The FQ vision sensor from Omron is a fully-fledged Ethercat slave with two ports for daisy chaining. An Ethernet connection is also available for configuration or reading out image data. Calibration is carried out using a calibration routine. The sensor then outputs all position data in the robot's coordinate system. Using object tracking, the sensor links the position data of an optionally connectable rotary encoder with the image processing coordinates of the objects on the conveyor belt. In this way, the sensor recognizes the objects that have already been detected during the subsequent image acquisition and only sends the coordinates of newly added objects to the pick & place robot. The connection to third-party controllers is made via a flexible data output protocol whose data string can be adapted to the specifications of the controller used. The sensor is available with a monochrome or color CMOS chip with a resolution of 0.36 megapixels and with additional communication interfaces.