This video introduces the process of training the FANUC CRX collaborative robot to locate and pick unfixtured parts using the iRVision 3D vision sensor. Designed for more complex part detection, the 3D sensor enables the robot to identify objects with varying heights and orientations, enhancing flexibility in automated applications.

The training begins with the assumption that the 3DV sensor has already been calibrated. Users place the part in the center of the camera’s field of view and initiate the detection setup. The system guides users through teaching the part by adjusting the magenta box to frame it and removing unwanted edges caused by glare or noise. To ensure reliable detection, at least three examples of the part are added in different positions and orientations.

Once the part is trained, the video walks through setting up the 3D plane measurement tool, which helps the robot understand the spatial relationship between the part and its environment. Users select the correct plane from a list of detected surfaces and finalize the setup.

The next step involves setting a reference position and recording the robot’s snap and pick positions. Using the Pick/Place (Vision) icon in the program editor, users define the robot’s approach, pick, and retreat motions. Speed and height parameters are configured to ensure smooth and safe operation.

Finally, the video demonstrates how to execute the program. The robot uses 3D vision to locate the part, moves to the pick position, activates the gripper, and completes the cycle.

This module equips users with the skills to implement advanced vision-guided automation using the CRX robot and iRVision 3D sensor.

7.2 - iRVision 3D Part 2 - Finding & Picking the Part