3D Vision Sensor
FZD Series
2
World's First
3D
Inline Image
Sensing
We are pleased to introduce
the world’s first Vision Sensor
capable of inline measurement of 3D data.
OMRON’s unique advanced technology now makes it possible
to achieve accurate inline measurement
even with workpieces that come down
the production line at a variety of locations and angles.
3D image sensing makes it possible to instantaneously measure
length, width, and height inline without stopping the production line.
Moreover, multiple locations can be measured simultaneously within a
single visual field.
Measurement Algorithm
This camera has a field of view of 75 mm, a resolution of 0.1 mm,
and a maximum installation distance of 2 m.
The resolution is not affected even if the camera is mounted at an
angle, so assembled car body inspections can now be conducted
using a single Sensor.
Long-distance Camera
By combining advanced 3D sensing technology with our own
unique calibration technology, OMRON has succeeded in creating
a high-speed 3D measurement system.
With 3D image sensing, workpieces with complex shapes that
cannot be laid horizontally can now be measured easily using
calculations based on space coordinates.
Space Calibration
World’s First
3
Hole Positions
and Diameters
3D
World’s First
3D
World’s First
3D
Gaps and Bumps
REAL 3D Measurement from Parts
to
Modular Composite Parts
Hole Position and
Diameter Inspections
Part Selection
4
Hole positions and diameters can be measured accurately even for parts with
complex shapes that cannot be laid horizontally.
Subtle differences in hole location or diameter can be measured instantaneously,
so accurate discrimination is possible even with modular parts of similar shapes.
This sensing system is also perfect for pre-shipping inspections.
This application enables a robot to select desired part from the parts lined up in
a box. The FZD Sensor can automatically calculate the heights within the
designed measurement region.
Even if the parts have no distinctive characteristics, such as surface irregularities
or patterns, the Sensor can use custom pattern illumination to accurately
determine the heights.
to
Finished Goods
Assembly and Finished Products
Gap and Bump Inspections
5
Gaps and bumps between edges can be measured simultaneously. Moreover,
multiple locations within the same field of vision can also be measured simultane-
ously.
3D edge detection has reached a new level of stability thanks to real color process-
ing. Even for workpieces with edges that are difficult to detect, the use of 3D sensing
in combination with custom pattern illumination enables accurate detection of gaps
and bumps.
OMRON’s unique EC algorithm makes it possible to search for hole positions
regardless of the background.
By analyzing 3-point position data (X, Y, Z), the part’s orientation (θ, φ, ψ) can be
determined.
It can also be used with a robot for picking work.
Part Orientation Measurement:
Hole Positions
A variety of functions have been added to make 3D sensing technology commercially applicable.
All of OMRON’s image processing technologies have been crystallized into this new Sensor.
(Installation distances of 24 cm or less)
Integrated Camera
(Installation distances up to 2m)
Separate Cameras
OMRON takes care of the
calibration prior to shipment.
It’s ready to install out of the box.
Simply set up the 2 Cameras
according to the installation
distance.
REAL 3D Sensing Technology That'
s
Choose your Camera depending on the installation distance
3D Vision Camera System
Installation
Introducing a new camera system that allows for the easy installation
of two Cameras. In our Integrated Camera, two Cameras are
mounted inside the same housing, so all you have to do is install a
single unit. Also available are Separate Cameras that can be used
simply by attaching two of them to a single Camera Base Plate.
10 cm
WD = 24 cm
WD = 1 m
50 cm70 cm
6
WD = 30 cm
WD = 2 m
3D measurement requires the use of two cameras,
just like people need two eyes.
World’s First
High-luminance Pattern Lighting
OMRON has developed a 3-W miniature high-intensity
LED that can be used even at a work distance of 2 m.
When edges are difficult to distinguish on the image,
Line Pattern LED Lighting is used, and when the height
of objects without feature points is required, our
Custom Pattern Lighting provides powerful support for
high-luminance 3D measurement.
World’s FirstWorld’s First
Target placed horizontally Targets that can’t be placed
on a reference plane
Simultaneous 2D and 3D Measurement
s
Practical to Use
Calibration Method
Measurement
2D and 3D image processing can be carried out simultaneously
using a single Controller.
For example, inspections for the presence of specified marks, or
for surface scratches and dirt, can be conducted in 2D mode,
while using 3D processing to determine the XYZ coordinates of
hole positions.
Also, because 3D measurements can be made after compen-
sating for position displacement using 2D processing, measure-
ment results are more stable than with laser displacement
sensors, even when position determination is rough.
