< Robot !

R-30+B Plus/R-30+B Mate Plus/R-30+B Compact Plus/R-30+B

Mini Plus CONTROLLER

+RVision 3DV Sensor

OPERATOR'S MANUAL

B-83914EN-3/04

© FANUC CORPORATION, 2019

 • Original Instructions

Thank you very much for purchasing FANUC Robot.

Before using the Robot, be sure to read the "FANUC Robot series SAFETY HANDBOOK
(B-80687EN)" and understand the content.

• No part of this manual may be reproduced in any form.

• All specifications and designs are subject to change without notice.

The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.

In this manual, we endeavor to include all pertinent matters. There are, however, a very
large number of operations that must not or cannot be performed, and if the manual
contained them all, it would be enormous in volume. It is, therefore, requested to assume
that any operations that are not explicitly described as being possible are "not possible".
B-83914EN-3/04 SAFETY PRECAUTIONS

SAFETY PRECAUTIONS
This chapter describes the precautions which must be followed to enable the safe use of the robot. Before
using the robot, be sure to read this chapter thoroughly.

For detailed functions of the robot operation, read the relevant operator's manual to understand fully its
specification.

For the safety of the operator and the system, follow all safety precautions when operating a robot and its
peripheral equipment installed in a work cell.
For safe use of FANUC robots, you must read and follow the instructions in the “FANUC Robot series
SAFETY HANDBOOK (B-80687EN)”.

1 PERSONNEL
Personnel can be classified as follows.

Operator:
• Turns the robot controller power ON/OFF
• Starts the robot program from operator panel

Programmer or Teaching operator:

• Operates the robot
• Teaches the robot inside the safeguarded space

Maintenance technician:
• Operates the robot
• Teaches the robot inside the safeguarded space
• Performs maintenance (repair, adjustment, replacement)

- The operator is not allowed to work in the safeguarded space.

- The programmer or teaching operator and maintenance technician are allowed to work in the
safeguarded space. Work carried out in the safeguarded space include transportation, installation,
teaching, adjustment, and maintenance.
- To work inside the safeguarded space, the person must be trained on proper robot operation.

s-1
SAFETY PRECAUTIONS B-83914EN-3/04

Table 1 (a) lists the work outside the safeguarded space. In this table, the symbol “” means the work
allowed to be carried out by the specified personnel.

Table 1 (a) List of work outside the Safeguarded Space

Programmer or Maintenance
Operator
Teaching operator technician
Turn power ON/OFF to Robot controller   
Select operating mode (AUTO/T1/T2)  
Select remote/local mode  
Select robot program with teach pendant  
Select robot program with external device  
Start robot program with operator’s panel   
Start robot program with teach pendant  
Reset alarm with operator’s panel  
Reset alarm with teach pendant  
Set data on teach pendant  
Teaching with teach pendant  
Emergency stop with operator’s panel   
Emergency stop with teach pendant   
Operator’s panel maintenance 
Teach pendant maintenance 

During robot operation, programming and maintenance, the operator, programmer, teaching operator and
maintenance technician take care of their safety using at least the following safety protectors:

• Use clothes, uniform, overall adequate for the work

• Safety shoes
• Helmet

2 DEFINITION OF SAFETY NOTATIONS

To ensure the safety of users and prevent damage to the machine, this manual indicates each precaution
on safety with "WARNING" or "CAUTION" according to its severity. Supplementary information is
indicated by "NOTE". Read the contents of each "WARNING", "CAUTION" and "NOTE" before
using the robot.

Symbol Definitions
Used if hazard resulting in the death or serious injury of the user will be expected to
WARNING occur if he or she fails to follow the approved procedure.
Used if a hazard resulting in the minor or moderate injury of the user, or equipment
CAUTION damage may be expected to occur if he or she fails to follow the approved
procedure.
Used if a supplementary explanation not related to any of WARNING and CAUTION
NOTE is to be indicated.

s-2
 PREFACE

PREFACE
This chapter describes an overview of this manual. It should be read before operating the iRVision.

1 OVERVIEW OF THE MANUAL

This is a manual for the R-30iB Plus/R-30iB Mate Plus/R-30iB Compact Plus/R-30iB Mini Plus
CONTROLLER iRVision.
This manual describes how to operate sensor functions and create programs after completing the installation
and setup of your robot. For details on basic robot operations, refer to the “OPERATOR’S MANUAL
(Basic Operation) B-83284EN.”
This manual is directed at users who have taken the “iRVision 2D Vision Sensor course” at FANUC
Academy. For details on each setup item, refer to the “iRVision OPERATOR’S MANUAL (Reference) B-
83914EN.”

CAUTION
This manual is based on R-30iB Plus/R-30iB Mate Plus/R-30iB Compact Plus/
R-30iB Mini Plus system software version 7DF5/17. Note that depending on the
software version of your robot controller, some functions or setup items
described in this manual may not exist, some functions or setup items not
described in this manual may exist, and some notations may be different.

Series Chapter Chapter title Main content

Introduction This chapter describes the fundamental items of
Chapter 1 ABOUT iRVision the vision system such as types of camera
mounting methods, types of offset modes, etc.
Setup This chapter describes a summary of three types
Chapter 1 FEATURES
of applications using the 3DV Sensor.
3D FIXED FRAME OFFSET This chapter describes startup procedures of the
Chapter 2
SYSTEM 3D fixed frame offset system.
This chapter describes startup procedures of the
Chapter 3 3D TOOL OFFSET SYSTEM
3D tool offset system.
This chapter describes startup procedures of the
Chapter 4 BIN PICKING SYSTEM
Bin picking system.
Know-How This chapter describes frame setting using the
Chapter 1 FRAME SETTING touch-up pointer, and the frame setting method
using the calibration grid frame setting function.
This chapter describes the data setting method of
Chapter 2 3DV SENSOR DATA SETTING
the 3DV Sensor.
EXAMPLE OF SETTING This chapter describes examples of setting
Chapter 3
ACCORDING TO USAGE according to usage for the 3DV Sensor.
This chapter describes how to troubleshoot if any
Chapter 4 TROUBLESHOOTING
failure happens while using the 3DV Sensor.

Symbol Used in This Manual

The following symbol is used in this manual. Use this symbol to find important information.

Symbol Description
Describes information that provides help for operating screens, explains a function, or gives
Memo information for reference.

B-83914EN-3/04 p-1
PREFACE

Explanation of Teach Pendant Operation

This manual explains each procedure on the assumption that teaching is performed using a teaching PC.
However, some procedures include a description of operation of the teach pendant. The teach pendant can
be operated through touch panel operation, but the procedures using key input, for which the operations are
more complex, are described in this manual.

Simple Mode and Advanced Mode

iRVision provides a simple mode in which setup items with low frequency of use are hidden and an
advanced mode in which all setup items are shown. This manual describes the screens and operations in
the simple mode unless otherwise noted. For details on the Simple Mode and Advanced Mode, refer to the
“iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

2 RELATED MANUALS
This section introduces other manuals that you can refer to when using the functions of iRVision.

Manual Spec. No. Description

OPERATOR’S MANUAL B-83284EN This is the main manual.
(Basic Operation) • Setting the system for manipulating workpieces
• Operating the robot
• Creating and changing a program
• Executing a program
• Status indications
• Backup and restore robot programs.
This manual is used for application design, robot installation,
and robot teaching.
MAINTENANCE MANUAL B-83195EN This manual describes the maintenance and connection of the
R-30iB/R-30iB Plus Controller.
MAINTENANCE MANUAL B-83525EN This manual describes the maintenance and connection of the
R-30iB Mate/R-30iB Mate Plus Controller.
MAINTENANCE MANUAL B-83555EN This manual describes the maintenance and connection of R-
30iB Mate/R-30iB Mate Plus Controller (Open Air Type).
MAINTENANCE MANUAL B-84035EN This manual describes the maintenance and connection of the
R-30iB Compact Plus Controller.
MAINTENANCE MANUAL B-84175EN This manual describes the maintenance and connection of the
R-30iB Mini Plus Controller.
OPERATOR’S MANUAL B-83284EN-1 This is the alarm code list for the controller.
(Alarm Code List) This manual describes the causes of alarm occurrence and the
measures to be taken.
Optional Function B-83284EN-2 This manual describes the software options for the robot
OPERATOR’S MANUAL controller.
Sensor Mechanical/Control B-83984EN This manual describes the method for connecting the controller
unit and sensors such as a camera or 3D Laser Vision Sensor used
OPERATOR’S MANUAL for iRVision and the sensor maintenance method.
iRVision OPERATOR’S B-83914EN This manual is the reference manual for iRVision.
MANUAL • This manual describes each function provided by
(Reference) iRVision.
• When you would like to know the meanings (i.e., items
on the iRVision setup screen, the arguments of an
instruction, and so on), refer to this manual.

p-2 B-83914EN-3/04
 PREFACE

Manual Spec. No. Description

iRVision 2D Vision Application B-83914EN-2 This manual should be referenced first when starting up robot
OPERATOR’S MANUAL systems that perform a 2D offset or a 2.5D offset using
iRVision.
• This manual describes system startup procedures,
program creation methods, cautions, technical know-
how, responses to various cases, etc. when
performing a 2D offset or a 2.5D offset using iRVision.
iRVision Bin Picking B-83914EN-6 This manual should be referenced first when starting up a robot
Application system that performs bin picking using the iRVision.
OPERATOR’S MANUAL • This manual describes system startup procedures,
program creation methods, cautions, technical know-
how, responses to various cases, etc. when
performing bin picking using iRVision.
iRPickTool OPERATOR’S B-83924EN This manual should be referenced first when starting up a robot
MANUAL system that performs visual tracking using iRVision.
• This manual describes system startup procedures,
program creation methods, cautions, technical know-
how, responses to various cases, etc. when
performing visual tracking using iRVision.
Ethernet Function Operator’s B-82974EN This manual describes the network options for the robot
Manual controller, such as FTP, RIPE, and PC share.
Tablet UI OPERATOR’S B-84274EN Connection method of a tablet TP and how to teach a robot
MANUAL and iRVision with a tablet TP.

