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FH-SMD
3D Robot Vision System
A complete solution for automating human-intensive part picking
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last update: June 10, 2024
Ratings and Specifications
3D Vision Sensor
| Model | FH-SMDA-GS050B | |
|---|---|---|
| Image elements | CMOS image elements | |
| Color/Monochrome | Monochrome | |
| Effective pixels | 1296 (H) x 972 (V) | |
| Shutter function | Electronic shutter, Shutter speeds can be set from 1 ms to 50 ms. | |
| Measurement range (X,Y,Z) | 400 x 300 x 200 mm | |
| Installation distance | WD: 400 mm | |
| Lighting for 2D | Lighting color | blue |
| LED class | Group 2 (IEC62471) | |
| Lighting for 3D | Lighting color | blue |
| LED class | Group 2 (IEC62471) | |
| Indicator Lamps | PWR: Green
LINK: Green ACT: Yellow WARM UP: Yellow ERR: Red |
|
| External I/F | FH controller
connection |
GigE (1000BASE-T) x 1
100Base cannot be used. PoE is not available. |
| Power supply,
Input / output |
Power supply: 24 VDC
I/O: - |
|
| Warming up time | 15 minutes or less | |
| Supply Voltage | 21.6 VDC to 26.4 VDC (24 VDC ± 10%) | |
| Current consumption | 2A max. | |
| Vibration tolerance | Oscillation frequency: 10 to 150 Hz, Half amplitude: 0.35 mm,
Sweep time: 8 minute/count, Sweep count: 10, Vibration direction: X/Y/Z |
|
| Shock resistance | Impact force: 150 m/s2, Test direction: up and down/front and behind/left and right | |
| Ambient temperature range | Operating: 0°C to +40°C
Storage: -25 to +60°C (with no icing or condensation) |
|
| Ambient humidity range | Operating and storage: 35 to 85% (with no condensation) | |
| Ambient atmosphere | No corrosive gases | |
| Grounding | Class D grounding (100 Ω or less grounding resistance) *1 | |
| Dimensions | 53 mm x 110 mm x 77 mm (Excluding protrusions and connectors) | |
| Degree of protection | IEC60529 IP60 | |
| Material | Aluminium (A5052) | |
| Weight | Approx. 570 g | |
| Accessories | Instruction Sheet
General Compliance Information and Instructions for EU |
|
*1. Existing the third class grounding
Note: 1. This camera cannot be used as a measuring instrument, because it is not an absolute distance. Use in combination
with robot calibration.
Note: 1. This camera cannot be used as a measuring instrument, because it is not an absolute distance. Use in combination
with robot calibration.
Sensor Controller for 3D Robot Vision
| Model | FH-5052/5051 | ||
|---|---|---|---|
| Controller Type | Box type | ||
| Parallel IO polarity | NPN/PNP (common) | ||
| Main
Functions |
Operation
Mode |
Standard | Yes |
| Double Speed
Multi-input |
No | ||
| Non-stop
adjustment mode |
No | ||
| Multi-line
random-trigger mode |
No | ||
| Parallel Processing | Yes | ||
| Number of Connectable Camera | 1 (Connect to the Ethernet port.) | ||
| Supported Camera | FH-SMDA-GS050B | ||
| Possible Number of Logging
Images to Sensor Controller |
Both 3D and 2D imaging: Up to 14 images
3D imaging only, 2D imaging only: Up to 29 images |
||
| Possible Number of Scenes | Approximately 10 scenes
(Varies depending on usage conditions.) |
||
| Operating
on UI |
USB Mouse | Yes (wired USB and driver is unnecessary type) | |
| Touch Panel | Yes (RS-232C/USB connection: FH-MT12) | ||
| Setup | Create the processing flow using Flow editing. | ||
| Language | Japanese, English | ||
| External
Interface |
Serial Communication | RS-232C x 1 | |
| Ethernet
Communication |
Protocol | Non-procedure (TCP/UDP) | |
| I/F | 1000BASE-T x 2 | ||
