7.1 - iRVision 3D Part 1 - Setting Up the Camera
This video introduces the setup process for FANUC’s iRVision 3D sensor, enabling the CRX collaborative robot to locate and pick unfixtured parts in three-dimensional space. Unlike 2D vision, which is ideal for flat parts on a work surface, 3D vision allows the robot to detect parts with varying heights, shapes, and orientations.
The training begins with an overview of mounting options. The 3D sensor can be either robot-mounted for flexible positioning or fixed-mounted to reduce cycle time. In this module, the focus is on robot-mounted configuration. Users are guided through connecting the sensor to the robot’s wrist and controller using dedicated camera cables. Safety is emphasized — always power down the robot before making any connections.
Once the hardware is connected, the video walks through the camera initialization and calibration process using the program editor. Users drag the Find One and Pick Place (Vision) icons into the timeline and access the camera setup interface. A calibration grid is placed within the sensor’s field of view to establish spatial reference points.
Key steps include:
- Selecting grid spacing based on the calibration grid used.
- Adjusting robot speed to ensure safe movement during calibration.
- Executing the calibration routine, during which the robot automatically moves to learn the spatial relationship between the sensor and the work surface.
Upon successful calibration, users receive confirmation and can remove the grid. This setup enables the CRX robot to accurately detect and interact with complex, unfixtured parts in 3D space.
In the next module, users will learn how to train the vision system to identify specific parts and program the robot to pick them using the 3D sensor.
