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2D VISION-GUIDED ROBOTICS
ROBOT CONNECTION
MANUAL
FANUC CORPORATION EDITION
This manual provides support for the necessary robot-side
settings that must be configured to establish connections and
communication between the XG/CV-X/XG-X Series and a
robot.
1
Startup
Flow
Items
to Prepare
2
Connecting
to Robots
Setup
Procedure
3
Robot Communication
Settings
Connecting
to Robots
4
Robot
Communication
Program
5
Robot
Communication
Settings
Program
(Only during Setting)
6
Robot
Communication
Settings
(Only during
Operation)
7
Troubleshooting
Settings
Writing the Communication
Running the Communication
Sample Program
■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
to recognize important information at a glance. Be sure to
read this section carefully.
The items to prepare before connecting the XG/CV-X/XG-X
Series controller (hereinafter referred to as "vision controller"
in this manual) to the robot controller are listed below.
DANGER
Indicates a hazardous situation which, if
avoided, will result in death or serious injury.
WARNING
Indicates a hazardous situation which, if not
avoided, could result in death or serious injury.
CAUTION
Indicates a hazardous situation which, if not
avoided, could result in minor or moderate injury.
NOTICE
Important
Point
Reference
not
Indicates a situation which, if not avoided, could
result in product damage as well as property
damage.
Indicates precautions and limitations that must be
followed during operation.
Indicates
operation.
additional
information
on
proper
Indicates tips for better understanding or useful
information.
Indicates items and pages in this manual to be referenced.
□ User Socket Messaging (R648)
Non-free, robot-side option that is required for
connecting to the vision controller
* You do not need a development environment
such as ROBOGUIDE.
□ Ethernet cable
Connects the vision controller and the robot
controller
USB memory device
Used to copy the robot program for
communication
About Coordinate Systems
The following differences exist between how the robot
coordinate systems are expressed on the vision controller
and on robots made by FANUC CORPORATION.
vision controller
Work coordinates
Tool coordinates
Robot
User 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
2
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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
1
Enable jog operation on the robot.
(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.)
↓
Apply a trigger to the camera.
↓
Write the output coordinates to P3.
↓
Move P2 (Move to above the target.)
↓
Move P3 (Lower to the height of the target.)
↓
Hand operation (Grip the target.)
↓
Move P4 (Move to above the pick position.)
↓
Move P5 (Move to above the place position.)
↓
Move P6 (Lower to the place position.)
↓
Hand operation (Release the target.)
↓
Move P7 (Move to above the place position.)
↓
Move P1 (Return to the standby position.)
The difference in the robot program
compared to when not using vision-guided
robotics is the part written in red on the
left. These details are written in the sample
program.
When changing the text of the sample
program, specify items such as:
• The preceding and subsequent
operations.
• The opening and closing operations of
the hand.
• The path when moving to the target's
position.
Specify these items to ensure the
operations are appropriate for the device.
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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
2



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).
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."
4
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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.
3
Point
Ensure that the IP address is not the same as that of another device.
Reference
5.
6.
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.
Press the "Back" button on the teach pendant, press "F4: SHOW," and then select "Clients."
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".
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5
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
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."
3
"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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7
Robot Communication Settings
14. Select "$SERVER PORT," press the "Input" button, and then enter the vision controller port number.
4. Writing the Communication Program
Write the robot program “Robot Vision Setup Program” for communication with the vision controller to the robot controller.
4
Writing the Communication Program
1.
Download the “Robot Vision Setup Program” for the relevant robot model from the "Vision-Guided
Robotics User Support" page on the KEYENCE website, and then decompress the downloaded file.
2.
Copy the decompressed files (such as the robot vision setup program
"keyencerobotvisionsetup.pc") to the root directory (directly under the drive name) of a USB
memory device.
3.
Insert the USB memory device to which you have copied the robot vision setup program into the USB
port of the teach pendant or robot controller.
4.
Press the "Screen Selection" button on the teach pendant. Then, on the menu that is displayed,
select "FILE," and then select "File."
5.
On the screen that is displayed, press "F5: UTIL," select "Set Device," and then select "USB on TP
(UT1:)" or "USB Disk(UD1:)."
6.
On the screen that is displayed, press "F2: DIR," and then select "*.PC."
7.
Select "keyencerobotvisionsetup," and then press "F3: LOAD."
8.
Follow the same procedure to Write the remaining "*.pc" files.
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5. Running the Communication Program (Only during Setting)
During setting, run the communication robot program “Robot Vision Setup Program.”
Be sure to run “Robot Vision Setup Program” before you perform operations on the robot vision setting.
Point
5-1 Running “Robot Vision Setup Program”
Run “Robot Vision Setup Program” automatically in Automatic mode.
1.
Press the "Screen Selection" button on the teach pendant. Then, on the menu that is displayed,
select "--NEXT--," "SYSTEM," and then select "Variables."
2.
Select "$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.
5
Press the "List" button on the teach pendant.
4.
Press "F1: TYPE," and then select "KAREL Progs."
5.
Select "KEYENCESETUP."
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Running the Communication Program (Only during Setting)
3.
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]
Running the Communication Program (Only during Setting)
1.
On the setting screen, click "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.
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.
10
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."
5
Running the Communication Program (Only during Setting)
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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.
During operation, "Robot Vision Setup Program (KEYENCESETUP)" will not be run, but this is required in
order to use the communication commands.
Point
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.