| EtherNet/IP Communication | Yes (Target/Ethernet port) | ||
| PROFINET Communication | •Yes (Slave/Ethernet port)
•Conformance class A |
||
| EtherCAT Communication | Yes (slave) | ||
| Parallel I/O | 9 inputs/22 outputs | ||
| Encoder Interface | Not supported. | ||
| Monitor Interface | DVI-I output (Analog RGB & DVI-D single link) x 1 | ||
| USB I/F | USB2.0 host x 2 (BUS Power: 5 V/0.5 A per port)
USB3.0 host x 2 (BUS Power: 5 V/0.9 A per port) |
||
| SD Card I/F | SDHC x 1 | ||
| Indicator
Lamps |
Main | POWER: Green
ERROR: Red RUN: Green ACCESS: Yellow |
|
| Ethernet | NET RUN1: Green
LINK/ACT1: Yellow NET RUN2: Green LINK/ACT2: Yellow |
||
| SD Card | SD POWER: Green
SD BUSY: Yellow |
||
| EtherCAT | ECAT RUN: Green
LINK/ACT IN: Green LINK/ACT OUT: Green ECAT ERR: Red |
||
| Supply Voltage | 20.4 VDC to 26.4 VDC | ||
| Current consumption | 4.2 A max. | ||
| Built-in FAN | Yes | ||
| Usage
Environment |
Ambient temperature range | Operating: 0°C to +45°C
Storage: -20 to +65°C (with no icing or condensation) |
|
| Ambient humidity range | Operating and storage: 35 to 85% (with no condensation) | ||
| Ambient atmosphere | No corrosive gases | ||
| Vibration tolerance | Oscillation frequency: 10 to 150 Hz, Half amplitude: 0.1 mm,
Acceleration: 15 m/s2 Sweep time: 8 minute/count, Sweep count: 10, Vibration direction: up and down/front and behind/left and right |
||
| Shock resistance | Impact force: 150 m/s2
Test direction: up and down/front and behind/left and right |
||
| Noise immunity | Fast Transient
Burst |
• DC power:
Direct infusion: 2 kV, Pulse rising: 5 ns, Pulse width: 50 ns, Burst continuation time: 15 ms/0.75 ms, Period: 300 ms, Application time: 1 min. • I/O line: Direct infusion: 1 kV, Pulse rising: 5 ns, Pulse width: 50 ns, Burst continuation time: 15 ms/0.75 ms, Period: 300 ms, Application time: 1 min. |
|
| Grounding | Class D grounding (100 Ω or less grounding resistance) *1 | ||
| External
Features |
Dimensions | 190 mm x 115 mm x 182.5 mm
Note: Height: Including the rubber at the base. |
|
| Weight | Approx. 3.4 kg | ||
| Degree of protection | IEC60529 IP20 | ||
| Case material | Cover: zinc-plated steel plate, Side plate: aluminum (A6063) | ||
| Accessories | Instruction Sheet (Japanese and English): 1,
Installation Instruction Manual for FH series: 1, General Compliance Information and Instructions for EU: 1, Member registration sheet: 1, Power source (FH-XCN): 1 (male), Ferrite core for camera cable: 2 |
||
*1. Existing the third class grounding
Camera Cable (Ethernet Cable)
| Item | FHV-VNBX2 5M | FHV-VNLBX2 5M | FHV-VNBX2 10M | FHV-VNLBX2 10M | |
|---|---|---|---|---|---|
| Cable length | 5 m | 10 m | |||
| Connector type | Straight connector | Right angle
connector |
Straight connector | Right angle
connector |
|
| Cable type | Bending resistance cable | ||||
| Outer diameter | 6.6 + 0.7 mm dia. | ||||
| Min. bending radius | 40 mm | ||||
| Usage
environ ment |
Ambient temperature
range |
Operating: -10 to +70°C, Storage: -25 to +85°C (with no icing or condensation) | |||
| Ambient humidity range | Operating & Storage: 0 to 93% (With no condensation) | ||||
| Ambient atmosphere | No corrosive gases | ||||
| Vibration tolerance | Oscillation frequency: 10 to 150Hz, Half amplitude: 0.35 mm,
Vibration direction: X/Y/Z, Sweep time: 8 minutes/count, Sweep count: 10 times |
||||
| Shock resistance | Impact force: 150 m/s2, Test direction: 6 directions, three time each (up/down,
front/behind, left/right) |
||||
| Material | Mold part: PVC, Sheath part: PVC | ||||