B-83914EN-3/04 p-3
 TABLE OF CONTENTS

TABLE OF CONTENTS
SAFETY PRECAUTIONS ............................................................................ s-1

PREFACE ....................................................................................................p-1

Introduction
1 ABOUT iRVision .................................................................................... 3
1.1 iRVision ......................................................................................................... 3
1.2 BASIC CONFIGURATION ............................................................................. 3
1.3 FIXED CAMERA AND ROBOT-MOUNTED CAMERA .................................. 4
1.4 FIXED FRAME OFFSET AND TOOL OFFSET ............................................. 5
1.5 COORDINATE SYSTEMS USED FOR iRVision ........................................... 6
1.6 CALIBRATION GRID ..................................................................................... 9
1.7 MEMORY CARD PREPARATION ............................................................... 10

Setup
1 FEATURES ........................................................................................... 13
2 3D FIXED FRAME OFFSET SYSTEM .................................................. 15
2.1 3D SINGLE-VIEW FIXED FRAME OFFSET SYSTEM USING ROBOT-
MOUNTED CAMERA .................................................................................. 15
2.1.1 Installation and Connection of 3DV Sensor ........................................................... 16
2.1.2 User Frame Setting ................................................................................................. 16
2.1.3 3DV Sensor Data Setting ....................................................................................... 17
2.1.4 Tool Frame Setting ................................................................................................. 17
2.1.5 Setting up Vision Process ....................................................................................... 17
2.1.5.1 Editing vision process ........................................................................................ 17
2.1.5.2 Setting parameters of vision process.................................................................. 18
2.1.5.3 Teaching Snap Tool ........................................................................................... 19
2.1.5.4 Teaching Depth Snap Tool ................................................................................ 20
2.1.5.5 Setting parameters of 3D Data Generator Tool.................................................. 20
2.1.5.6 Teaching GPM Locator Tool ............................................................................. 22
2.1.5.7 Setting up 3D Plane Measurement Tool ............................................................ 24
2.1.5.8 Setting reference position .................................................................................. 26
2.1.6 Editing TP Program ................................................................................................ 27
2.1.7 Checking Robot Offset Operation .......................................................................... 28
2.2 3D SINGLE-VIEW FIXED FRAME OFFSET SYSTEM USING FIXED
CAMERA ..................................................................................................... 29
2.2.1 Installation and Connection of 3DV Sensor ........................................................... 29
2.2.2 User Frame Setting ................................................................................................. 30
2.2.3 3DV Sensor Data Setting ....................................................................................... 31
2.2.4 Tool Frame Setting ................................................................................................. 31
2.2.5 Setting up Vision Process ....................................................................................... 31
2.2.5.1 Editing vision process ........................................................................................ 31
2.2.5.2 Setting parameters of vision process.................................................................. 32

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TABLE OF CONTENTS
2.2.5.3 Teaching Snap Tool ........................................................................................... 32
2.2.5.4 Teaching Depth Snap Tool ................................................................................ 33
2.2.5.5 Setting parameters of 3D Data Generator Tool.................................................. 34
2.2.5.6 Teaching GPM Locator Tool ............................................................................. 35
2.2.5.7 Setting up 3D Plane Measurement Tool ............................................................ 38
2.2.5.8 Setting reference position .................................................................................. 40
2.2.6 Editing TP Program ................................................................................................ 41
2.2.7 Checking Robot Offset Operation .......................................................................... 42
2.3 3D MULTI-VIEW FIXED FRAME OFFSET SYSTEM USING ROBOT-
MOUNTED CAMERA .................................................................................. 43
2.3.1 Installation and Connection of 3DV Sensor ........................................................... 43
2.3.2 User Frame Setting ................................................................................................. 44
2.3.3 3DV Sensor Data Setting ....................................................................................... 45
2.3.4 Tool Frame Setting ................................................................................................. 45
2.3.5 Creating and Setting up Vision Process ................................................................. 45
2.3.5.1 Creating a new vision process............................................................................ 45
2.3.5.2 Setting parameters of vision process.................................................................. 47
2.3.5.3 Determining measurement point for each camera view ..................................... 48
2.3.5.4 Setting up Camera View 1 ................................................................................. 49
2.3.5.5 Teaching Snap Tool ........................................................................................... 50
2.3.5.6 Teaching Depth Snap tool.................................................................................. 51
2.3.5.7 Setting parameters of 3D Data Generator Tool.................................................. 52
2.3.5.8 Teaching GPM Locator Tool ............................................................................. 53
2.3.5.9 Setting up 3D Plane Measurement Tool ............................................................ 55
2.3.5.10 Running a test for Camera View 1 ..................................................................... 57
2.3.5.11 Setting up Camera Views 2 to 4 ........................................................................ 58
2.3.5.12 Setting reference position .................................................................................. 58
2.3.6 Creating and Teaching a TP Program .................................................................... 59
2.3.7 Checking Robot Offset Operation .......................................................................... 61

3 3D TOOL OFFSET SYSTEM ................................................................ 62

3.1 3D SINGLE-VIEW TOOL OFFSET SYSTEM USING A FIXED CAMERA ... 62
3.1.1 Installation and Connection of 3DV Sensor ........................................................... 62
3.1.2 Creating and Setting up 3DV Sensor Data ............................................................. 63
3.1.3 Tool Frame Setting ................................................................................................. 63
3.1.4 Setting up Vision Process ....................................................................................... 64
3.1.4.1 Editing vision process ........................................................................................ 64
3.1.4.2 Setting parameters of vision process.................................................................. 65
3.1.4.3 Teaching Snap Tool ........................................................................................... 66
3.1.4.4 Teaching Depth Snap Tool ................................................................................ 67
3.1.4.5 Setting parameters of 3D Data Generator Tool.................................................. 67
3.1.4.6 Teaching GPM Locator Tool ............................................................................. 69
3.1.4.7 Setting up 3D Plane Measurement Tool ............................................................ 71
3.1.4.8 Setting reference position .................................................................................. 73
3.1.5 Editing TP Program ................................................................................................ 74
3.1.6 Checking Robot Offset Operation .......................................................................... 76
3.2 3D MULTI-VIEW TOOL OFFSET SYSTEM USING A FIXED CAMERA ..... 77
3.2.1 Installation and Connection of 3DV Sensor ........................................................... 77
3.2.2 Creating and Setting up 3DV Sensor Data ............................................................. 78
3.2.3 Tool Frame Setting ................................................................................................. 78
3.2.4 Creating and Setting up Vision Process ................................................................. 79
3.2.4.1 Creating a new vision process............................................................................ 79
3.2.4.2 Setting parameters of vision process.................................................................. 80
3.2.4.3 Determining the measurement point for each camera view ............................... 81
3.2.4.4 Setting up Camera View 1 ................................................................................. 82
3.2.4.5 Teaching Snap Tool ........................................................................................... 83

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 TABLE OF CONTENTS
3.2.4.6 Teaching Depth Snap Tool ................................................................................ 84
3.2.4.7 Setting parameters of 3D Data Generator Tool.................................................. 85
3.2.4.8 Teaching GPM Locator Tool ............................................................................. 86
3.2.4.9 Setting up 3D Plane Measurement Tool ............................................................ 88
3.2.4.10 Running a test for Camera View 1 ..................................................................... 90
3.2.4.11 Setting up Camera Views 2 to 4 ........................................................................ 91
3.2.4.12 Setting reference position .................................................................................. 91
3.2.5 Creating and Teaching a TP Program .................................................................... 92
3.2.6 Checking Robot Offset Operation .......................................................................... 94

4 BIN PICKING SYSTEM ......................................................................... 95

4.1 INSTALLATION AND CONNECTION OF 3DV SENSOR ............................ 96
4.2 USER FRAME SETTING ............................................................................. 97
4.3 CREATING AND SETTING UP 3DV SENSOR DATA................................. 97
4.4 TOOL FRAME SETTING ............................................................................. 97
4.5 SETUP OF INTERFERENCE AVOIDANCE DATA ..................................... 97
4.5.1 Setup of Interference Setup (System) Data ............................................................ 98
4.5.2 Setup of Interference Setup (Robot) Data .............................................................. 99
4.5.3 Setup of Interference Setup (Condition) Data ...................................................... 101
4.6 SETTING UP VISION PROCESS.............................................................. 102
4.6.1 Editing Vision Process ......................................................................................... 102
4.6.2 Setting Parameters of Vision Process ................................................................... 103
4.6.3 Teaching Depth Snap Tool ................................................................................... 104
4.6.4 Setting Parameters of 3D Data Generator Tool .................................................... 105
4.6.5 Setting Parameters of 3D Blob Locator Tool ....................................................... 107
4.7 SETUP OF PARTS LIST MANAGER ........................................................ 109
4.7.1 Selection of Parts List........................................................................................... 109
4.7.2 Setting SEARCH VP List..................................................................................... 110
4.7.3 Setting PICK Position List ................................................................................... 111
4.7.4 Setting PICK Position with Set Reference Wizard .............................................. 112
4.8 EDITING TP PROGRAM ........................................................................... 116
4.8.1 Flow Chart of TP Program ................................................................................... 116
4.8.2 Register Setting Table .......................................................................................... 117
4.8.3 Batch Input of Register Comments ...................................................................... 118
4.8.4 Editing TP Program .............................................................................................. 119
4.9 CHECKING ROBOT OFFSET OPERATION ............................................. 121

Know-How
1 FRAME SETTING ............................................................................... 125
1.1 FRAME SETTING WITH POINTER TOOL ................................................ 125
1.1.1 User Frame Setting ............................................................................................... 125
1.1.1.1 TCP set up ....................................................................................................... 125
1.1.1.2 Setting method types and procedures .............................................................. 132
1.1.2 Tool Frame Setting ............................................................................................... 144
1.2 FRAME SETTING WITH GRID FRAME SETTING FUNCTION ................ 153
1.2.1 Setting Procedure Using Camera Data Edit Screen.............................................. 155
1.2.1.1 Mounting calibration grid ................................................................................ 155
1.2.1.2 Editing the camera data.................................................................................... 157
1.2.1.3 Teaching start position ..................................................................................... 157
1.2.1.4 Running measurement ..................................................................................... 159
1.2.2 Setting Procedure Using iRVision Utilities Screen .............................................. 161
1.2.2.1 Mounting calibration grid ................................................................................ 161
1.2.2.2 Setting parameters ........................................................................................... 164

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TABLE OF CONTENTS
1.2.2.3 Teaching start position ..................................................................................... 167
1.2.2.4 Running measurement ..................................................................................... 168

2 3DV SENSOR DATA SETTING .......................................................... 171

2.1 3DV SENSOR MOUNTING POSITION SETUP WITH ROBOT-MOUNTED
CAMERA ................................................................................................... 171
2.1.1 Editing 3DV Sensor Data ..................................................................................... 172
2.1.2 2D Setup ............................................................................................................... 173
2.1.3 3D Setup ............................................................................................................... 175
2.1.4 Parameter Setup .................................................................................................... 176
2.1.5 Fixture Position Setup .......................................................................................... 177
2.1.6 Mounting Position Setup ...................................................................................... 178
2.1.7 Checking Mounting Position Setup Result........................................................... 179
2.2 3DV SENSOR MOUNTING POSITION SETUP WITH FIXED CAMERA .. 180
2.2.1 Editing 3DV Sensor Data ..................................................................................... 182
2.2.2 2D Setup ............................................................................................................... 183
2.2.3 3D Setup ............................................................................................................... 185
2.2.4 Parameter Setup .................................................................................................... 186
2.2.5 Fixture Position Setup .......................................................................................... 187
2.2.6 Mounting Position Setup ...................................................................................... 188
2.2.7 Checking Mounting Position Setup Result........................................................... 190

