124406

2D VISION-GUIDED ROBOTICS 1 Startup

Items Flow
to Prepare

ROBOT CONNECTION
2 Connecting
Setup to Robots
Procedure
MANUAL
FANUC CORPORATION EDITION 3 Robot Communication
Connecting to Robots Settings

This manual provides support for the necessary robot-side Writing the Communication
settings that must be configured to establish connections and 4 Robot Communication
Program
communication between the XG/CV-X/XG-X Series and a
robot.
Running the Communication
5 Robot Communication
Settings
Program (Only during Setting)

Sample Program
6 Robot
SettingsCommunication
(Only during Operation)

7 Troubleshooting
Settings

■Operation confirmed robot controllers:

R-30iB, R-30iB Plus, R-30iB Mate, R-30iB Mate Plus
(For the latest information, contact a KEYENCE sales
representative.)
■ Language used: TP Program
■ Communication method: Ethernet

English

Japanese(日本語)

Simplified Chinese(简体中文)

・ Secondary damages (such as equipment damage, opportunity loss, and lost profit) and any and all other damages arising from
the settings and programs introduced in this manual are not covered by the warranty.
・ You have to separately create robot movement programs such as those used during actual operations.
・ Proper nouns such as product names included in this manual are trademarks or registered trademarks of their respective
companies. Note that the TM and ® marks are not written in this manual.
・ The contents of this manual may be changed without notice in the interest of improving the manual.
 Introduction

Symbols Items to Prepare

The following symbols are used in this manual to enable you The items to prepare before connecting the XG/CV-X/XG-X
to recognize important information at a glance. Be sure to Series controller (hereinafter referred to as "vision controller"
read this section carefully. in this manual) to the robot controller are listed below.
Indicates a hazardous situation which, if not
DANGER □ User Socket Messaging (R648)
avoided, will result in death or serious injury.
Non-free, robot-side option that is required for
Indicates a hazardous situation which, if not connecting to the vision controller
WARNING
avoided, could result in death or serious injury. * You do not need a development environment
such as ROBOGUIDE.
Indicates a hazardous situation which, if not
CAUTION
avoided, could result in minor or moderate injury. □ Ethernet cable
Indicates a situation which, if not avoided, could
Connects the vision controller and the robot
NOTICE result in product damage as well as property
controller
damage.
USB memory device
Used to copy the robot program for
Important Indicates precautions and limitations that must be communication
followed during operation.

Point Indicates additional information on proper

About Coordinate Systems
operation.
The following differences exist between how the robot
coordinate systems are expressed on the vision controller
Reference Indicates tips for better understanding or useful
and on robots made by FANUC CORPORATION.
information.

vision controller Robot

Indicates items and pages in this manual to be referenced. Work coordinates User coordinates
Tool coordinates Tool coordinates

Vision-Guided Robotics Setup Flow

This manual explains step "2. Robot Communication

Settings."
For all other steps, see the "Vision-Guided Robotics Easy
Installation Guide."

1. XG/CV-X/XG-X Installation

↓
2. Robot Communication Settings (explained in this
manual)

↓
3. Adding a Robot Vision Setting

↓
4. Setting and Executing Calibration

↓
5. Setting Robot Vision Tools and Operation Verification

↓
6. Operation Preparation

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1. Startup Flow

1-1 Performing advance preparation and configuring settings

[Advance preparation (1)] Checking the robot operation

(preparation without using an image device)
1. Robot preparation
Enable jog operation on the robot. 1
(Create the user coordinates and tool coordinates to use.)

Startup Flow
2. Program startup preparation

Create and check the operation of the program that will be used to
grip the target at the specified position and place the target at the
specified position.

* The opening and closing of the hand are also required, so the
corresponding wiring and operation checks must also be performed.
[Advance preparation (2)] Attaching the camera and lighting
Attach the camera and wire the devices.
[Advance preparation (3)] Checking the communication
Carry out the work described starting in chapter 2 of this manual.
[Image processing settings] Configure the image processing settings.

Link and configure the settings of the camera and robot, and then verify the operations with the actual
devices.
• Image capturing and lighting settings, calibration, search settings, and master position registration

1-2 Checking operation using the sample program and creating the program for actual operation

Start the sample program and check the operation.

The following operations are written in the sample program.

(1) Issue the trigger. → Receive the data.
(2) Move to the target's position.

Communication (command I/O) can be checked and movement to the acquired position can be checked by starting the
program.
(Caution: The arm moves in a straight line from the current position to the detected position.)