3D Graphic Displays
The actual 3D shape of the workpiece is measured.
7
It is possible to display measurement results, text, or
figures in 3D format in the image display area. Even on
a 2D monitor, one can
tell at a glance what
segment is being
measured, so the
system can be used
with confidence at the
worksite.
Compatible with World Coordinates
World coordinates are needed for systems using robots for
picking, or for measurement of two different locations on
large-sized parts. This new Sensor system is, of course,
compatible with these types of
coordinate conversions.
Obtain images from near and
distant perspectives.
Place calibration target on reference plane
and capture first image. Then place a spacer
underneath the calibration target and obtain
a second image. That’s all there is to it, only
two images are needed to complete the
calibration.
Capture 10 rough images.
This is the first technology in the world to
make it possible to complete the calibration
by simply holding up the calibration target
by hand and capturing images from 5
different directions and 2 different heights
(a total of 10 images).
3D Calibration Tool
Spacer
Distance (D)
Height (H)
3D Calibration
Settings
This Sensor features the world’s most advanced calibration
technology. Our calibration resolution (0.025 mm) is the highest
in the world, and enables precise 3D measurement. What is
more, the settings are quite simple. The functions of this Sensor
allow it to be used in any work environment.
Coordinates from images obtained from the two Cameras are
combined to generate 3D coordinates. The synchronization of
these coordinates is referred to as “Calibration.”
The more precise the calibration, the more accurate the 3D
measurements.
Target
This calibration technology makes use of techniques developed by 3D MEDiA Co., Ltd.
Measurements can be made after compensating for
position displacement.
World’s First World’s First
Basic Configuration
8
CCTV Lenses
High-resolution, Low-distortion Lenses
Precautions
Model
For High-luminance Pattern Lighting
Extension Tubes
Do not use the 0.5-mm, 1.0-mm, and 2.0-mm Extension Tubes attached to each other.
Since these Extension Tubes are placed over the threaded section of the Lens or other
Extension Tube, the connection may loosen when more than one 0.5-mm, 1.0-mm or
2.0-mm Extension Tube are used together.
Controller Integrated with LCD
3D Vision Camera
FZD-STC2M
FZD-CAL
FZD-500-10/FZD-505-10
High-resolution, low-distortion Lenses
FZ-LEH Series
Touch Pen (accessory)
(Two Cables required.)
Controllers
Cameras
Camera Cable
Digital Camera
FZ-SC2M/FZ-S2M
(Two Cameras of the same model are required.)
Integrated Camera
3D Camera Base Plate
FZD-CBS
FZD-CBM
FZD-CBL
Note: The Intelligent Camera and Autofocus Camera can be connected for 2D measurements.
Separate Cameras
Camera Cable FZ-VS
Bend-resistant Camera Cable FZ-VSB
Right-angle Camera Cable FZ-VSL
Long-distance Camera Cable FZ-VS2
Long-distance Right-angle Camera Cable FZ-VSL2
FZ-M08 FZ-VM
LCD Monitor Monitor Cable
Mouse or Trackball
(commercially available
devices with USB interface)
Input Devices
Box-type Controller
FZD-550-10/FZD-555-10
Model
High-luminance Pattern Lighting
FZD-LTW
FZD-LTPW
CCTV Lenses
3Z4S-LE Series
Illumination
Lens model
Appearance
Focal length
Brightness
Filter size
3Z4S-LE
ML-5018
50 mm
F1.8
M30.5
P0.5
3Z4S-LE
ML-7527
75 mm
F2.7
M30.5
P0.5
3Z4S-LE
ML-10035
100 mm
F3.5
M30.5
P0.5
32 dia.
37
32 dia.
42.5
32 dia.
43.9
FZ-LEH5 FZ-LEH8 FZ-LEH12 FZ-LEH16 FZ-LEH25 FZ-LEH35 FZ-LEH50 FZ-LEH75 FZ-LEH100
5 mm
F2.8
M40.5
P0.5
8 mm
F1.4
M27.0
P0.5
12.5 mm
F1.4
M27.0
P0.5
16 mm
F1.4
M27.0
P0.5
25 mm
F1.4
M27.0
P0.5
35 mm
F2
M27.0
P0.5
50 mm
F2.8
M27.0
P0.5
75 mm
F2.5
M34.0
P0.5
100 mm
F2.8
M40.5
P0.5
34 dia.
34 dia.
33 dia.
33 dia.
34 dia.
34 dia.
42 dia.