| Weight | Approx. 390 g | Approx. 730 g | |||
Camera I/O Cables
| Item | FH-VSDX-BX 5M | FH-VSDX-LBX 5M | FH-VSDX-BX 10M | FH-VSDX-LBX 10M | |
|---|---|---|---|---|---|
| Cable length | 5 m | 10 m | |||
| Connector type | Straight connector | Right angle connector | Straight connector | Right angle connector | |
| Cable type | Bending resistance cable | ||||
| Size | AWG26 | ||||
| Outer diameter | 5.8 mm dia. | ||||
| Min. bending radius | 35 mm | ||||
| Usage
environ ment |
Ambient
temperature range |
Operating: 0 to +80°C, Storage: -20 to +80°C (with no icing or condensation) | |||
| Ambient humidity
range |
Operating & Storage: 0 to 93% (With no condensation) | ||||
| Ambient
atmosphere |
No corrosive gases | ||||
| Vibration tolerance | Oscillation frequency: 10 to 150Hz, Half amplitude: 0.35 mm, Vibration direction:
X/Y/Z, Sweep time: 8 minutes/count, Sweep count: 10 times |
||||
| Shock resistance | Impact force: 150 m/s2, Test direction: 6 directions, three time each (up/down, front/
behind, left/right) |
||||
| Material | Shell: Zinc alloy, brass, Sheath part: oil-resistant and heat-resistant polyvinyl chloride | ||||
| Weight | Approx. 320 g | Approx. 330 g | Approx. 570 g | Approx. 580 g | |
Calibration Targets
| Model | FH-XCAL-R | FH-XCAL-S |
|---|---|---|
| Name | HandEye calibration target | Camera calibration target |
| Ambient temperature range | -25 to +65°C (with no icing or condensation) | |
| Ambient humidity range | 35 to 85% (with no condensation) | |
| Ambient atmosphere | No corrosive gases | |
| Vibration tolerance | Oscillation frequency: 10 to 150 Hz, Half amplitude: 0.35 mm, Sweep time: 8 minute/
count, Sweep count: 10, Vibration direction: X/Y/Z |
|
| Shock resistance | Impact force: 150 m/s2, Test direction: up and down/front and behind/left and right | |
| Dimensions | 65 mm × 55 mm × 42.4 mm | 350 mm × 470 mm × 25 mm |
| Material | ABS | Aluminium |
| Weight | Approx. 50 g | Approx. 1,400 g |
| Accessories | --- | --- |
Touch Panel Monitor
| Model | FH-MT12 | |
|---|---|---|
| Major Function | Display area | 12.1 inch |
| Resolution | 1024 (V) × 768 (H) | |
| Number of color | 16,200,000 colors (8 bit/color) | |
| Brightness | 500cd/m2 (Typ) | |
| Contrast Ratio | 700:1 (Typ) | |
| Viewing angle | Horizontal (left and right): -80° to 80° (Typ)
Vertical (top and bottom): -70° to 70° (Typ) |
|
| Backlight Unit | LED, edge-light | |
| Backlight lifetime | About 80,000 hour | |
| Touch panel | 4 wire resistive touch screen | |
| External
interface |
Video input | analog RGB |
| Touch panel signal | USB | |
| RS-232C | ||
| Ratings | Power supply voltage | 24 VDC (21.6 to 26.4 VDC) |
| Current consumption | 0.5 A | |
| Insulation resistance | Between DC power supply and Touch Panel Monitor FG: 20 MΩ or
higher (rated voltage 250 V) |
|
| Operating
environment |
Ambient temperature range | Operating: 0 to 50°C, Storage: -20 to +65°C (with no icing or
condensation) |
| Ambient humidity range | Operating and Storage: 20 to 90%RH (with no icing or condensation) | |
| Ambient environment | No corrosive gas | |
| Vibration resistance | 10 to 150 Hz, one-side amplitude 0.1 mm (Max. acceleration 15 m/s2)
10 times for 8 minutes for each three direction |
|
| Degree of protection | Panel mounting: IP65 on the front | |
| Operation | Touch pen | |
| Structure | Mounting | Panel mounting, VESA mounting |
| Weight | Approx. 2.4 kg | |
| Material | Front panel: PC/PBT, Front Sheet: PET, Rear case: SUS | |
Note: FH Series Sensor Controllers version 5.32 or higher is required.