However, the hand operations as well as the preceding and subsequent operations are not written in the program. Therefore,
as shown below, when not using image processing it is necessary to add the sample program instructions to the job program
or to add to the sample program those operations that it does not already include to create the program for operation.

Move P1 (Move to standby position P1.) The difference in the robot program
↓
Apply a trigger to the camera. compared to when not using vision-guided
↓ robotics is the part written in red on the
Write the output coordinates to P3.
left. These details are written in the sample
↓
Move P2 (Move to above the target.) program.
↓
Move P3 (Lower to the height of the target.)
↓ When changing the text of the sample
Hand operation (Grip the target.) program, specify items such as:
↓
Move P4 (Move to above the pick position.) • The preceding and subsequent
↓ operations.
Move P5 (Move to above the place position.)
• The opening and closing operations of
↓
Move P6 (Lower to the place position.) the hand.
↓ • The path when moving to the target's
Hand operation (Release the target.)
↓ position.
Move P7 (Move to above the place position.) Specify these items to ensure the
↓
operations are appropriate for the device.
Move P1 (Return to the standby position.)

- 2D VISION-GUIDED ROBOTICS, ROBOT CONNECTION MANUAL, FANUC CORPORATION EDITION - 3

 2. Connecting to Robots

2-1 Connecting to the vision controller by Ethernet

Use an Ethernet cable to connect the LAN connectors of the vision controller and the robot controller.

Reference  We recommend that you use a category 5e or higher STP cable.

 If you are using a direct connection (not a hub), we recommend that you use a crossover cable.
 The KEYENCE genuine cable is a 3m, STP type, crossover cable (OP-66843).

2 3. Robot Communication Settings

Connecting to Robots

Use the teach pendant to configure the robot controller's communication settings.

3-1 Configuring the Robot Ethernet Settings

1. Press the "Screen Selection" button on the teach pendant (the teaching control console).

2. On the menu that is displayed, select "MENU 1" - "SETUP," and then select "SETUP 2" - "Host
Comm."

3. On the "SETUP Protocols" screen that is displayed, select "TCP/IP," and then press "F3: DETAIL."

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4. Select "IP addr," "Subnet Mask," and "Router IP addr," press the "Input" button for each selection,
and then enter the robot controller communication settings.

Robot Communication Settings

Setting example
Port#1 IP addr: 192.168.0.1
Subnet Mask: 255.255.255.0
Router IP addr (default gateway): 0.0.0.0

Point Ensure that the IP address is not the same as that of another device.

Reference Set the IP address and subnet mask so that the robot controller is within the same network as the vision
controller.
If necessary, set the default gateway.
Example) Subnet mask: 255.255.255.0 (default value)
If the vision controller IP address is 192.168.0.10
Only the fourth octet of the IP address ("10" in the above example) can be changed to a value in the
range of 1 to 254.

5. Press the "Back" button on the teach pendant, press "F4: SHOW," and then select "Clients."

6. On the screen that is displayed, select "C1:," and then press "F3: DETAIL."
Ports other than C1 can also be used. See "6-3 Commmunication Command List".

- 2D VISION-GUIDED ROBOTICS, ROBOT CONNECTION MANUAL, FANUC CORPORATION EDITION - 5

 7. Select "Protocol:," press "F4: CHOICE," and then select "SM."

7
8
9

3
Robot Communication Settings

8. Select "Startup State:," press "F4: CHOICE," and then select "DEFINE."

9. Select "Server IP/Hostname:," press the "Input" button, and then enter the vision controller IP
address.

"192.168.0.10" is the default value on the vision controller side.

Unless otherwise necessary, configure the setting with this detail.

Point Ensure that the IP address is not the same as that of another device.

10. Press "F2: ACTION," and then select "DEFINE."

11. Press the "Screen Selection" button on the teach pendant. Then, on the menu that is displayed,
select "--NEXT--," "SYSTEM," and then select "Variables."

12. On the screen that is displayed, select "$HOSTC_CFG," and then press "F2: DETAIL."

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 Reference  You can quickly move through the items by holding down the "Shift" button while you press the "↓" button.
 An item is named "$HOSTS_CFG," so be careful to avoid mistakenly selecting this item.

13. On the screen that is displayed, select "1 [1]," and then press "F2: DETAIL."

Robot Communication Settings

14. Select "$SERVER PORT," press the "Input" button, and then enter the vision controller port number.

"8500" is the default value on the vision controller side.

(There is no need to set "Delimiter" on the robot controller side. In the vision controller network settings, select "CR" (the
default value).)

Unless otherwise necessary, configure the setting with this detail.