3 EXAMPLE OF SETTING ACCORDING TO USAGE .......................... 191

3.1 SENSOR ................................................................................................... 191
3.1.1 Improving Detection Performance ....................................................................... 191
3.2 ROBOT-MOUNTED CAMERA .................................................................. 191
3.2.1 Moving Search Window of 3D Command Tool with Robot-Mounted Camera
According to Robot’s Snap Position .................................................................... 191
3.2.2 Fixing Search Window of 3D Command Tool with Robot-Mounted Camera
Regardless of Robot’s Snap Position ................................................................... 192
3.3 3DV SENSOR STITCHING ....................................................................... 193
3.3.1 Setting up Vision Process ..................................................................................... 194
3.3.1.1 Creating vision process .................................................................................... 194
3.3.1.2 Setting parameters of vision process................................................................ 195
3.3.1.3 Camera View 1 setup ....................................................................................... 195
3.3.1.4 Camera View 2 setup ....................................................................................... 196
3.3.1.5 Setting Stitching............................................................................................... 197
3.3.1.6 Setting reference position ................................................................................ 198
3.3.2 TP Program........................................................................................................... 198
3.3.3 Other Applications ............................................................................................... 199
3.4 BIN PICKING ............................................................................................. 199
3.4.1 Setting Container Larger Than Field of View of 3DV Sensor ............................. 199
3.4.2 Using Robot-Mounted Camera for Multiple Containers ...................................... 204
3.4.3 Container Position Is Not Fixed ........................................................................... 205
3.4.3.1 Moving container objects for interference avoidance data according to amount of
movement of container .................................................................................... 207
3.4.3.2 Shifting Search Window according to amount of container movement .......... 207
3.5 COMMAND TOOL ..................................................................................... 208
3.5.1 Using 3D Blob Locator Tool for Close Contact Parts .......................................... 208

4 TROUBLESHOOTING ........................................................................ 209

4.1 DISTANCE CANNOT BE MEASURED ..................................................... 209

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 1

Introduction

1 ABOUT iRVision
Introduction 1. ABOUT iRVision

1 ABOUT iRVision
1

This chapter explains offsetting the robot motion using iRVision (integral Robot Vision). iRVision is an
image processing function integrated in a robot controller. It finds parts in an image snapped from a camera,
offsets the robot motion and measures the features of the part. This chapter explains offsetting the robot
motion using iRVision (integral Robot Vision).

1.1 iRVision
FANUC robots are teaching-playback robots. In a teaching-playback system, specific tasks are taught to
robots in advance, which then work exactly as they are taught. A series of instructions that specify what
robots are to do is called a robot program. The process of generating robot programs is called ‘teaching.’
And the act of executing the taught robot programs is called ‘playback.’ Teaching-playback robots play
back the motion just as it was taught. Conversely speaking, what this type of robot can do is limited to what
it is taught in advance. This means that, if you want the robot to manipulate every part in the same way,
you need to place every part in exactly the same position. iRVision is a visual sensor system designed to
eliminate such restrictions. iRVision measures the position of each part by using cameras, and it adjusts the
robot motion so that the robot can manipulate the part in the same way as programmed even if the position
of the part is different from the part position set when the robot program was taught.

iRVision is the vision function integrated into the FANUC robot controller. iRVision incorporates a 2D
Camera that performs a 2D offset and a 3DV Sensor, 3D Area Sensor and 3D Laser Vision Sensor that
perform a 3D offset.

1.2 BASIC CONFIGURATION

iRVision consists of the following components:

2D Camera system 3DV Sensor system

• Robot controller • Robot controller
• Camera & lens • 3DV Sensor
• Camera cable • Camera cable
• Camera multiplexer (used if needed) • Camera multiplexer (used if needed)
• Lighting equipment • Lighting equipment (used if needed)

Basic configuration of iRVision

For how to connect the 3DV Sensor and the robot controller, refer to “Sensor Mechanical Unit/Control Unit
OPERATOR’S MANUAL B-83984EN.” Since the camera and lens used for 2D offset are also used for the
3DV Sensor, 2D offset can be performed using the camera and lens for the 3DV Sensor.

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1. ABOUT iRVision Introduction

1.3 FIXED CAMERA AND ROBOT-MOUNTED CAMERA

The size and position of a part determines where a camera is installed.

Fixed Camera
• A fixed camera is attached to the top of the pedestal or another fixed structure and a part is detected.
• A fixed camera always snaps the same place from the same distance.
• As processes in iRVision can be done in parallel when the robot is carrying out other work, the whole
cycle time can be shortened.
• Use a pedestal for a fixed camera that is sturdy enough to be unaffected by vibrations.

Pedestal

Fixed camera

Fixed Camera

Robot-mounted Camera
• The robot-mounted camera is mounted on the wrist unit of the robot.
• By moving the robot, measurement can be done at different locations between the part and the camera.
• When a robot-mounted camera is used, iRVision calculates the position of the part while taking into
account the camera movement resulting from the robot being moved.
• The camera cable moves according to the robot movement, so be careful so that the cables don’t get
tangled.

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Introduction 1. ABOUT iRVision

1
Robot-mounted camera

Robot-mounted Camera

1.4 FIXED FRAME OFFSET AND TOOL OFFSET

There are two kinds of robot position offset, fixed frame offset and tool offset. iRVision supports both kinds
of robot position offsets.

3D Fixed Frame Offset System

Fixed frame offset snaps an image of a part placed on a table, etc. with the camera, measures the discrepancy,
and corrects the operation of the robot so that it will work on (e.g., grip) the part correctly.

Camera

Part
Plane on which a part moves

Fixed Frame Offset

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1. ABOUT iRVision Introduction

Tool Offset
With tool offset, the workpiece offset is measured in a coordinate frame that moves with the robot tool.
This method is useful for grippers where the part position in the gripper can vary, such as vacuum grippers.
A workpiece held by the robot is viewed by a camera, and the vision system measures its position relative
to the gripper. The robot then offsets its taught positions so that it can manipulate (place, for example) the
workpiece properly.

Camera

Part
Plane on which a part moves

Tool Offset

1.5 COORDINATE SYSTEMS USED FOR iRVision

It is necessary to set up a couple coordinate systems for iRVision.

Coordinate systems used for iRVision

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Introduction 1. ABOUT iRVision

Touch-up Pointer with Setting TCP

Set the TCP (tool frame) accurately on the touch-up pointer installed on the robot gripper. The touch-up 1
pointer with TCP set is used for setting the application frame, installation information of the calibration
grid, and the offset frame.

Offset Frame
An offset frame is a coordinate system used for calculation of the offset data. A found position, etc. of the
part is outputted as a position on the frame set in the offset frame. Set the offset frame in such a way that
the XY plane of the offset frame is parallel to the plane on which a part moves. For the fixed frame offset,
set the offset frame as a user frame. For the tool offset, set the offset frame as a tool frame.

Calibration Grid Frame

Set the information of the calibration grid location in a user frame or tool frame. As shown in the above
figure, when the calibration grid is fixed on a table for calibration, set the installation information in a user
frame. When the calibration grid is installed on the robot end of arm tooling for calibration, set the
installation information in a tool frame.
The installation information of the calibration grid can be set by touch-up using the touch-up pointer with
TCP set. When a robot-mounted camera is used or a calibration grid is mounted on a robot end of arm
tooling, the calibration grid frame setting function can also be used for setting.

Memo
The calibration grid frame setting function sets the calibration grid frame using a
camera. Compared with the manual touch-up setting method, this function offers
a number of merits, including accurate setting of the frame without requiring user
skills, no need for touch-up pointers or to set the TCP for touch-up setting, and
semi-automatic easy operation. In calibration grid frame setting, the calibration
grid is measured from multiple directions by using a camera. For details, refer to
“Know-How: 1.2 FRAME SETTING WITH GRID FRAME SETTING FUNCTION.”

Application Frame
Set the robot’s user frame to be used as a reference for camera calibration. The camera is calibrated for the
frame set in the application frame. In most cases, calibration is performed with reference to the world frame
(user frame number 0) of the robot to be offset. Note that in the following cases, you set the user frame and
then set the user frame number as the application frame.

• In cases where the camera is mounted on a robot other than the robot to be offset.
• In cases where the calibration grid is mounted on a robot other than the robot to be offset.
• In cases where the robot to be offset belongs to another group.

The following figure is an example of the calibration grid being mounted on a robot other than the robot to
be offset. As shown in the following figure, when the robot with the camera mounted and the other robot
with the calibration grid mounted are present, set the common plane as a user frame on both robots, and
make it the application frame (set the same user frame number for each robot). In this example, inter-
controller communication is required between the two robots. For details on communication between robot
controllers, refer to the description of INTER-CONTROLLER COMMUNICATION in “iRVision
OPERATOR’S MANUAL (Reference) B-83914EN.”

B-83914EN-3/04 7
1. ABOUT iRVision Introduction

Camera

Robot with calibration grid

(Robot 2)

Z
Y
X
Robot with a camera Common user frame = Application frame
(Robot 1) (Set the same application frame number for each robot)

Example of the calibration grid being mounted on a robot other than the robot to be offset

8 B-83914EN-3/04
Introduction 1. ABOUT iRVision

1.6 CALIBRATION GRID 1

A calibration grid is a multi-purpose jig that is used for a variety of purposes, such as grid pattern calibration
and calibration grid frame setting.
In iRVision, calibration of a camera is performed using a calibration grid with a default pattern drawn.
When the camera snaps an image of the grid as shown below, iRVision automatically recognizes the
positional relationship of the calibration grid and the camera, lens distortion, the focal distance, etc.

Y Origin

Example of frame using calibration grid

All the black circles of the calibration grid are arrayed in a square lattice. There are four large black circles
near the center that indicate the frame origin and direction as shown in the picture. The ratio of the diameter
of a large black circle to that of other black circles is approximately 10:6.

For the five grid points arranged in the center and at the four corners, there is a white circle with a diameter
of 1 mm placed at the center of the black circle. This white circle is used when setting the frame with touch-
up using the robot's TCP.

Depending on the application, a calibration grid can be used by fixing it to a table or attaching it to the
robot's gripper. In either case, it is necessary to set the arrangement position and direction (mounting
information) of the calibration grid when performing calibration for the camera.

To set up the information for mounting the calibration grid, attach a pointer tool to the robot's gripper and
set it up by physically performing touch-up (calibration grid setting using touch-up), or set it up
automatically without any contact by using a camera and measuring a grid pattern (calibration grid frame
setting).

