aes ede ci dildo d ga 3 4 Communication Settings for Robot Controller and Device Used eee 4 5 Sample Program Execution Procedure ccccccecccescescceccusecescuscuucceusecesseeceueecesscessueccuuecuueeeseans 11 bosco LODS om eu EC ec bu c MM MU MM ADMI D c 11 static Varia bles edi Functio usce iind o bn Pado a dae O Eno a Ree tn Reaper adis 11 o Faneto Descrip ON eo toed betreut oo RR art rod biete piste advectus bar siad ORE OE E 12 Dco dme OO A snnt sd eed ute OPAC M La M eI CE qudd du enm 16 I0 Operation Panel ScEeeb o iore om eire Eoo asco acted Eve o e EL din EU a a IUE sos IME 17 KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 1 Outline of This Sample 1 1 Target device of sample This sample can be used only when a DENSO robot controller RC8 series is connected to the CV X 100 series 1 2 Features of sample This sample is provided to use the CV X100 150 170 native commands required to access CV X100 150 170 in the robot program Inclusion of this sample allows customers to establish communication with a robot easily without creating a communication program for CV X100 150 170 The following shows a position of the sample Internal structure ew User program Using sample include KEYENCE_CVX pcs Function ConnectCV X By Val ILineNo as Integer as Integer On Error Goto ErrorProc Comm Open ILineNo C
16. t the robot controller and CV X100 series are within the same subnet mask Changing the following settings 1s not required to use the default Ethernet communication settings for CV X100 w Prog Time Global Network Settings External Terminal Camera Common Network Settings Using the Ethernet port on this unit enables the setting change for the input or output of System RS 232C the various data Startup Mode Setting FTP If the wrong setting is made not only this unit but other devices on the network may not Sat Account VNC function properly For details of the setting value consult the system or network Date amp Time PLC Link C Auto acquire IP Address BOOTP Language EtherNet IP IP Address Setting IP Address 192 Subnet Mask 255 Default Gateway 000 Reboot PROFINET System Information E pag eleja BEE Non Procedural Command Result Output Port C 08509 Delimiter CR CR LF l Q Other Set set Trigger command Response to CV compatible Mode Port PC Program 08502 to 08504 MAC Address 00 01 FC 0E 83 85 KEYENCE Vision Sensor MODEL CV X100 150 170 Ver 1 0 4 2 3 Other settings for CV X100 series 1 Trigger Settings Press Set Camera to display the Camera Settings window Press the Trigger tab and select External Press Trigger Settings and check Ethernet IP check box for Trigger Model gt

KEYENCE Vision Sensor MODEL: CV-X100

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