70.0
51.055.0
36.5
39.5
36.5
37.0
41.6
38.7
Model 3Z4S-LE ML-EXR
Note: The 5-mm Extension Tubes (3Z4S-LE ML-EXR) cannot be used with FZ-LEH25 Lenses.
Contents
Set of 7 tubes (40 mm, 20 mm, 10 mm, 5 mm, 2.0 mm, 1.0 mm,
and 0.5 mm)
Maximum outer diameter: 30 mm dia.
Reinforcement may be required for combinations of Extension Tubes exceeding 30 mm if
the Camera is subject to vibration.
•
•
Lens model
Appearance
Focal length
Brightness
Filter size
36 dia. 42 dia.
3D Calibration Tool
Ordering Information
9
1. This Cable has an L-shaped connector on the Camera end.
2. The 10-m Cable cannot be connected to the FZD-STC2M or FZ-S2M.
3. The maximum cable length depends on the Camera being connected, and the model and length of the Cable being used.
Standalone Digital Camera
Optical Chart
Meaning of Optical Chart
Select a lens for the Straight Camera according to the
field of vision and camera installation distance.
Fit the Diagonal Camera with the same lens as the
Straight Camera.
Straight Camera Diagonal Camera
Item Description Model Remarks
---
Controllers
Controller Integrated
with LCD
Box-type Controller
3D Vision Camera
Digital Camera
Cameras
NPN
NPN
PNP
PNP
FZD-500-10
FZD-505-10
FZD-550-10
FZD-555-10
FZD-STC2M
FZ-S2M
FZ-SC2M
FZD-CBS
FZD-CBM
FZD-CBL
3Z4S-LE Series
FZD-CAL
FZD-LTW
FZD-LTPW
FZ-VS
FZ-VSB
FZ-VSL
FZ-VS2
FZ-VSL2
FZ-VSJ
FZ-VM
FZ-VP
FZ-M08
FZ-MEM8G
FZ-MEM2G
FZ-VESA
FZ-DS
---
3Z4S-LT series
3Z4S-LT MLEK-C100E1TS2
Color
Color
Monochrome
3D Camera Base Plate
Short-distance Version
Medium-distance Version
Long-distance Version
Lenses
High-resolution, Low-distortion Lenses
CCTV Lenses
3D Calibration Tool
High-luminance lighting Line pattern
Custom pattern
Cable
Camera Cable
Bend-resistant Camera Cable
Right-angle Camera Cable (See note 1.)
Long-distance Camera Cable
Long-distance Right-angle Camera Cable
Cable Extension Unit
Monitor Cable
Parallel Cable
Peripheral Devices
LCD Monitor
USB Memory
VESA attachment
Desktop Stand
2 GB
8 GB
Mouse
External Lighting
Strobe Controller (for FZ Series Vision Sensors)
Integrated Camera (installation distance: 24 cm max.)
2-million-pixels (lens required)
2-million-pixels (lens required)
Installation distance of up to 30 cm
Installation distance of 30 cm to 1 m
Installation distance of 1 m to 2 m
For 2-million-pixel camera
For High-luminance Pattern Lighting
---
White LEDs
White LEDs
Cable length: 2 m, 5 m, or 10 m
Cable length: 2 m, 5 m, or 10 m (See note 2.)
Cable length: 2 m, 5 m, or 10 m
Cable length: 15 m
Cable length: 15 m
Up to two Extension Units and three Cables can be connected.
(Maximum cable length: 45 m (See note 3.))
Cable length: 2 m or 5 m
Cable length: 2 m or 5 m
For Box-type Controllers
Capacity: 8 GB
Capacity: 2 GB
For installing Controller Integrated with LCD
For installing Controller Integrated with LCD
Recommended Products (Optical Mouse)
• Microsoft Corporation: Compact Optical Mouse, U81 Series
---
• Required when using a Separate Camera and High-luminance Pattern Lighting.
• Required when controlling the 3Z4L-LT External Lighting with the Controller.
Note:
Camera distance
Field of vision
Field of vision
Note: The 5-mm Extension Tubes (3Z4S-LE ML-EXR) cannot be used with FZ-LEH25 Lenses.