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1. ABOUT iRVision Introduction

1.7 MEMORY CARD PREPARATION

iRVision can save undetected images to a memory card or a USB memory inserted into the robot controller.
It is recommended that at the time of system start-up and integration, a memory card or a USB memory be
inserted to save undetected images to the memory card or a USB memory. By doing so, the locator tool
parameter can be adjusted using undetected images. Moreover, when the system is reinstalled after being
moved, e.g., camera images before reinstallation, if saved, can be checked against camera images after
reinstallation to see if there are any major differences.
To enable vision log, check “Enable logging” on the iRVision configuration screen. For details, refer to the
description of VISION CONFIG in “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”
Note that even if “Log Failed Images” is set in the vision process, no undetected images can be saved when
no memory card or no USB memory is inserted.
When the free space of the memory device is less than the specified value (1 MB by default), old vision
logs are deleted to make enough free space for writing a new vision log. Even if the free space of the
memory card/USB memory is less than the specified value, files other than vision logs of the vision system
are not deleted. If there are no vision logs that can be deleted, the ‘CVIS-130 No free disk space to log’
alarm is posted and the vision log will not be recorded.

CAUTION
1 As it takes a long time to delete the vision log, we recommend that you regularly
transfer the data for the vision log to your PC and ensure you have sufficient free
space in your memory card or USB memory. For details on how to export the
vision log to an external device or to delete it, refer to the description of VISION
LOG in “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”
2 Data other than a vision log for iRVision may be recorded on a memory card or
USB memory. If the free space drops below the designated capacity, the next
time a vision Process is executed, vision logs will be deleted until the remaining
capacity reaches the designated capacity. Depending on the amount of data that
is deleted, it may take a while to get into a state in which execution of the next
Vision Process can start. E.g., saving a backup to a memory card or USB
memory corresponds to this case.
3 Do not insert a memory card in which a vision log has been recorded using
another robot controller. If you carry out line execution or test execution of a
vision process with the memory card still inserted, the vision log that was
recorded using the original robot controller may be overwritten.
4 Format devices such as memory cards and USB memory to FAT16.
5 If you record images, it may take time to execute detection. Basically, set things
up so that images will not be recorded after you have finished adjustment of the
vision system. For details, refer to the description of VISION LOG in “iRVision
OPERATOR’S MANUAL (Reference) B-83914EN.”

A memory card or a USB memory, when inserted, can be used to back up all data in the robot controller. If
all data in the robot controller is backed up, the vision data can be backed up at the same time. Be sure to
back up all data in the robot controller upon completion of startup or integration.

Moreover, use a memory card provided by FANUC. Use a USB memory recommended by FANUC. If a
memory card or a USB memory other than those recommended is used, normal operation is not guaranteed,
and it may have a bad effect on the controller.

10 B-83914EN-3/04
 1

Setup 4

1 FEATURES
2 3D FIXED FRAME OFFSET SYSTEM
3 3D TOOL OFFSET SYSTEM
4 BIN PICKING SYSTEM
Setup 1. FEATURES

1 FEATURES
1

There are the following offset applications for the 3DV Sensor
1 3D fixed frame offset.
2 3D tool offset
3 Bin Picking

In each offset application, a robot-mounted camera or a fixed camera can be selected.

However, 3D tool offset using robot-mounted camera is not supported.

Chapter 2 and subsequent chapters of this part describe the flow of the startup procedure and the details of
the teaching procedure for the following vision systems using the 3DV Sensor.
1 Robot-mounted camera + 3D fixed frame offset (single-view / multi-view)
2 Fixed camera + 3D fixed frame offset
3 Fixed camera + 3D tool offset (single-view / multi-view)
4 Fixed camera + Bin Picking

In general, multi-view offset has higher accuracy and longer cycle time than single-view offset.

For details on each teaching item, refer to the descriptions of VISION PROCESSES and COMMAND
TOOLS in “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

Layout Example
This section describes a typical system layout of the 3DV Sensor system and provides notes on setup. Use
a robot-mounted camera or a fixed camera.

3DV Sensor

Part

Offset frame

Layout example

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1. FEATURES Setup

Precautions
• With the automatic exposure or multi-exposure function, iRVision can handle changes in brightness
to some extent. In a place where there is a large difference in illumination between day and night,
however, some measures must be taken to keep a certain level of illumination at all times. Major
methods include shutting out the sunlight and installing a fluorescent lamp.
• When lighting such as a fluorescent lamp is installed, the inverter type is suitable. This type has less
variation in brightness when an image is snapped. When lighting is provided for a wider area than the
part installation area, there is less variation in brightness in the image of a part even if the part is tilted.
• To perform fixed frame offset, set a user frame as required. It is recommended that the end of arm
tooling be designed in advance so that a touch-up pin can be mounted.
• To perform tool offset, a calibration grid must be mounted on the robot or teaching part. It is
recommended that the end of arm tooling be designed in advance so that a calibration grid can be
mounted.
• When robot motion offset is performed, the wrist axis may turn by a large angle. Prepare a cable long
enough for such robot behavior.
• If the installation position of the 3DV Sensor is displaced from the right position, accurate offset
cannot be performed. The risk of displacement due to interference and so on can be reduced by
installing a guard for the sensor.
• The 3DV Sensor is designed so that the distance to the part during measurement stays within a certain
range. Check the following points when teaching.
1 Whether the robot can reach all the measurement positions.
2 Whether the hand and the 3DV Sensor do not interfere with peripheral equipment during
measurement.
3 Whether an appropriate measurement distance can be secured.
For the detection range, refer to “Sensor Mechanical/Control unit OPERATOR'S MANUAL B-
83984EN.”
• When the 3DV Sensor is to be mounted on the robot and used as a robot-mounted camera, mount it
on such a place that the sensor does not touch a part, container, or peripheral equipment when the
robot picks up the part as well as when the sensor is used for measurement.

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

2 3D FIXED FRAME OFFSET SYSTEM

2
This chapter describes the procedures of how to set up the 3D fixed frame offset system using a robot-
mounted camera or a fixed camera.

Memo
1 This chapter describes the screens and operations in the simple mode unless
otherwise noted. For details on the Simple Mode and Advanced Mode, refer to
the “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”
2 With a controller that can use a tablet TP, the 3D fixed frame offset system can
also be taught using a tablet TP. For details, refer to “Tablet UI OPERATOR’S
MANUAL B-84274EN.”

3D SINGLE-VIEW FIXED FRAME OFFSET SYSTEM USING

ROBOT-MOUNTED CAMERA
This section explains the setup procedures for the 3D fixed frame offset system using a robot-mounted
camera to measure one location in the figure below as an example.

Part Detection
→3DV Single-View Vision Process

Gripper TCP
→UTOOL[1]

Reference
UFRAME
→UFRAME［1］

Example of a 3D single-view fixed frame offset system configuration using robot-mounted camera

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

Installation and Connection of 3DV Sensor

Installation of the 3DV Sensor
Install the 3DV Sensor on the wrist of the robot.

Connecting the 3DV Sensor

Connect the 3DV Sensor to a robot controller.

Checking the connection of the 3DV Sensor

Open Vision Devices and check that the 3DV Sensor is connected according to the following procedure.

1 On the ROBOT Homepage, select [iRVision] → [Vision Devices], and select the connected 3DV
Sensor on the Vision Devices screen.
2 Click [LIVE] and check that continuously snapped images are displayed.

User Frame Setting

Set the user frame which becomes the reference frame for an offset calculation. Set it on the work table as
shown in the figure below. For how to set up the user frame, refer to “Know-How: 1 FRAME SETTING.”

Z Y

Example of user frame setup

Here, set the user frame to UFRAME [1] as described in the figure ‘Example of a 3D single-view fixed
frame offset system configuration using robot-mounted camera ’ at the beginning of this section.
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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

3DV Sensor Data Setting

To use the 3DV Sensor, the 3DV Sensor must be set using a calibration grid.
Set the mounting position of the robot-mounted camera according to the procedures described in “Know- 2
How: 2.1 3DV SENSOR MOUNTING POSITION SETUP WITH ROBOT-MOUNTED CAMERA.”
This system has pre-installed sample 3DV Sensor Data. It is convenient to configure the settings based on
the sample. This chapter explains the operations assuming that the sample 3DV Sensor Data will be used.

Tool Frame Setting

Set a tool frame in the center of the end of the gripper claw or the pad to pick up a part. This frame is useful
for accurately moving the TCP of the gripper to the part gripping position.
The Z-axis of this frame should be set along the direction in which the gripper approaches the part to be
picked up. The positive direction of the Z-axis should be reversed compared to the direction in which the
gripper approaches a part. Therefore, change the direction to W=180 by the direct list method immediately
after teaching a TCP.
Here, set the TCP of the gripper to UTOOL [1] referring to the figure ‘Example of a 3D single-view fixed
frame offset system configuration using robot-mounted camera ’ at the beginning of this section. For how
to set up the tool frame, refer to “Know-How: 1 FRAME SETTING.”

Setting up Vision Process

Set up a “3DV Single-View Vision Process.”
This system has a pre-installed sample vision process. The following explains the procedure for editing the
settings based on that sample.

Editing vision process

Select the sample vision process and open the edit screen.

1 Click [V_3DV_SAMPLE] in the [Vision Process Tools] category on the vision data list screen.

2 Click [EDIT].
The vision process setup screen appears.

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

Setting parameters of vision process

1
2
3

1 Select [V_3DV_CAM] from the [3DV Sensor] drop-down box.

2 Select [Fixed Frame Offset] from the [Application] drop-down box.
3 Select [1] from the [Offset Frame] drop-down box.
Offset frame is the user frame used for calculation of offset.
Select the user frame number set in “Setup: 2.1.2 User Frame Setting.”
4 Jog the robot to the position where the 3DV Sensor and the offset plane face each other and the offset
plane is within the 3DV Sensor’s field of view.
5 Teach the current position as the part detection position in the robot program.
This system has a pre-installed sample TP program for fixed frame offset. The details are described in
“Setup: 2.1.6 Editing TP Program.” The part measurement position is P [2] on the seventh row in the
sample TP program.

Memo
If you click to switch to advanced mode, you can enable/disable [Camera
Base Find]. When the checkbox of [Camera Base Find] is checked, a part is
found based on the frame of the 3DV Sensor. When mounting the sensor to the
robot, the sensor snap position changes according to the movement of the robot.
For this reason, you should normally enable [Camera Base Find] to find a part.

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

Teaching Snap Tool

Set parameters for snapping 2D images.

Select [Snap Tool 1] in the tree view to open the snap tool teaching screen. In most cases, you can use the
2
initial settings for the sample as they are. However, if the image is too dark or bright, adjust [Exposure
Time] or select [HDR] in [Exposure Mode].
For details on the snap tool, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

Memo
1 If the image is still too dark even when the exposure time is set to the maximum
(200 ms), change [LED Type] to [3DV Sensor] and then adjust the “Exposure
Time.”
2 The [HDR] option of [Exposure Mode] combines images snapped at multiple
exposure times, automatically selected according to the surrounding brightness,
into a single image with a wide dynamic range.