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 4. Writing the Communication Program

Write the robot program “Robot Vision Setup Program” for communication with the vision controller to the robot controller.

1. Download the “Robot Vision Setup Program” for the relevant robot model from the "Vision-Guided
Robotics User Support" page on the KEYENCE website, and then decompress the downloaded file.

2. Copy the decompressed files (such as the robot vision setup program
"keyencerobotvisionsetup.pc") to the root directory (directly under the drive name) of a USB
memory device.

3. Insert the USB memory device to which you have copied the robot vision setup program into the USB
port of the teach pendant or robot controller.

4. Press the "Screen Selection" button on the teach pendant. Then, on the menu that is displayed,
select "FILE," and then select "File."

4 5. On the screen that is displayed, press "F5: UTIL," select "Set Device," and then select "USB on TP
(UT1:)" or "USB Disk(UD1:)."
Writing the Communication Program

6. On the screen that is displayed, press "F2: DIR," and then select "*.PC."

7. Select "keyencerobotvisionsetup," and then press "F3: LOAD."

8. Follow the same procedure to Write the remaining "*.pc" files.

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5. Running the Communication Program (Only during Setting)

During setting, run the communication robot program “Robot Vision Setup Program.”

Point Be sure to run “Robot Vision Setup Program” before you perform operations on the robot vision setting.

5-1 Running “Robot Vision Setup Program”

Run “Robot Vision Setup Program” automatically in Automatic mode.

1. Press the "Screen Selection" button on the teach pendant. Then, on the menu that is displayed,
select "--NEXT--," "SYSTEM," and then select "Variables."

2. Select "$KAREL_ENB," press the "Input" button, and then enter "1."

Reference You can quickly move through the items by holding down the "Shift" button while you press the "↓" button.

Running the Communication Program (Only during Setting)

3. Press the "List" button on the teach pendant.

4. Press "F1: TYPE," and then select "KAREL Progs."

5. Select "KEYENCESETUP."

- 2D VISION-GUIDED ROBOTICS, ROBOT CONNECTION MANUAL, FANUC CORPORATION EDITION - 9

 6. Set the robot controller's "mode switch" to "AUTO."

7. Set the teach pendant's "teaching control console enabled switch" to "OFF."

8. Press the "Start" button on the robot controller to run the program.

5-2 Recovering from Errors and Re-running the Program

If an error occurs while “Robot Vision Setup Program” is running, the error or an alarm will be displayed on the robot's teach
pendant. Continue operations after using the following method to recover from the error.

1. Eliminate the cause of the error or alarm.

2. Press the "Clear Alarm" button on the teach pendant.

3. Perform the above procedure again to run the program.

5-3 Checking Communication with the Vision Controller

5 [CV-X]

1. On the setting screen, click "Robot Connection Settings."

Running the Communication Program (Only during Setting)

The "Robot Connection Settings" screen is displayed.

2. In the "Robot Connection Settings" field, select the setting that matches the robot to connect to.

3. In the "CV-X Communication Setting" field, click "Network Settings."

The "Network Settings" screen is displayed.

4. In the "IP Address Setting" field, change the CV-X controller communication settings.

Specify an IP address that is different from the robot's IP address.

For details on the setting items, see the CV-X Series user's manual.

5. Click "Check Connection" to check that it is possible to communicate with the robot over Ethernet.

On the "Check Connection" screen, you can specify the robot's IP address and click "Ping" to check the connection status.

6. In the "Non-Procedural (Command/Result Output)" field, change the settings as necessary.

Point  Configure the settings as follows: "Delimiter: CR," "Set Trigger-command Response to CV-compatible
Mode: clear the check box."

7. When enabling robot operations from the CV-X, click "Enable Robot Operation from CV-X" in the
"Robot Operation Setting" field to select the check box.

8. Click "Check Robot Operation Validity" and check that a message asking you to check that "Robot
Vision Setup Program" is running is displayed.

If "Robot Vision Setup Program" is not running on the robot controller, you will not be able to "Check Robot Operation
Validity." For details, contact your KEYENCE sales representative.

9. Click "Close."

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[XG-X]
Configure the "Ethernet" settings in advance from "Global Settings" > "I/O Settings" to match the communication method
to use in the connection.

1. From the "Global Settings" menu at the top of the setting mode screen, select "I/O Settings" >
"Robot Connection Settings."
The "Robot Connection Settings" screen is displayed.

