FQ-M Series

Smart camera to guide your robot!

The new FQ-M series is a vision sensor designed specifically for Pick & Place applications. It comes with EtherCAT embedded and can be integrated easily into any environment. The FQ-M is compact, fast and includes an incremental encoder input for easy tracking calibration.
Omron's Sysmac Studio software is the perfect tool for configuring the FQ-M and is complemented by the TouchFinder console for on-site monitoring.

Easy set-up & integration

With intelligent wizards for calibration and communication integration into your machine is easier than ever. The FQ-M communicates with all devices via EtherCAT, or standard Ethernet. The communication wizard lets you easily configure any robot protocol both as a server or as a client without complex programming.

Fast detection & high stability

The FQ-M can detect up to 32 pieces at once and more than 5000 pieces per minute. The new contour based search algorithm ensures the highest reliability.

"On-the-fly" tracking

Synchronized control is even easier, because the FQ-M vision sensor has an in-built encoder input for accurate conveyor tracking and easy calibration. The FQ-M is able to output position coordinates and the correlative encoder values and is able to manage the object queue, so that no object's coordinates are duplicated.

Easy set-up & integration with motion

Programable out put format for your pick & place robot

Configuration as a server or as a client without complex programming.

Sysmac Studio for fast configuration

The Vision Editor of the Sysmac Studio software will help you to program the optimum vision setting. Intuitive and icon driven set-up and configuration.

TouchFinder for monitoring on-site

With the intuitive TouchFinder console - which fits in the palm of your hand - you can access all functions and settings quickly and easily.

Fast detection and high stability

The new contour based search algorithm offers unique performance for pick & place applications.
Changing lighting conditions, reflection, object inclination or partially hidden objects are no longer a problem. The FQ-M delivers a stable result even at high speed, no matter how many objects have to be detected at the same time.

Best in class performance

High-speed processing

5000 pcs/min with 360° detection.

Only 15 ms time difference, detecting 10 objects or 30 objects at once.

Stable and reliable detection, even if objects are overlapped or partially hidden.

Changing light conditions have no influence on the position accuracy.

Encoder input for simplified calibration & tracking

Panorama view - Parameter setting for ideal object detection

A panoramic view can be created from 3 different images, allowing easy parameter optimisation.

Objects that overlap within more than one field of view are segregated and only inserted in the picking queue once.

First shot

The position and orientation of objects 1, 2 and 3 is detected and added to the picking queue.

Next shot

Object 2, 3 and 4 are detected, but only the data of object 4 is evaluated. Position and orientation of objects 2 and 3 is ignored because they were already added to the queue with the shot before.

last update: November 01, 2016

Sensors

Type		EtherCAT communication function not provided		EtherCAT communication function provided
Type		Color	Monochrome	Color	Monochrome
Model	NPN	FQ-MS120	FQ-MS120-M	FQ-MS120-ECT	FQ-MS120-M-ECT
Model	PNP	FQ-MS125	FQ-MS125-M	FQ-MS125-ECT	FQ-MS125-M-ECT
Field of vision, Installation distance		Selecting a lens according to the field of vision and installation distance. Refer to the "Optical Chart" on Catalog.
Main functions	Inspection items	Shape search, Search, Labeling, Edge position
	Number of simultaneous inspections	32
	Number of registered scenes	32 *1
Image input	Image processing method	Real color	Monochrome	Real color	Monochrome
	Image elements	1/3-inch color CMOS	1/3-inch monochrome CMOS	1/3-inch color CMOS	1/3-inch monochrome CMOS
	Image filter	High dynamic range (HDR) and white balance	High dynamic range (HDR)	High dynamic range (HDR) and white balance	High dynamic range (HDR)
	Shutter	Electronic shutter; select shutter speeds from 1/10 to 1/30000 (sec)
	Processing resolution	752 (H) ✕ 480 (V)
	Pixel size	6.0 (μm) ✕ 6.0 (μm)
	Frame rate (image read time)	60fps (16.7ms)
External Lightings	Connecting method	Connection via a strobe light controller
External Lightings	Connectable lighting	FL series
Data logging	Measurement data	In Sensor: Max. 32000 items *2
Data logging	Images	In Sensor: 20 images *2
Measurement trigger		I/O trigger, Encoder trigger, Communications trigger (Ethernet No-protocol, PLC Link, or EtherCAT)
I/O specifi- cations	Input signals	9 signals Single measurement input (TRIG) Error clear input (IN0) Encoder counter reset input (IN1) Encoder input (A±, B±, Z±) *4
	Output signals	5 signals *3 OUT0 Overall judgement output (OR) OUT1 Control output (BUSY) OUT2 Error output (ERROR) OUT3 (Shutter output: SHTOUT) OUT4 (Strobe trigger output: STGOUT)
	Ethernet specifications	100BASE-TX/10BASE-TX
	EtherCAT specifications	---		Dedicated protocol for EtherCAT 100BASE-TX
	Connection method	Special connector cables Power supply and I/O: 1 special connector I/O cable Touch Finder, Computer and Ethernet: 1 Ethernet cable EtherCAT: 2 EtherCAT cable
LED display		OR: Judgment result indicator ERR: Error indicator BUSY: BUSY indicator ETN: Ethernet communications indicator
LED display	EtherCAT display	---		L/A IN (Link/Activity IN) ✕ 1 L/A OUT (Link/Activity OUT) ✕ 1 RUN ✕ 1 ERR ✕ 1
Ratings	Power supply voltage	21.6 to 26.4 VDC (including ripple)
	Insulation resistance	Between all lead wires and case: 0.5 MΩ (at 250 V)
	Current consumption	450mA max. (When the FL-series Strobe controller and lighting are used.) 250mA max. (When external lighting is not used.)
Environ- mental immunity	Ambient temperature range	Operating: 0 to 50 °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 gas
	Vibration resistance (destruction)	10 to 150 Hz, single amplitude: 0.35 mm, X/Y/Z directions, 8 min each, 10 times
	Shock resistance (destruction)	150 m/s² 3 times each in 6 direction (up, down, right, left, forward, and backward)
	Degree of protection	IEC60529 IP40
Materials		Case: alminium die casting, Rear cover: alminium plate
Weight		Approx. 390 g (Sensor only)		Approx. 480 g (Sensor only)
Accessories		Instruction Manual