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

Teaching Depth Snap Tool

Select [Depth Snap Tool 1] in the tree view, and then set each item.

Setting parameters

1 Click [SNAP].
2 Adjust each parameter so that measurement omission (black area) will be reduced.
For details on each parameter, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”
Repeat the procedure starting from step 3 until the parameters are adjusted appropriately.

Memo
Because of its structure, the 3DV Sensor cannot measure the depth at the right
edge of the sensor’s field of view. For this reason, the right edge of the sensor’s
field of view may remain a black area. For details, refer to “Setup: 2.4 3D
VISION SENSOR” in “iRVision OPERATOR’S MANUAL (Reference) B-
83914EN.”

Setting parameters of 3D Data Generator Tool

Select [3D Data Generator Tool 1] in the tree view, and then set each item.

Setting parameters

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

1
2
3

1 Select [On Table] from the [Part Condition] drop-down box.

2 Check the checkbox of [Enable] in [Table RM.].
3 Set [Table Z Height].
This parameter is the height from the 3DV Sensor to the offset plane, which is normally a negative
value. It represents the Z height on the camera frame.

Running a test
Check that unnecessary 3D points for part detection have been removed correctly.

1 Click [SNAP+FIND]. An image is snapped and detection is performed.

2 Check that unnecessary 3D points for part detection have been removed correctly.
The area displayed in red is a removed 3D point group. Check whether the area other than the part is
displayed in red.

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

Memo
If the 3D points on the table plane are not removed, fine-tune the “Table Z
Height.”

Teaching GPM Locator Tool

Set parameters for 2D measurement (detection of 2D features).
Select [GPM Locator Tool 1] in the tree view, and then set each item.

Setting parameters

5
1 3

2 7

1 Move the robot so that the part is in the field of view of the camera.
2 After determining the measurement position, click [SNAP] to capture an image.
3 Click the [Teach] button to teach the model.
The GPM Locator Tool model setup screen appears. Teach 2D features used for position detection.
Select features of the model on the same plane as much as possible to reduce the effects of changes in
shape due to parallax. For features that do not need to be included in the model, [Training Mask] can
be set to exclude them from the teach model. For details on teaching 2D features, refer to “iRVision
OPERATOR’S MANUAL (Reference) B-83914EN.”
4 Check that the pattern that you want to use as the model has been plotted with a green line and that
the model origin (green cross) is on the same plane as the pattern.

Memo
If the model origin is not on the same plane as the pattern, click the [Set Org.]
button and move the model origin onto the same plane as the pattern.
In the above example, the model origin is changed to be on the plane (large
circle of the part) at the highest position of the part.

5 Click to switch to advanced mode.

6 Check the checkboxes of [Scale] and [Aspect] in [DOF].
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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

Memo
Change the [Min.] and [Max.] settings for [Orientation], [Scale], and [Aspect] in
[DOF] as necessary. If the distance between the camera and the part varies 2
widely, consider expanding the [Scale] search range setting. If the tilt between
the camera and the part varies widely, consider expanding the [Aspect] search
range setting. Also, if misdetection of the part seems to increase, consider
decreasing the search range parameters. For details, refer to “iRVision
OPERATOR’S MANUAL (Reference) B-83914EN.”

7 Click [SAVE].

Running a test

1 Check [Training Stability]

This item provides a guideline indicating whether the position, angle and size are detected correctly
in the taught model. Evaluations are indicated with [G] (good), [P] (poor) and [N] (none). [N] indicates
that stable detection of the model may be impossible.
In such a case, change the model, or uncheck [Enable] for the parameter in question in [DOF].
2 Click [SNAP+FIND].
An image is snapped, and detection is performed.
3 Check measurement results.
Check that the same pattern as the model has been plotted with a green line. Then, check the score,
contrast, and other results of the detected model on the test result display area. If the score and contrast
values are higher than the set thresholds by at least 10 points, there is no problem.

Memo
Adjust parameters of the GPM Locator Tool if there is a problem. Some
parameters are displayed only in the advanced mode. For this reason, switch the
mode as necessary. For details, refer to “iRVision OPERATOR’S MANUAL
(Reference) B-83914EN.”

4 Change the part position and repeat the same check several times.

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

Setting up 3D Plane Measurement Tool

Set parameters for detecting the plane near the 2D feature position detected with the GPM Locator Tool
from 3D points. Select [3D Plane Measurement Tool 1] in the tree view, and then set each item.

Setting parameters

1
2

1 Select [3D Data Generator Tool 1] for [Input 3D data].

2 Click the [Set] button.
The green lines shown in the image are the model and the area taught with the GPM Locator Tool,
and the area inside the red frame is the plane measurement area. When the measurement area is taught
at first, the red frame will be shown overlapping the green frame, but this can be changed. For details
on the measurement area teaching screen for plane measurement, refer to “iRVision OPERATOR’S
MANUAL (Reference) B-83914EN.”
Once the measurement area has been taught, a thumbnail of the image used for teaching appears, and
the position and size of the area appear.

Memo
If the model origin for the GPM Locator Tool is not in the plane you want to
measure, change [2D-3D Gap]. If the model origin is above the Z direction as
seen from the plane you want to measure, specify a positive value for this
setting. For details, refer to “iRVision OPERATOR’S MANUAL (Reference) B-
83914EN.”

3 Select [Plot Everything] from the [Plot Mode] drop-down box.

4 Click [SAVE].

CAUTION
Before setting the 3D Plane Measurement Tool, complete the setting of the GPM
Locator Tool. Also, the measurement area must be taught again if the model of
the GPM Locator Tool is changed.

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

Running a test
Check whether the taught area is appropriate. If necessary, adjust parameters to enable stable detection.

1 3, 5

1 Click [SNAP+FIND].
An image is snapped and detection is performed.
2 Check that a light blue plot is displayed on the surface of the part that you want to measure.

Memo
1 Adjust parameters of the 3D Plane Measurement Tool if there is a problem. For
example, if a light blue plot is displayed on a surface other than the one that you
want to measure, teach [Window Mask]. Also, some parameters are displayed
only in advanced mode. For this reason, switch the mode as necessary. For
details, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”
2 In the above example, the measurement area is taught so that the plane (the
large circle section shown on the part) at the highest position of the part will be
measured. Change the measurement area according to the shape of the part.

3 Click [SAVE].
4 Repeat steps 1 to 4 by changing the tilt of the plane.
5 If there is no problem with the test run, change the option for [Plot Mode] to [Plot Measurement Area]
and click [SAVE] again.

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

Setting reference position

Here, place a part on a reference position, run a test and set the detection result as the reference position
XYZWPR.
When the vision process is performed after the setting, the vision process calculates the offset data by
comparing the actual position where the part is detected against the reference position.
In preparation, select [3DV Single-View Vis. Proc] in the tree view, and select [Snap Tool 1] for [Display
Image].

Then, select [Offset data Calculation Tool] in the tree view, and then set each item.

1 3

1 Click [SNAP+FIND] to find the part.

2 Check that the part has been found correctly, and click the [Set] button of [Ref. Pos. Status].
3 Click [SAVE] and then [END EDIT].

CAUTION
From this point forward, do not move the part until teaching of the robot motion
when the part is placed at the reference position is finished in the TP program for
fixed frame offset.

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

Editing TP Program
Edit the TP program for the 3D fixed frame offset system with a 3DV Sensor.
This system has a pre-installed sample program. This section explains how to create a program for 2
transporting a part while actually performing 3D fixed frame offset based on this sample program.

Copying the sample program

1 Select [V_3DV_FIXED] and click [COPY] on the program list screen.

2 Edit the program name and click [OK].

Editing the program

1 Open the copied program and teach the following positions.
Positions
P[1: Home] Home position. The robot’s waiting position and posture when it is not doing
anything.
P[2: Search] The detection position. The robot’s position and posture when the sensor has
found the part.
P[3: Pick Approach] The approach position when picking the part. In most cases, it is right above
the part that needs to be picked up.
P[4: Pick] The part pick position. It is the position at which the part is actually picked
up (grasped).
P[5: Pick Retract] The pick retraction position. A relay point when moving from the pick
position to the placement position.
P[6: Place Approach] The placement approach position.
P[7: Place] The placement position.
P[8: Place Retract] The place retraction position. It can be the same position and posture as P[6].

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

Specify the user frame number set in “2.1.2

1: UFRAME_NUM=1
User Frame Setting”.
2: UTOOL_NUM=1
3: J P[1:Home] 30% FINE
Specify the tool frame number set in “2.1.4
4:
Tool Frame Setting”.
5: !SEARCH
6: LBL[10]
7: J P[2:Search] 100% FINE Wait for robot-vibration to reduce.
8: WAIT .30(sec)
9: VISION RUN_FIND 'V_3DV_SAMPLE' Execute measurement.
10: VISION GET_OFFSET 'V_3DV_SAMPLE'
VR[1] JMP LBL[999] Get the offset data in the measurement
11:
result and jump to the last row when not
12: !PICK
13: L P[3:Pick Approach] 800mm/sec CNT100 found.
VOFFSET,VR[1]
14: L P[4:Pick] 200mm/sec FINE VOFFSET,VR[1] Move to the part pick position.
15: !Insert program instructions
16: !to grasp the part.
17: CALL ...
18: L P[5:Pick Retract] 800mm/sec CNT100
VOFFSET,VR[1]
19:
20: !PLACE
21: L P[6:Place Approach] 800mm/sec CNT100
22: L P[7:Place] 200mm/sec FINE Move to the part placement position.
23: !Insert program instructions
24: !to release the part.
25: CALL ...
26: L P[8:Place Retract] 800mm/sec CNT100
27: JMP LBL[10]
28:
29: !ERROR
30: LBL[999]

2 Specify the instruction to grasp the part and release the part after the P[4] and P[7] motion instructions,
respectively, using each of the CALL instructions.

Checking Robot Offset Operation

Check that a part on the table can be detected and picked up accurately.
Start with lower override of the robot to check that the logic of the program and the motion of the robot are
correct. Next, increase the override and keep the robot running continuously to check that it works properly.

• Place the part near the reference position, find it and check that it can be picked up accurately. If the
accuracy of compensation is low, retry the reference position setting.
• Move the part in the X direction or Y direction without rotation, find it and check that it can be picked
up accurately.
• Rotate the part, find it and check that it can be picked up accurately. If the part on the reference position
can be picked up accurately but the accuracy decreases as the part rotates, the settings of the calibration
grid and of the frame used for offset may not have been performed accurately. If you set the frame
with a pointer tool, check the accuracy of touch-up and retry calibrating the 3DV Sensor.
• Change the part’s height, find it and check that it can be picked up accurately.
• Tilt the part, find it and check that it can be picked up accurately.