2. In the "Robot Connection Settings" field, select the setting that matches the robot to connect to.

If you select the "Limit Robot Connection" check box, the display of the "Manufacturer" field is fixed to the set manufacturer
when you display the "Robot Connection Settings" screen by clicking the "Options" menu, pointing to "Robot Settings," and
then clicking "Connection."

3. When enabling robot operations from the XG-X controller, click "Enable Robot Operation from XG-X"
in the "Robot Operation Setting" field to select the check box.

4. Select "Check Robot Operation Validity" and check that a message asking you to check that "Robot
Vision Setup Program" is running is displayed.

5. When the settings are finished, select "OK."

Running the Communication Program (Only during Setting)

- 2D VISION-GUIDED ROBOTICS, ROBOT CONNECTION MANUAL, FANUC CORPORATION EDITION - 11

 6. Sample Program (Only during Operation)

This chapter explains the communication commands that can be used with TP programs during operation.
You can use communication commands to send commands directly from the robot controller to the vision controller.
If you are controlling the vision controller from a PLC during setting and operation, do not use communication commands.

Point During operation, "Robot Vision Setup Program (KEYENCESETUP)" will not be run, but this is required in
order to use the communication commands.

Reference * You do not need a development environment such as ROBOGUIDE in order to use the communication
commands.

6-1 Sample Operation Program

A sample operation program that runs measurement on the vision controller from the robot side, and then applies the data
output from the vision controller to move the robot to the corresponding position is shown below.

1: !Connect
2: CALL KEY_CONNECT
3: !Send a command
4: CALL KEY_SEND_CMD('T1')
5: !Wait and set reply to R10
6: CALL KEY_WAIT_CMD('T1',10)
7: !Set received values to R20,21,..
8: CALL KEY_RECV_VAL(20)
6 9: !Set position
10: PR[1,1]=R[20]
11: PR[1,2]=R[21]
Sample Program (Only during Operation)

12: PR[1,3]=R[22]
13: PR[1,4]=R[23]
14: PR[1,5]=R[24]
15: PR[1,6]=R[25]
16: !Move
17: J PR[1] 10% FINE
18: !Close
19: CALL KEY_CLOSE
[End]

6-2 Entering Communication Commands

Use the teach pendant to configure the robot controller's communication settings.

1. Press the "List" button on the teach pendant (the teaching control console).

2. Use the cursor to select the program that you want to edit, and then press the "Input" button.

3. Move the cursor to the position where you want to enter the communication command, and then
press "F1: INST."

4. On the menu that is displayed, select "CALL," and then select "CALL Program."

5. Press "F3: COLLECT," select "KAREL Progs," and then select "KEY_***," the program to use.

6. If necessary, enter the arguments.

Move the cursor to the right of the program name, and then press "F4: CHOICE" to specify the argument type.

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6-3 Communication Command List

The communication commands that you can use are listed below.
(This list also includes commands used with 3D vision-guided robotics.)

Program name Explanation File name

Establish a connection with the vision controller. keyconnect.pc
In advance, you have to set the client tag "C1:" to match the network settings
KEY_CONNECT of the vision controller that you are connecting to.
Arguments: Tag number of the controller to connect to (entered as a
constant; 1 when omitted)
End the connection with the vision controller. keyclose.pc
In advance, you have to set the client tag "C1:" to match the network settings
KEY_CLOSE of the vision controller that you are connecting to.
Arguments: Tag number of the controller to connect to (entered as a
constant; 1 when omitted)
Send a command to the vision controller. keysendcmd.pc
Argument 1: Command name (character string)
[Argument 2: Command argument (numeric value)]
[Argument 3: Command argument (numeric value)]
...
KEY_SEND_CMD [Argument 10: Command argument (numeric value)]
Send a character string that starts with the specified command name in
argument 1 and then continues with numeric values as parameters from
argument 2.
* Arguments shown in brackets may be omitted. Command arguments will
not be assigned for any arguments that are omitted.
Wait for the command response from the vision controller. keywaitcmd.pc
Argument 1: Command name (character string)
Argument 2: Response value register number
The program will switch to standby until the response from the command
specified with argument 1 is received. 6
KEY_WAIT_CMD The response value is applied to the register number specified with argument 2.