*1 The maximum number of resisterable scenes depends on settings due to restrictions on memory.
*2 If a Touch Finder is used, results can be saved up to the capacity of an SD card.
*3 The five output signals can be allocated for the judgements of individual inspection items.
*4 Encoder input specifications

Pulse input Specifications (When an open collector type encoder is used.)

Item		Specification
Input voltage		24 VDC ±10%	12 VDC ±10%	5 VDC ±5%
Input current		4.8 mA (at 24 VDC, typical value)	2.4 mA (at 12 VDC, typical value)	1.0 mA (at 5 VDC, typical value)
NPN	*ON voltage 1**	4.8 V max.	2.4 V max.	1.0 V max.
NPN	*OFF voltage 2**	19.2 V min.	9.6 V min.	4.0 V min.
PNP	*ON voltage 1**	19.2 V min.	9.6 V min.	4.0 V min.
PNP	*OFF voltage 2**	4.8 V max.	2.4 V max.	1.0 V max.
Maximum response frequency *3		50 kHz (I/O cable: when the FQ-MWD005 or FQ-MWDL005 cables is used.) 20 kHz (I/O cable: when the FQ-MWD010 or FQ-MWDL010 cables is used.)
Input impedance		5.1 kΩ

*1 ON voltage: Voltage to change from OFF to ON state. The ON voltage is the difference of voltages between the GND
terminal of the encoder power terminals and each input terminal.
*2 OFF voltage: Voltage to change from ON to OFF state. The ON voltage is the difference of voltages between the GND
terminal of the encoder power terminals and each input terminal.
*3 Select maximum response frequency depending on length of the encoder cable and response frequency of the
encoder.

Pulse input Specifications (When a line-driver output type encoder is used.)

Item	Specification
Input voltage	EIA standard RS-422-A line driver level
*Input impedance 1**	120 Ω ±5%
Differential input voltage	0.2 V min.
Hysteresis voltage	50 mV
*Maximum response frequency 2**	200 kHz (I/O cable: when the FQ-MWD005, FQ-MWDL005, FQ-MWD010, or FQ-MWDL010 cables is used.)

*1 When terminating resistance function is used.
*2 Select maximum response frequency depending on length of the encoder cable and response frequency of the
encoder.

Touch Finder

Type			Model with DC power supply	Model with AC/DC/battery power supply
Model			FQ-MD30	FQ-MD31
Number of connectable Sensors			2 max.
Main functions	Types of measurement displays		Last result display, Last NG display, trend monitor, histograms
	Types of display images		Through, frozen, zoom-in, and zoom-out images
	Data logging		Measurement results, measured images
	Menu language		English, Japanese
Indications	LCD	Display device	3.5-inch TFT color LCD
		Pixels	320 ✕ 240
		Display colors	16,777,216
	Backlight	*Life expectancy 1**	50,000 hours at 25 °C
		Brightness adjustment	Provided
		Screen saver	Provided
	Indicators	Power indicator (color: green)	POWER
		Error indicator (color: red)	ERROR
		SD card access indicator (color: yellow)	SD ACCESS
		Charge indicator (color: orange)	---	CHARGE
Operation interface	Touch screen	Method	Resistance film
Operation interface	Touch screen	*Life expectancy 2**	1,000,000 operations
External interface	Ethernet		100 BASE-TX/10 BASE-T
External interface	SD card		Omron SD card (Model: HMC-SD291/SD491) or a SDHC card of Class4 or higher rating is recommended.
Ratings	Power supply voltage	DC power connection	20.4 to 26.4 VDC (including ripple)
		AC adapter connection	---	100 to 240 VAC, 50/60 Hz
		Battery connection	---	FQ-BAT1 Battery (1 cell, 3.7 V)
	Continuous operation on Battery *3		---	1.5 h
	Current consumption		DC power connection: 0.2 A
	Insulation resistance		Between all lead wires and case: 0.5 MΩ (at 250 V)
Environ- mental immunity	Ambient temperature range		Operating: 0 to 50 °C Storage: -25 to 65 °C (with no icing or condensation)	Operating: 0 to 50 °C when mounted to DIN Track or panel 0 to 40 °C when operated on a Battery Storage: -25 to 65 °C (with no icing or condensation)
	Ambient humidity range		Operating and storage: 35% to 85% (with no condensation)
	Ambient atmosphere		No corrosive gas
	Vibration resistance (destruction)		10 to 150 Hz, single amplitude: 0.35 mm, X/Y/Z directions 8 min each, 10 times
	Shock resistance (destruction)		150 m/s² 3 times each in 6 direction (up, down, right, left, forward, and backward)
	Degree of protection		IEC 60529 IP20
Dimensions			95 ✕ 85 ✕ 33 mm
Materials			Case: ABS
Weight			Approx. 270 g (without Battery and hand strap)
Accessories			Touch Pen (FQ-XT), Instruction Manual