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

3D SINGLE-VIEW FIXED FRAME OFFSET SYSTEM USING

FIXED CAMERA
2
This section explains the setup procedures of the 3D fixed-frame offset system using a fixed camera in the
figure below as an example.

Part Detection
→3DV Single-View Vision Process

Gripper TCP
→UTOOL[1]

Reference
UFRAME
→UFRAME［1］

Example of a 3D single-view fixed frame offset system configuration using fixed camera

Installation and Connection of 3DV Sensor

Installation of the 3DV Sensor
Install the 3DV Sensor on the camera mount.

Connecting the 3DV Sensor

Connect the 3DV Sensor to a robot controller.

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

Checking the connection of the 3DV Sensor

Open Vision Devices and check that the 3DV Sensor is connected according to the following procedure.

1 On the ROBOT Homepage, select [iRVision] →[Vision Devices], and select the connected 3DV
Sensor on the Vision Devices screen.
2 Click [LIVE] and check that continuously snapped images are displayed.

User Frame Setting

Set the user frame which becomes the reference frame for an offset calculation. Set it on the work table as
shown in the figure below. For how to set up the user frame, refer to “Know-How: 1 FRAME SETTING.”

Z Y

Example of user frame setup

Here, set the user frame to UFRAME [1] as described in the figure ‘Example of a 3D single-view fixed
frame offset system configuration using fixed camera ’ at the beginning of this section.

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3DV Sensor Data Setting

To use the 3DV Sensor, the 3DV Sensor must be set using a calibration grid.
Set the mounting position of the fixed camera according to the procedures described in “Know-How: 2.2 2
3DV SENSOR MOUNTING POSITION SETUP WITH FIXED CAMERA.”
This system has pre-installed sample 3DV Sensor Data. It is convenient to configure the settings based on
the sample. This chapter explains the operations assuming that the sample 3DV Sensor Data will be used.

Tool Frame Setting

Set a tool frame in the center of the end of the gripper claw or the pad to pick up a part. This frame is useful
for accurately moving the TCP of the gripper to the part gripping position.
The Z-axis of this frame should be set along the direction in which the gripper approaches the part to be
picked up. The positive direction of the Z-axis should be reversed compared to the direction in which the
gripper approaches a part. Therefore, change the direction to W=180 by the direct list method immediately
after teaching a TCP.
Here, set the TCP of the gripper to UTOOL [1] referring to the figure ‘Example of a 3D single-view fixed
frame offset system configuration using fixed camera’ at the beginning of this section. For how to set up
the tool frame, refer to “Know-How: 1 FRAME SETTING.”

Setting up Vision Process

Set up a “3DV Single-View Vision Process.”
This system has a pre-installed sample vision process. The following explains the procedure for editing the
settings based on that sample.

Editing vision process

Select the sample vision process and open the edit screen.

1 Click [V_3DV_SAMPLE] in the [Vision Process Tools] category on the vision data list screen.

2 Click [EDIT].
The vision process setup screen appears.

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Setting parameters of vision process

1
2
3

1 Select [V_3DV_CAM] from the [3DV Sensor] drop-down box.

2 Select [Fixed Frame Offset] from the [Application] drop-down box.
3 Select [1] from the [Offset Frame] drop-down box.
Offset frame is the user frame used for calculation of offset.
Select the user frame number set in “Setup: 2.1.2 User Frame Setting.”
4 Teach the current position as the part detection position in the robot program.
This system comes with the sample TP program for fixed frame offset installed. The details are
described in “Setup: 2.2.6 Editing TP Program.” The part measurement position is P[2] on the seventh
row in the sample TP program.

Teaching Snap Tool

Set parameters for snapping 2D images.

Select [Snap Tool 1] in the tree view to open the snap tool teaching screen. In most cases, you can use the
initial settings for the sample as they are. However, if the image is too dark or bright, adjust [Exposure
Time] or select [HDR] in [Exposure Mode].
For details on the snap tool, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

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Memo
1 If the image is still too dark even when the exposure time is set to the maximum
(200 ms), change [LED Type] to [3DV Sensor] and then adjust the “Exposure
Time.”
2 The [HDR] option of [Exposure Mode] combines images snapped at multiple
exposure times, automatically selected according to the surrounding brightness,
into a single image with a wide dynamic range.

Teaching Depth Snap Tool

Select [Depth Snap Tool 1] in the tree view, and then set each item.

Setting parameters

1 Click [SNAP].

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

2 Adjust each parameter so that measurement omission (black area) will be reduced.
For details on each parameter, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”
Repeat the procedure starting from step 1 until the parameters are adjusted appropriately.

Memo
Because of its structure, the 3DV Sensor cannot measure the depth at the right
edge of the sensor’s field of view. For this reason, the right edge of the sensor’s
field of view may remain a black area. For details, refer to “Setup: 2.4 3D
VISION SENSOR” in “iRVision OPERATOR’S MANUAL (Reference) B-
83914EN.”

Setting parameters of 3D Data Generator Tool

Select [3D Data Generator Tool 1] in the tree view, and then set each item.

Setting parameters

1
2
3

1 Select [On Table] from the [Part Condition] drop-down box.

2 Check the checkbox of [Enable] in [Table RM].
3 Set [0] for [Table Z Height].
This parameter is the Z height on the camera frame.

Running a test
Check that unnecessary 3D points for part detection have been removed correctly.

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

1 Click [SNAP+FIND]. An image is snapped and detection is performed.

2 Check that unnecessary 3D points for part detection have been removed correctly.
The area displayed in red is a removed 3D point group. Check whether the area other than the part is
displayed in red.

Memo
If the 3D points on the table plane are not removed, fine-tune the “Table Z
Height.”

Teaching GPM Locator Tool

Set parameters for 2D measurement (detection of 2D features).
Select [GPM Locator Tool 1] in the tree view, and then set each item.

Setting parameters

5
1 3

2 7

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

1 Place the part so that it is within the camera view.

2 After determining the measurement position, click [SNAP] to capture an image.
3 Click the [Teach] button to teach the model.
The GPM Locator Tool model setup screen appears. Teach 2D features used for position detection.
Select features of the model on the same plane as much as possible to reduce the effects of changes in
shape due to parallax. For features that do not need to be included in the model, [Training Mask] can
be set to exclude them from the teach model. For details on teaching 2D features, refer to “iRVision
OPERATOR’S MANUAL (Reference) B-83914EN.”
4 Check that the pattern that you want to use as the model has been plotted with a green line and that
the model origin (green cross) is on the same plane as the pattern.

Memo
If the model origin is not on the same plane as the pattern, click the [Set Org.]
button and move the model origin onto the same plane as the pattern.
In the above example, the model origin is changed to be on the plane (large
circle of the part) at the highest position of the part.

5 Click to switch to advanced mode.

6 Check the checkboxes of [Scale] and [Aspect] in [DOF].

Memo
Change the [Min.] and [Max.] settings for [Orientation], [Scale], and [Aspect] in
[DOF] as necessary. If the distance between the camera and the part varies
widely, consider expanding the [Scale] search range setting. If the tilt between
the camera and the part varies widely, consider expanding the [Aspect] search
range setting. Also, if misdetection of the part seems to increase, consider
decreasing the search range parameters. For details, refer to “iRVision
OPERATOR’S MANUAL (Reference) B-83914EN.”

7 Click [SAVE].

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

Running a test

1 Check [Training Stability]

This item provides a guideline indicating whether the position, angle and size are detected correctly
in the taught model. Evaluations are indicated with [G] (good), [P] (poor) and [N] (none). [N] indicates
that stable detection of the model may be impossible.
In such a case, change the model, or uncheck [Enable] for the parameter in question in [DOF].
2 Click [SNAP+FIND].
An image is snapped, and detection is performed.
3 Check measurement results.
Check that the same pattern as the model has been plotted with a green line. Then, check the score,
contrast, and other results of the detected model on the test result display area. If the score and contrast
values are higher than the set thresholds by at least 10 points, there is no problem.

Memo
Adjust parameters of the GPM Locator Tool if there is a problem. Some
parameters are displayed only in the advanced mode. For this reason, switch the
mode as necessary. For details, refer to “iRVision OPERATOR’S MANUAL
(Reference) B-83914EN.”

4 Change the part position and repeat the same check several times.

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

Setting up 3D Plane Measurement Tool

Set parameters for detecting the plane near the 2D feature position measured with the GPM Locator Tool
from 3D points. Select [3D Plane Measurement Tool 1] in the tree view, and then set each item.

Setting parameters

1
2

1 Select [3D Data Generator Tool 1] for [Input 3D data].

2 Click the [Set] button.
The green lines shown in the image are the model and the area taught with pattern matching, and the
area inside the red frame is the plane measurement area. When the measurement area is first taught,
the red frame will be shown overlapping the green frame, but this can be changed. For details on the
measurement area teaching screen for plane measurement, refer to “iRVision OPERATOR’S
MANUAL (Reference) B-83914EN.”
Once the measurement area has been taught, a thumbnail of the image used for teaching appears, and
the position and size of the area appear.
Memo
If the model origin for the GPM Locator is not in the plane you want to measure,
change [2D-3D Gap]. If the model origin is above the Z direction as seen from
the plane you want to measure, specify a positive value for this setting. For
details, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

3 Change [Plot Mode] to [Plot Everything].

4 Click [SAVE].

CAUTION
Before setting the 3D Plane Measurement Tool, complete the setting of the GPM
Locator Tool. Also, the measurement area must be taught again if the model of
the GPM Locator Tool is changed.

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

Running a test
Check whether the taught area is appropriate. If necessary, adjust parameters to enable stable detection.

1 3, 5

1 Click [SNAP+FIND].
An image is snapped and detection is performed.
2 Check that a light blue plot is displayed on the surface of the part that you want to measure.

Memo
1 Adjust parameters of the 3D Plane Measurement Tool if there is a problem. For
example, if a light blue plot is displayed on a surface other than the one that you
want to measure, teach [Window Mask]. Also, some parameters are displayed
only in advanced mode. For this reason, switch the mode as necessary. For
details, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”
2 In the above example, the measurement area is taught so that the plane (the
large circle section shown on the part) at the highest position of the part will be
measured. Change the measurement area according to the shape of the part.

3 Click [SAVE].
4 Repeat steps 1 to 4 by changing the tilt of the plane.
5 If there is no problem with the test run, change the option for [Plot Mode] to [Plot Measurement Area]
and click [SAVE] again.

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Setting reference position

Here, place a part on a reference position, run a test and set the detection result as the reference position
XYZWPR.
When the vision process is performed after the setting, the vision process calculates the offset data by
comparing the actual position where the part is detected against the reference position.
In preparation, select [3DV Single-View Vis. Proc] in the tree view, and select [Snap Tool 1] for [Display
Image].