Sample Program (Only during Operation)

Response value = 0: success, 03: command operation prohibited, 22:
parameter error, etc.
If values are received after the response value, these additional values will be
stored in the registers following the specified register number. (Version 2.0 or
later)
Receive the measured value from the vision controller. keyrecvval.pc
Argument 1: Measured value register number
KEY_RECV_VAL The measured value is applied to the register number specified with argument 1.
If multiple measured values are received, they will be stored in the registers
following the specified register number.
This is a program that is required to run the communication commands listed keyencerobotvisio
KEYENCESETUP above. (Normally, this program is not directly called and used during operations.) nsetup.pc
Arguments: Tag number of the controller to connect to (1 when omitted)
Checks whether the value of the position register specified with argument 1 is KeyCheckPos.pc
within the movable range.
Argument 1: Position register number
KEY_CHECKPOS Argument 2: Response value register number
The response value is returned to the register number specified with
argument 2.
Response value = 0: within movable range, 1: outside of movable range
Selects the wrist shape to reduce J4 axis movement when moving from the KeySelConf.pc
current position.
Argument 1: Position register number
Argument 2: Response value register number
The value of the position register specified with argument 1 is used as the
target value, the shape that minimizes the operation when moving from the
KER_SELCONF current position to the target value is calculated, and then the value of the
position register specified with argument 1 is overwritten.
The response value is returned to the register number specified with
argument 2.
0: No change to wrist shape when moving from the current value required
1: Change to wrist shape when moving from the current value required
2: Position register outside of movable range
Acquires the path information generated by the path generation tool. keygetpath.pc
Argument 1: Path generation tool ID
Argument 2: Path label number (Normally, one path is output [with the
default settings], so specify 0.)
Argument 3: Register number
Argument 4: Position register number
The result of executing this function is stored starting from the register
KEY_GET_PATH
specified with argument 3.
0: Normal completion
1: Illegal tool ID, illegal label number, or NG measurement
2: Out-of-range register number
3: Out-of-range position register number
For details on arguments 1, 3, and 4, see registers [171] to [173] under "7-2
Registers Used by This Program and Their Descriptions."

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 6-4 Communication Command Usage Example

For details on the commands, see the CV-X user's manual and the XG-X communication control manual.
 Switching program settings (PW)
Use PW, the program setting switch command, to switch to program setting No. 24 in SD1.

1: !Connect
2: CALL KEY_CONNECT
3: !Send a command
4: CALL KEY_SEND_CMD('PW',1,24)
5: !Wait and set reply to R10
6: CALL KEY_WAIT_CMD('PW',10)
7: !Close
8: CALL KEY_CLOSE
[End]

 Updating the image capture position (CPW)

1: !Connect
2: CALL KEY_CONNECT
3: !Send a command
4: CALL KEY_SEND_CMD('CPW',1,1.234,2.345,3.456,4.567,5.678,6.789)
5: !Wait and set reply to R10
6: CALL KEY_WAIT_CMD('CPW',10)
7: !Close
8: CALL KEY_CLOSE
[End]

6
6-5 Output Setting Details
Sample Program (Only during Operation)

Set the output on the CV-X as shown below.

6-6 About the Sample Program

Precautions regarding using programs saved with the sample program creation function are listed below.

Point  Saved files cannot be used as-is on the robot controller. Open the file in a program such as a text editor to
copy the required part.
 Do not delete the files writing during setting, from the robot controller.

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7. Troubleshooting

The error "Running-320 (KEYENCE SETUP, 207) Undefined" occurs when the setup program is run.

The likely cause is that the UserSocketMsg R648 option has not been installed.
You can use the teach pendant to check whether this option is present: "Screen Selection → STATUS → Software Version."
If this option is not installed, you cannot perform Ethernet non-procedural communication with external devices. Contact your
KEYENCE sales representative.

Pings do not pass through.

The IP address or port setting may be incorrect.

Also check whether the Ethernet cable is inserted into the correct Ethernet port.
On the R-30iB robot controller, there are three Ethernet ports in the location where "Ethernet" is indicated.
However, the port where the cable should be inserted is the topmost one, which is indicated as "CD38A."

A communication error occurs.

Execute "KeyClose" once, and then execute the program again.

The error "UOP is enabled" occurs.

Clear the UOP assignment, or switch from "Remote" to "Local" under "System Settings" → "Remote/Local Setting" to clear the
error.

Troubleshooting

- 2D VISION-GUIDED ROBOTICS, ROBOT CONNECTION MANUAL, FANUC CORPORATION EDITION - 15

Revision History

Date Version Revision details

February 2015 First edition
May 2015 2nd edition Support has been added for version 3.4.
July 2015 3rd edition XG Series has been added.
April 2016 4th edition XG-X Series has been added.
October 2017 5th edition Text has been added and changed.
March 2018 Revised 1st Text has been added and changed.
edition
March 2020 Revised 2nd Support has been added for the path generation tool.
edition
July 2020 Revised 3rd
edition

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 Specifications are subject to change without notice.

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