*1 This is a guideline for the time required for the brightness to diminish to half the initial brightness at room temperature
and humidity. No guarantee is implied. The life of the backlight is greatly affected by the ambient temperature and
humidity. It will be shorter at lower or higher temperatures.
*2 This value is only a guideline. No guarantee is implied. The value will be affected by operating conditions.
*3 This value is only a guideline. No guarantee is implied. The value will be affected by the operating environment and
operating conditions.

Battery Specifications

Model	FQ-BAT1
Battery type	Secondary lithium ion battery
Nominal capacity	1800 mAh
Rated voltage	3.7 V
Dimensions	35.3 × 53.1 × 11.4 mm
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)
Charging method	Charged in Touch Finder (FQ-MD31). AC adapter (FQ-AC[])is required.
*Charging time 1**	2.0 h
*Battery backup life 2**	300 charging cycles
Weight	50 g max.

*1 This value is only a guideline. No guarantee is implied. The value will be affected by operating conditions.
*2 This is a guideline for the time required for the capacity of the Battery to be reduced to 60% of the initial capacity. No
guarantee is implied. The value will be affected by the operating environment and operating conditions.

Sysmac Studio

Item	Requirement
Operating system (OS) 1, 2 Japanese or English system	Windows 7 (32-bit/64-bit version)/Windows 8 (32-bit/64-bit version)/ Windows 8.1 (32-bit/64-bit version)/Windows 10 (32-bit/64-bit version)
CPU	Windows computers with Celeron 540 (1.8 GHz) or faster CPU. Core i5 M520 (2.4 GHz) or equivalent or faster recommended
Main memory	2GB min.
Hard disk	At least 1.6 GB of available space *3
Display	XGA 1024 ✕ 768, 1600 million colors. WXGA 1280 ✕ 800 min. recommended
Disk drive	DVD-ROM drive
Communications ports	USB port corresponded to USB 2.0, or Ethernet port

*1 Sysmac Studio Operating System Precaution:
System requirements and hard disk space may vary with the system environment.
*2 The following restrictions apply when Sysmac Studio is used with Microsoft Windows 7 or Windows 8.
   Some Help files cannot be accessed.
   The Help files can be accessed if the Help program distributed by Microsoft for Windows (WinHlp32.exe) is installed.
   Refer to the Microsoft homepage listed below or contact Microsoft for details on installing the file. (The download
   page is automatically displayed if the Help files are opened while the user is connected to the Internet.)
   http://support.microsoft.com/kb/917607/en-us
*3 To use the file logging function, additional memory area to save the logging data is necessary.

FQ-M Series EtherCAT Communications Specifications

Item	Specifications
Communications standard	IEC 61158 Type12
Physical layer	100BASE-TX (IEEE802.3)
Connector	M12 ✕ 2 E-CAT IN: EtherCAT (IN) E-CAT OUT: EtherCAT (OUT)
Communications media	Use the cables for FQ-MWN[][], or FQ-WN[][] series.
Communications distance	Use the communication cable within the length of FQ-MWN[][] or FQ-WN[][] series cables.
Process data	Variable PDO Mapping
Mailbox (CoE)	Emergency messages, SDO requests, SDO responses, and SDO information
Distributed clock	Synchronization with DC mode 1
LED display	L/A IN (Link/Activity IN) × 1, L/A OUT (Link/Activity OUT) × 1, RUN × 1, ERR × 1

last update: November 01, 2016

Sensor

FQ-MS120/MS120-M
FQ-MS125/MS125-M

MOUNTING SCREW HOLES (1)

MOUNTING SCREW HOLES (2)

FQ-MS120-ECT/MS120-M-ECT
FQ-MS125-ECT/MS125-M-ECT

MOUNTING SCREW HOLES (1)

MOUNTING SCREW HOLES (2)

Touch Finder

FQ-MD30/MD31

*1 Provided with FQ-MD31 only.

*2 The dimension of the panel mounting adapter does not include that of a FQ-MD[][].

Panel Mounting Adapter *2