Then, select [Offset data Calculation Tool] in the tree view, and then set each item.

1 3

1 Click [SNAP+FIND] to find the part.

2 Check that the part has been found correctly, and click the [Set] button of [Ref. Pos. Status].
3 Click [SAVE] and then [END EDIT].

CAUTION
From this point forward, do not move the part until teaching of the robot motion
when the part is placed at the reference position is finished in the TP program for
fixed frame offset.

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

Editing TP Program
Edit the TP program for the 3D fixed frame offset system with a 3DV Sensor.
This system has a pre-installed sample program. This section explains how to create a program for 2
transporting a part while actually performing 3D fixed frame offset based on this sample program.

Copying the sample program

1 Select [V_3DV_FIXED] and click [COPY] on the program list screen.

2 Edit the program name and click [OK].

Editing the program

1 Open the copied program and teach the following positions.

Positions
P[1: Home] Home position. The robot’s waiting position and posture when it is not doing
anything.
P[2: Search] The detection position. The robot’s position and posture when the sensor has
found the part.
P[3: Pick Approach] The approach position when picking the part. In most cases, it is right above
the part that needs to be picked up.
P[4: Pick] The part pick position. It is the position at which the part is actually picked up
(grasped).
P[5: Pick Retract] The pick retraction position. A relay point when moving from the pick up
position to the placement position.
P[6: Place Approach] The placement approach position.
P[7: Place] The placement position.
P[8: Place Retract] The place retraction position. It can be the same position and posture as P[6].

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

Specify the user frame number set in “2.2.2

1: UFRAME_NUM=1
User Frame Setting”.
2: UTOOL_NUM=1
3: J P[1:Home] 30% FINE
Specify the tool frame number set in “2.2.4
4:
Tool Frame Setting”.
5: !SEARCH
6: LBL[10]
7: J P[2:Search] 100% FINE Wait for robot-vibration to reduce.
8: WAIT .30(sec)
9: VISION RUN_FIND 'V_3DV_SAMPLE' Execute measurement.
10: VISION GET_OFFSET 'V_3DV_SAMPLE'
VR[1] JMP LBL[999]
Get the offset data in the measurement
11:
12: !PICK
result and jump to the last row when not
13: L P[3:Pick Approach] 800mm/sec CNT100 found.
VOFFSET,VR[1]
14: L P[4:Pick] 200mm/sec FINE VOFFSET,VR[1] Move to the part pick position.
15: !Insert program instructions
16: !to grasp the part.
17: CALL ...
18: L P[5:Pick Retract] 800mm/sec CNT100
VOFFSET,VR[1]
19:
20: !PLACE
21: L P[6:Place Approach] 800mm/sec CNT100
22: L P[7:Place] 200mm/sec FINE Move to the part placement position.
23: !Insert program instructions
24: !to release the part.
25: CALL ...
26: L P[8:Place Retract] 800mm/sec CNT100
27: JMP LBL[10]
28:
29: !ERROR
30: LBL[999]

2 Specify the instruction to grasp the part and release the part after the P[4] and P[7] motion instructions,
respectively, using each of the CALL instructions.

Checking Robot Offset Operation

Check that a part on the table can be detected and picked up accurately.
Start with lower override of the robot to check that the logic of the program and the motion of the robot are
correct. Next, increase the override and keep the robot running continuously to check that it works properly.

• Place the part near the reference position, find it and check that it can be picked up accurately. If the
accuracy of compensation is low, retry the reference position setting.
• Move the part in the X direction or Y direction without rotation, find it and check that it can be picked
up accurately.
• Rotate the part, find it and check that it can be picked up accurately. If the part near the reference
position can be picked up accurately but the accuracy decreases as the part rotates, the settings of the
calibration grid and of the frame used for offset may not have been performed accurately. If you set
the frame with a pointer tool, check the accuracy of touch-up and retry calibrating the 3DV Sensor.
• Change the part’s height, find it and check that it can be picked up accurately.
• Tilt the part, find it and check that it can be picked up accurately.

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

3D MULTI-VIEW FIXED FRAME OFFSET SYSTEM USING

ROBOT-MOUNTED CAMERA
2
When 3D fixed frame offset is used with a large part that does not fit within the 3DV Sensor’s field of view,
this function can be used to perform fixed frame offset with a greater precision than measuring one location.
This section explains the setup procedures for the 3D fixed frame offset system using one robot-mounted
camera to measure multiple locations.

Memo
With this system, measurement is performed at multiple measurement points.
The offset precision is improved by selecting measurement points that are as far
apart as possible, so a robot-mounted camera is suitable for measurement. It is
possible to measure at multiple points with a fixed camera, but measuring with
multiple cameras is preferable.
It is also possible to use multiple robot-mounted cameras or to use a
combination of robot-mounted and fixed cameras.

3DV Sensor

Gripper TCP
→UTOOL［1］
Part

Reference UFRAME
→UFRAME［1］
Pallet

Example of a 3D multi-view fixed frame offset system configuration using a robot-mounted camera

Installation and Connection of 3DV Sensor

Installation of the 3DV Sensor
Install the 3DV Sensor on the robot.

Connecting the 3DV Sensor

Connect the 3DV Sensor to a robot controller.

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

Checking the connection of the 3DV Sensor

Open Vision Devices and check that the 3DV Sensor is connected according to the following procedure.

1 On the ROBOT Homepage, select [iRVision] → [Vision Devices], and select the connected 3DV
Sensor on the Vision Devices screen.
2 Click [LIVE] and check that continuously snapped images are displayed.

User Frame Setting

Set the user frame which becomes the reference frame for an offset calculation. Set it on the work table as
shown in the figure below. For how to set up the user frame, refer to “Know-How: 1 FRAME SETTING”.

Z
X

Example of user frame setup

Here, set the user frame to UFRAME [1] as described in the figure ‘Example of a 3D multi-view fixed
frame offset system configuration using a robot-mounted camera’ at the beginning of this section.

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

3DV Sensor Data Setting

To use the 3DV Sensor, the 3DV Sensor must be set using a calibration grid.
Set the mounting position of the robot-mounted camera according to the procedures described in “Know- 2
How: 2.1 3DV SENSOR MOUNTING POSITION SETUP WITH ROBOT-MOUNTED CAMERA.”
This system has pre-installed sample 3DV Sensor Data. It is convenient to configure the settings based on
the sample. This chapter explains the operations assuming that the sample 3DV Sensor Data will be used.

Tool Frame Setting

Set a tool frame in the center of the end of the gripper claw or the pad to pick up a part. This frame is useful
for accurately moving the TCP of the gripper to the part gripping position.
The Z-axis of this frame should be set along the direction in which the gripper approaches the part to be
picked up. The positive direction of the Z-axis should be reversed compared to the direction in which the
gripper approaches a part. Therefore, change the direction to W=180 by the direct list method immediately
after teaching a TCP.
Here, set the TCP of the gripper to UTOOL [1] referring to the figure ‘Example of a 3D multi-view fixed
frame offset system configuration using a robot-mounted camera’ at the beginning of this section. For how
to set up the tool frame, refer to “Know-How: 1 FRAME SETTING.”

Creating and Setting up Vision Process

Create and set up a new “3DV Multi-View Vision Process” program.

Creating a new vision process

Create a vision process with the following procedure.

1 Click [CREATE].
A pop-up is displayed for creating new vision data.

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

2 Select [3DV Multi-View Vision Process].

3 Enter a program name in [Name].
Give the program a unique name.
4 Click [OK].
A new program is created.

5 Click [EDIT].
The vision process setup screen appears.

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

Setting parameters of vision process

1
2

1 Select [Fixed Frame Offset] from the [Application] drop-down box.

2 Select [1] from the [Offset Frame] drop-down box.
Offset frame is the user frame used for calculation of offset.
Select the user frame number set in “Setup: 2.3.2 User Frame Setting.”

Memo
If you click to switch to advanced mode, you can enable/disable [Camera
Base Find]. When the checkbox of [Camera Base Find] is checked, a part is
found based on the frame of the 3DV Sensor. When mounting the sensor to the
robot, the sensor snap position changes according to the movement of the robot.
For this reason, you should normally enable [Camera Base Find] to find a part.
Also, with “3DV Multi-View Vision Process”, multiple camera views must be set
up. If [Camera Base Find] is enabled, the detection position of all camera views
is the position based on the 3DV Sensor’s frame.

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

Determining measurement point for each camera view

In the following procedures, the measurement points for the camera views will be set up. Before the setup,
you must first roughly determine which parts of the work to measure.

Determine the measurement points with the camera views arranged as follows.

• The camera views are separated as much as possible.

• The camera views are not all arranged in a straight line.
• To the extent possible, each camera view is set up to measure a different measurement surface.
Measurement surfaces are set in “Setup: 2.3.5.9 Setting up 3D Plane Measurement Tool”, and it is
preferable to set a different plane for each camera view.
• Each camera view includes model features and a wide plane.
Model features are taught in “Setup: 2.3.5.8 Teaching GPM Locator Tool”, and wide planes are set as
measurement surfaces in “Setup: 2.3.5.9 Setting up 3D Plane Measurement Tool.” Accuracy is
improved by setting measurement points in a way that both of these fit in the camera view.

In this section, the camera views are set up with the measurement points near the red circles in the figure
below. The numbers indicate the camera view numbers.

3 1

4 2

Determining the measurement points

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

Setting up Camera View 1

Set up the 3DV Sensor to use for Camera View 1.
2
Setting parameters

1
3

1 Select [V_3DV_CAM] from the [3DV Sensor] drop-down box.

2 When you select [3DV Sensor], the following message appears. Here, click [OK] to use the same
camera data in other camera views.

3 Select [Snap Tool 1] from the [Display Image] drop-down box.

4 Jog the robot so that the feature on the part that you want to measure with Camera View 1 is near the
center of the 3DV Sensor’s field of view to determine the detection position.

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

Memo
Once the detection position is determined, it is convenient to store the position in
a position register.
For details about setting up the position registers and an example TP program,
refer to “Setup: 2.3.6 Creating and Teaching a TP Program.”

Teaching Snap Tool

Set parameters for snapping 2D images.

Select [Snap Tool 1] in the tree view to open the snap tool teaching screen. In most cases, you can use the
initial settings for the sample as they are. However, if the image is too dark or bright, adjust [Exposure
Time] or select [HDR] in [Exposure Mode].
For details on the snap tool, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

Memo
1 If the image is still too dark even when the exposure time is set to the maximum
(200 ms), change [LED Type] to [3DV Sensor] and then adjust the “Exposure
Time.”
2 The [HDR] option of [Exposure Mode] combines images snapped at multiple
exposure times, automatically selected according to the surrounding brightness,
into a single image with a wide dynamic range.