FZ-LEH5/LEH8/LEH12/
LEH16/LEH25/LEH35/LEH50/
LEH75/LEH100
t30
t20
t10
t10
t10
t10
t5
t5
t2
t2
t2
t0.5
t1
t1
t1.5
10 100 10005
100
1000
10000
30
t1
t1
t0
t0
t0
t0
t0
t0
t0
t0
t0
t35
t2
t2
t25
t35
t40
t30t25 t20 t15 t5
t10
t5
t5
t0.5
Camera distance (mm)
t45t40
t25
t30
t15
t5
t1
t2
t1
t15
t20
t15
t20
t1
FZ-LEH5
FZ-LEH8
FZ-LEH12
FZ-LEH16
FZ-LEH25
FZ-LEH35
FZ-LEH50
FZ-LEH75
FZ-LEH100
t50
t10
t5
t1
t10
t2
Camera distance (mm)
Field of vision (mm)
10
Ratings and Specifications
Controllers
Cameras
High-luminance Pattern Lighting
Note:
1: The number of logged images will vary when connecting multiple Cameras with different models.
2: The operating mode can be switched from the Controller Menu settings.
FZD-LTW FZD-LTPW
Power consumption 11 W
Ambient temperature range
Operating: 0 to 50°C, Storage: −25 to 60°C (with no icing or condensation)
Ambient humidity range Operating and storage: 35% to 85% (with no condensation)
Installation distance Select the CCTV lens according to the
field of vision and installation distance (See note 1).
LED Class (See note 2.)
(light section)
Weight Approx. 470 g (Including installation base)
Accessories Instruction Sheet, Two base set screws,
One LED warning label (for IEC), hexagonal wrench.
1
+
-
Model NPN Output FZD-500-10 FZD-550-10
PNP Output FZD-505-10 FZD-555-10
Connected Camera FZD-STC2M, FZ-S2M, FZ-SC2M, FZ-S, or FZ-SC
No. of Cameras 4 Cameras (Two Integrated Cameras)
Processing resolution 1,600 × 1,200 (H × V) (When connected to a 2-million-pixel Camera)
No. of scenes 32
Number of logged images (See note 1.) With Two Cameras (one Integrated Camera) connected: 19, With Four Cameras (two Integrated Cameras) connected: 9
Operation Touch pen, mouse, etc. Mouse or similar device
Settings Create series of processing steps by editing the flowchart (Help messages provided).
Serial communications RS-232C/422: 1 channel
Network communications Ethernet 100BASE-TX/10BASE-T
Parallel I/O 11 inputs (RESET, STEP, DSA, and DI 0 to 7), 26 outputs (RUN, BUSY, GATE, OR, READY, ERROR, STGOUT 0 to 3, and DO 0 to 15)
Monitor interface
Integrated Controller and LCD 12.1 inch TFT color LCD (Resolution: XGA 1,024 × 768 dots)
Analog RGB video output, 1 channel (Resolution: XGA 1,024 × 768 dots)
USB interface 4 channels (supports USB 1.1 and 2.0)
Power supply voltage 20.4 to 26.4 VDC
Current consumption Connected to FZD-STC2M
4.9 A max.
Connected to FZ-S2M
Ambient temperature range Operating: 0 to 45°C, 0 to 50°C (See note 2.), Storage: −20 to 65°C (with no icing or condensation)
Ambient humidity range Operating and storage: 35% to 85% (with no condensation)
Weight Approx. 3.4 kg Approx. 1.9 kg
Accessories
Touch pen (one, inside the front panel), Please Read First, Instruction Manual (Setup), 6 mounting brackets
Please Read First, Instruction Manual (Setup)
FZD-STC2M FZ-S2M FZ-SC2M
Measurements 3D measurements 3D and 2D measurements
Image elements Interline transfer reading all pixels, 1/1.8-inch CCD image elements
Color/Monochrome Color Monochrome Color
Effective pixels 1600 × 1200 (H × V)
Pixel size 4.4 × 4.4 µm
Shutter function Electronic shutter; select shutter speeds from 1/10 to 1/50,000 s
Partial function 12 to 1200 lines
Frame rate (image read time) 30 fps (33.3 ms)
Field of vision 84.8 mm (See note 1.) Select a lens according to the field of vision and installation distance.
Installation distance 240 mm
XYZ measurement precision ±0.1 mm (See note 2.) ---
Ambient temperature range Operating: 0 to 40°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. 1.3 kg Approx. 76 g
Accessories Instruction Sheet
L
Optical Chart
Illuminated size (mm)
For High-luminance Pattern Lighting
Note:
1: Tolerance: ±5% max. The vertical field of vision of camera 0 at an installation distance of 240 mm.
2: When 3D calibration is performed with an OMRON standard target and measurements are taken using the same environment (reference value).
Class 2
Note:
1: Refer to Optical Chart.
2: Applicable standards: JIS C6802:2005
IEC 60825-1:1993 + A1:1997 + A2:2001,
EN 60825-1:1994 + A1:2002 + A2:2001.