Monitor Cables
| Model | FH-VMDA (2 m) | FH-VUAB (2 m) | XW2Z-200PP-1 (2 m) |
|---|---|---|---|
| Cable type | DVI-Analog Conversion Cable | USB Cable | RS-232C Cable |
| Vibration resistance | 10 to 150 Hz, one-side amplitude 0.1 mm, 10 times for 8 minutes for each three direction | ||
| Ambient Temperature | Operating Condition: 0 to 50°C, Storage Condition: -10 to 60°C (with no icing or
condensation) |
||
| Ambient Humidity | Operating Condition: 35 to 85%RH, Storage Condition: 35 to 85%RH (with no icing or
condensation) |
||
| Ambient environment | No corrosive gases | ||
| Material | Cable outer sheath, Connector: PVC | Cable outer sheath: PVC,
Connector: ABS/Ni Plating |
|
| Minimum bend radius | 62 mm | 25 mm | 59 mm |
| Weight | Approx. 210 g | Approx. 95 g | Approx. 162 g |
LCD Monitor
| Model | FZ-M08 |
|---|---|
| Size | 8.4 inches |
| Type | Liquid crystal color TFT |
| Resolution | 1,024 × 768 dots |
| Input signal | Analog RGB video input, 1 channel |
| Power supply voltage | 21.6 to 26.4 VDC |
| Current consumption | Approx. 0.7 A max. |
| Ambient temperature range | Operating: 0 to 50 °C; Storage: -25 to 65 °C (with no icing or condensation) |
| Ambient humidity range | Operating and storage: 35 to 85% (with no condensation) |
| Weight | Approx. 1.2 kg |
| Accessories | Instruction Sheet and 4 mounting brackets |
EtherCAT Communications Specifications
| Item | Specifications | |
|---|---|---|
| Communications standard | IEC61158 Type 12 | |
| Physical layer | 100 BASE-TX (IEEE802.3) | |
| Modulation | Base band | |
| Baud rate | 100 Mbps | |
| Topology | Depends on the specifications of the EtherCAT master. | |
| Transmission Media | Twisted-pair cable of category 5 or higher
(double-shielded straight cable with aluminum tape and braiding) |
|
| Transmission Distance | Distance between nodes: 100 m or less | |
| Node address setting | 00 to 99 | |
| External connection terminals | RJ45 × 2 (shielded) IN: EtherCAT input data, OUT: EtherCAT output data | |
| Send/receive PDO
data sizes |
Input | 56 to 280 bytes/line (including input data, status, and unused areas) Up to 8 lines
can be set. * |
| Output | 28 bytes/line (including output data and unused areas) Up to 8 lines can be set. * | |
| Mailbox data size | Input | 512 bytes |
| Output | 512 bytes | |
| Mailbox | Emergency messages, SDO requests, and SDO information | |
| Refreshing methods | I/O-synchronized refreshing (DC) | |
* This depends on the upper limit of the master.
last update: June 10, 2024
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