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FH-SMD

3D Robot Vision System

FH-SMD

A complete solution for automating human-intensive part picking

Item list of FH-SMD

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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.

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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