6
Sample Program (Only during Operation)
1:
2:
3:
4:
5:
6:
7:
8:
9:
10:
11:
12:
13:
14:
15:
16:
17:
18:
19:
[End]
!Connect
CALL KEY_CONNECT
!Send a command
CALL KEY_SEND_CMD('T1')
!Wait and set reply to R10
CALL KEY_WAIT_CMD('T1',10)
!Set received values to R20,21,..
CALL KEY_RECV_VAL(20)
!Set position
PR[1,1]=R[20]
PR[1,2]=R[21]
PR[1,3]=R[22]
PR[1,4]=R[23]
PR[1,5]=R[24]
PR[1,6]=R[25]
!Move
J PR[1] 10% FINE
!Close
CALL KEY_CLOSE
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 Commands
KEY_CONNECT
Starts communication with the vision controller.
Syntax
CALL KEY_CONNECT or CALL KEY_CONNECT(a)
Arguments
Arguments
Stored value
a
Tag of client to connect to
(1 when omitted)
CAUTION
After KEY_CONNECT is executed, using it again without first executing KEY_CLOSE will result in an error.
All commands other than KEY_CLOSE can be used after KEY_CONNECT is executed.
KEY_CLOSE
Ends communication with the vision controller.
Syntax
6
CALL KEY_CLOSE or CALL KEY_CLOSE(a)
Arguments
Stored value
a
Tag of connected client
(1 when omitted)
Sample Program (Only during Operation)
Arguments
KEY_SET_IP
Changes the IP address of the specified client.
Syntax
CALL KEY_SET_IP(a,’b’)
Arguments
Arguments
a
b
Stored value
Client tag to change the IP address
IP address after change
CAUTION
Execute KEY_CONNECT after executing KEY_SET_IP.
After KEY_CONNECT is executed, using KEY_SET_IP without first executing KEY_CLOSE will result in an error.
KEYENCESETUP
Starts the set-up program.
Syntax
CALL KEYENCESETUP or CALL KEYENCESETUP(a)
Arguments
Arguments
a
Stored value
Tag of connected client (1 when omitted)
CAUTION
Use this command only during vision controller setting.
Once executed, the program continues running until an error occurs. Stop the program manually.
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13
KEY_SEND_CMD
Sends a command to the vision controller.
Syntax
CALL KEY_SEND_CMD(‘a’,b1,b2…,b9)
Arguments
Arguments
a
Stored value
Command name
Command parameters
(can be omitted depending on the command used)
* Up to 126 characters of result output can be received.
b1 to b9
KEY_WAIT_CMD
Receives the command execution result from the vision controller.
Syntax
CALL KEY_WAIT_CMD(‘a’,b)
Arguments
Arguments
a
b
Stored value
Name of command executed with KEY_SEND_CMD
Register index in which to store the command execution result
Execution result
Variable
R[b]
R[b+1] and higher
Stored value
Command execution result
0:
Success
Other than 0: Command error
(for error details, see the user’s manual)
Command return value
(When there are multiple result outputs, they are stored in subsequent
registers—R[b + 2], R[b + 3], ...)
CAUTION
Before using this command, you must execute KEY_SEND_CMD.
KEY_RECV_VAL
Receives the result output from the vision controller.
Syntax
CALL KEY_RECV_VAL(a)
Arguments
Arguments
a
Value
Register index in which to store the result output
Execution result
Variable
R[a] and higher
Stored value
Result output
(When there are multiple result outputs, they are stored in subsequent
registers—R[a + 1], R[a + 2], ...)
CAUTION
Before using this command, you must issue a trigger.
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KEY_SET_EXT
Gives the value of the current additional axis.
Syntax
CALL KEY_SET_EXT(a)
Arguments
Variable
Stored value
a
Position register index to which the value of the additional axis is given
* Only a position register in which axis values are stored can be specified.
* This command can be used only when the type of the additional axis is Auxiliary.
CAUTION
Using this command to a position register in which Cartesian coordinates are stored will result in an error.
The robot may move to an unexpected position if the type of the additional axis is Integrated.
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.
6
Sample Program (Only during Operation)
1:
2:
3:
4:
5:
6:
7:
8:
[End]
!Connect
CALL KEY_CONNECT
!Send a command
CALL KEY_SEND_CMD('PW',1,24)
!Wait and set reply to R10
CALL KEY_WAIT_CMD('PW',10)
!Close
CALL KEY_CLOSE
◼ Updating the image capture position (CPW)
1:
2:
3:
4:
5:
6:
7:
8:
[End]
!Connect
CALL KEY_CONNECT
!Send a command
CALL KEY_SEND_CMD('CPW',1,1.234,2.345,3.456,4.567,5.678,6.789)
!Wait and set reply to R10
CALL KEY_WAIT_CMD('CPW',10)
!Close
CALL KEY_CLOSE
6-5 Output Setting Details
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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15
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.
A robot equipped with an additional axis is used.
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Troubleshooting
Calibration and jog operation are executed based on the current additional axis coordinates by setting the type of the additional
axis is set to Auxiliary.
7
Revision History
Date
Version
February 2015
May 2015
July 2015
April 2016
October 2017
March 2018
First edition
2nd edition
3rd edition
4th edition
5th edition
Revised 1st
edition
Revised 2nd
edition
Revised 3rd
edition
Revised 4th
edition
March 2020
July 2020
March 2023
Revision details
Support has been added for version 3.4.
XG Series has been added.
XG-X Series has been added.
Text has been added and changed.
Text has been added and changed.
Support has been added for the path generation tool.
Addition of dedicated command details.
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17
C 2015 KEYENCE CORPORATION. All rights reserved.
Copyright○
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