Illumination distance (mm)
100
1000
5000
3 10 100
400
t5
t0
t0
t2
t10
t20
t25
t40
t15
t50
t30
t0
t25 3Z4S-LE
ML-5018
ML-7527
ML-10035
t20
t25
t35
t45
t50
t60
t40
t35 t30
t40 t35 t30
t45
t5 t2
t0.5
t10
t1.5
t1
t2
t5
t10
t15
t20
t15
Dimensions (Unit: mm)
11
Controller Integrated with LCD
FZD-50@-10
Box-type Controller
FZD-55@-10
3D Vision Camera
FZD-STC2M
High-luminance Pattern Lighting
FZD-LTW/LTPW
3D Camera Base Plate
FZD-CBS
FZD-CBM/CBL
170
175
57.50
24
30
63
4
68
198
188
36
48
70
42
56
40
Note: For information on LCD Monitor specifications and dimensions, refer to the FZ2 Series Catalog (Cat. No. Q155).
Digital Camera
Four, M4 mounting holes
with a depth of 5 mm
1/4-20UNC with
a depth of 5 mm
165
90
190
8
11 126
17 80
33
(6.8)
11.5
80 17
1
1
1 126
(15.45)
(68) (68)
100
64
26
13
18 54
(39)
246
296
130
110
7
6
68
Four,
M4 mounting holes
with a depth of 6 mm
(7)
(6)
+
+
-
-
12.8 (28.4)10
33
(163.5)
104
20
120 120
20
120 120
308
260
3.50
188
68 6
198
36
656
8
40
(34.30)
20°
20°
60
64
50
50
19
Six, M6 Allen bolts
(16.90)
33
9.30
46
10
90 10
11.30
(5.90)
L
L: FZD-CBM 500 mm
FZD-CBL 800 mm
29
14.5
12
53.5
47
29
14.5
10.5
12
9.5 9.5
10.5
5.5 40.5
Two, M4 mounting holes
with a depth of 5.5 mm
1/4-20UNC with a depth of 5.5 mm
28
28
6.5
24
C mount
Three, M2 mounting holes
with a depth of 3.0 mm
57.50
47.50
28
38
42
19
52
28°
27°
27°
19
32
Four,
M4 mounting holes
with a depth of 6 mm
Four, M4 mounting holes
with a depth of 6 mm Four, 20 dia.
Four, M4
mounting
holes
with a depth
of 6 mm
Two, 34 dia.
Four, 4.60 dia.
FZ-S2M
FZ-SC2M
Three, M2 mounting holes
with a depth of 3.0 mm
Four, M4
Four, 4.60 dia.
1/4 20UNC
25
31
556.5 75
24 dia. (4.9 dia.)
70
40
65 45
dia. 28
dia.
(1000)
(21.1)
(100)
(3.1 dia.)
27.5
20
10
6-4.5 dia.
55 37
50
64
5
C mount
Six, M4 mounting holes
with a depth of 5 mm
1/4-20UNC with
a depth of 5 mm
This document provides information mainly for selecting suitable models. Please read the User's Manual (Z275) carefully for information
that the user must understand and accept before purchase, including information on warranty, limitations of liability, and precautions.
Authorized Distributor:
In the interest of product improvement,
specifications are subject to change without notice.
OMRON Industrial Automation Global: www.ia.omron.com
OMRON Corporation
Industrial Automation Company
Regional Headquarters
OMRON EUROPE B.V.
Sensor Business Unit
Carl-Benz-Str. 4, D-71154 Nufringen,
Germany
Tel: (49) 7032-811-0/Fax: (49) 7032-811-199
OMRON ELECTRONICS LLC
One Commerce Drive Schaumburg,
IL 60173-5302 U.S.A.
Tel: (1) 847-843-7900/Fax: (1) 847-843-7787
OMRON ASIA PACIFIC PTE. LTD.
No. 438A Alexandra Road # 05-05/08 (Lobby 2),
Alexandra Technopark, Singapore 119967
Tel: (65) 6835-3011/Fax: (65) 6835-2711
OMRON (CHINA) CO., LTD.
Room 2211, Bank of China Tower,
200 Yin Cheng Zhong Road,
PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200
Sensing Devices Division H.Q.
Application Sensors Division
Shiokoji Horikawa, Shimogyo-ku,
Kyoto, 600-8530 Japan
Tel: (81) 75-344-7068/Fax: (81) 75-344-7107
Cat. No. Q156-E1 Printed in Japan
CSM_1_3_0412