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

Teaching Depth Snap tool

Select [Depth Snap Tool 1] in the tree view, and then set each item.
2
Setting parameters

1 Click [SNAP].
2 Adjust each parameter so that measurement omission (black area) will be reduced.
For details on each parameter, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”
Repeat the procedure starting from step 1 until the parameters are adjusted appropriately.

Memo
Because of its structure, the 3DV Sensor cannot measure the depth at the right
edge of the sensor’s field of view. For this reason, the right edge of the sensor’s
field of view may remain a black area. For details, refer to “Setup: 2.4 3DV
SENSOR” in “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

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2. 3D FIXED FRAME OFFSET SYSTEM Setup

Setting parameters of 3D Data Generator Tool

Select [3D Data Generator Tool 1] in the tree view, and then set each item.

Setting parameters

1
2
3

1 Select [On Table] from the [Part Condition] drop-down box.

2 Check the checkbox of [Enable] in [Table RM.].
3 Set [Table Z Height].
This parameter is the height from the 3DV Sensor to the offset plane, which is normally a negative
value. It represents the Z height on the camera frame.

Running a test
Check that unnecessary 3D points for part detection have been removed correctly.

1 Click [SNAP+FIND]. An image is snapped and detection is performed.

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Setup 2. 3D FIXED FRAME OFFSET SYSTEM

2 Check that unnecessary 3D points for part detection have been removed correctly.
The area displayed in red is a removed 3D point group. Check whether the area other than the part is
displayed in red.
2
Memo
If the 3D points on the table plane are not removed, fine-tune the “Table Z
Height.”

Teaching GPM Locator Tool

Set parameters for 2D measurement (detection of 2D features).
Select [GPM Locator Tool 1] in the tree view, and then set each item.

Setting parameters

1 6

1 Click [SNAP] to capture an image.

2 Click the [Teach] button to teach the model
The GPM Locator Tool model setup screen appears. Teach 2D features used for position detection.
Select features of the model on the same plane as much as possible to reduce the effects of changes in
shape due to parallax. For features that do not need to be included in the model, [Training Mask] can
be set to exclude them from the teach model. For details on teaching 2D features, refer to “iRVision
OPERATOR’S MANUAL (Reference) B-83914EN.”
3 Check that the pattern that you want to use as the model has been plotted with a green line and that
the model origin (green cross) is on the plane of the pattern.

Memo
If the model origin is not on the same plane as the pattern, click the [Set Org.]
button and move the model origin onto the same plane as the pattern.

4 Click to switch to advanced mode.

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5 Check the checkboxes of [Scale] and [Aspect] in [DOF].

Memo
Change the [Min.] and [Max.] settings for [Orientation], [Scale], and [Aspect] in
[DOF] as necessary. If the distance between the camera and the part varies
widely, consider expanding the [Scale] search range setting. If the tilt between
the camera and the part varies widely, consider expanding the [Aspect] search
range setting. Also, if misdetection of the part seems to increase, consider
decreasing the search range parameters. For details, see “iRVision
OPERATOR’S MANUAL (Reference) B-83914EN.”

6 Click [SAVE].

Running a test

1 Check [Training Stability].

This item provides a guideline indicating whether the position, angle and size are detected correctly
in the taught model. Evaluations are indicated with [G] (good), [P] (poor) and [N] (none). [N] indicates
that stable detection of the model may be impossible.
In such a case, change the model, or uncheck [Enable] for the parameter in question in [DOF].
2 Click [SNAP+FIND].
An image is snapped, and detection is performed.
3 Check measurement results.
Check that the same pattern as the model has been plotted with a green line. Then, check the score,
contrast, and other results of the detected model on the test result display area. If the score and contrast
values are higher than the set thresholds by at least 10 points, there is no problem.

Memo
Adjust parameters of the GPM Locator Tool if there is a problem. Some
parameters are displayed only in the advanced mode. For this reason, switch the
mode as necessary. For details, refer to “iRVision OPERATOR’S MANUAL
(Reference) B-83914EN.”

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Setting up 3D Plane Measurement Tool

Set parameters for detecting the plane near the 2D feature position detected with the GPM Locator Tool
from 3D snap data. Select [3D Plane Measurement Tool 1] in the tree view, and then set each item. 2
Setting parameters

1 Select [3D Data Generator Tool 1] for [Input 3D data].

2 Click the [Set] button.
The green lines shown in the image are the model and the area taught with pattern matching, and the
area inside the red frame is the plane measurement area. When the measurement area is first taught,
the red frame will be shown overlapping the green frame, but this can be changed. For details on the
measurement area teaching screen for plane measurement, refer to “iRVision OPERATOR’S
MANUAL (Reference) B-83914EN.”
Once the measurement area has been taught, a thumbnail of the image used for teaching appears, and
the position and size of the area appear.

Memo
If the model origin for pattern matching is not in the plane you want to measure,
change [2D-3D Gap]. If the model origin is above the Z direction as seen from
the plane you want to measure, specify a positive value for this setting. For
details, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

3 Select [Plot Everything] from the [Plot Mode] drop-down box.

4 Click [SAVE].

CAUTION
Before setting the 3D Plane Measurement Tool, complete the setting of the GPM
Locator Tool. Also, the measurement area must be taught again if the model of
the GPM Locator Tool is changed.

Running a test
Check whether the taught area is appropriate. If necessary, adjust parameters to enable stable detection.

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1 4

1 Click [SNAP+FIND].
An image is snapped and detection is performed.
2 Check that a light blue plot is displayed on the surface of the part that you want to measure.

Memo
1 Adjust parameters of the 3D Plane Measurement Tool if there is a problem. For
example, if a light blue plot is displayed on a surface other than the one that you
want to measure, teach [Window Mask]. Also, some parameters are displayed
only in advanced mode. For this reason, switch the mode as necessary. For
details, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”
2 Change the measurement area according to the shape of the part.

3 If there is no problem with the test run, change the option for [Plot Mode] to [Plot Measurement Area].
4 Click [SAVE].

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Running a test for Camera View 1

After setting all child tools for Camera View 1, select [Camera View 1] in the tree view, and then perform
a test run to check whether detection with Camera View 1 is performed correctly. 2

1 Click [SNAP+FIND].
An image is snapped and detection is performed.
2 Check whether detection was successful.
If the features you want to detect on the screen are plotted with a green line, detection completed
without problems.

CAUTION
From this point forward, do not move the part until teaching of the robot motion
when the part is placed at the reference position is finished in the TP program for
fixed frame offset.

Memo
1 The reference position in “3DV Multi-View Vision Process” in “Setup: 2.3.5.12
Setting Reference Position” is set using the detection results from the camera
views. Therefore, if detection with the camera view is not successful, vision
process setup is not complete.
If detection with the camera view is unsuccessful, review the parameter settings
of the child tools, and check whether the detection is performed correctly again.
2 The value for [Lean angle] is not displayed in the result display area at this
stage. It will be displayed after the reference position is set in “Setup: 2.3.5.12
Setting Reference Position.”

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Setting up Camera Views 2 to 4

After setting up Camera View 1, set up Camera Views 2 to 4 using the same procedures.
The procedures are the same, but it is recommended that you move the robot and change the measurement
position for each camera view. This is because the accuracy of the offset motion is improved by separating
the part teaching positions as much as possible for each camera views.

Memo
1 When storing the camera view detection position in a position register, it is
convenient to store each camera view’s position in a different position register. If
you are creating a TP program based on the example in “Setup: 2.3.6 Creating
and Teaching a TP Program”, set up the position registers based on the setting
example too.
2 In the initial state, four camera views are available on the assumption that four
points will be measured, but if it is impractical to measure four points, you can
delete one of the camera views. However, Camera View 1 cannot be deleted.
3 When setting up Camera Views 2 to 4, snap after you have moved the robot to
each of the measurement positions. Be careful not to continue setup with the
same image snapped from another camera view.

Setting reference position

Here, place a part on a reference position, run a test and set the detection result as the reference position
XYZWPR.
When the vision process is performed after the setting, the vision process calculates the offset data by
comparing the actual position where the part is detected against the reference position.

Select [Offset data Calculation Tool] in the tree view, and then set each item.

1 3

1 Click [FIND] to detect the part.

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CAUTION
Do not click [SNAP] or [SNAP+FIND] at this point. If you take a snap, the images
snapped at the current position is reflected in all camera views, and the
reference position will not be set correctly. 2
If you mistakenly click [SNAP] or [SNAP+FIND], move the robot to each camera
view’s measurement position, and repeat the test run for each camera view
again.

2 Check that the part has been found correctly, and click [Set] of [Ref. Pos. Status].
3 Click [SAVE] and then [END EDIT].

Creating and Teaching a TP Program

Create a TP program for the 3D fixed frame offset system by measuring multiple points using the 3DV
Sensor. Below is an example TP program and an explanation of the position registers.

Position registers
PR [1: Home] Home position. The robot’s waiting position and posture when it is not doing
any work.
PR [2: Search1] The detection position. The robot’s position and posture when the sensor has
found the part in Camera View 1.
PR [3: Search2] The detection position. The robot’s position and posture when the sensor has
found the part in Camera View 2.
PR [4: Search3] The detection position. The robot’s position and posture when the sensor has
found the part in Camera View 3.
PR [5: Search4] The detection position. The robot’s position and posture when the sensor has
found the part in Camera View 4.
PR [6: Pick Approach] The approach position when picking the part. In most cases, it is right above
the part that needs to be picked up.
PR [7: Pick] The part pick position. It is the position at which the part is actually picked
up (grasped).
PR [8: Pick Retract] The pick retraction position. A relay point when moving from the pick
position to the placement position.
PR [9: Place Approach] The placement approach position.
PR [10: Place] The placement position.
PR [11: Place Retract] The place retraction position. It can be the same position and posture as
PR[9].

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Specify the user frame number set in “2.3.2

User Frame Setting”.
1: UFRAME_NUM=1
2: UTOOL_NUM=1 Specify the tool frame number set in “2.3.4
3: J PR[1:Home] 30% FINE Tool Frame Setting”.
4:
5: LBL[10]
6: !SEARCH 1
7: J PR[2:Search1] 100% FINE Wait for robot-vibration to reduce.
8: WAIT .30(sec)
9: VISION RUN_FIND 'V_3DV_MULTI' CAMERA_VIEW[1] Execute measurement of Camera View 1.
10: VISION GET_NFOUND 'V_3DV_MULTI' R[14] CAMERA_VIEW[1]
11: IF R[14]<1,JMP LBL[999] Get the number of found for Camera View 1.
12:
13: !SEARCH 2 Jump to the last row when not found for
14: J PR[3:Search2] 100% FINE Camera View 1.
15: WAIT .30(sec)
16: VISION RUN_FIND 'V_3DV_MULTI' CAMERA_VIEW[2]
17: VISION GET_NFOUND 'V_3DV_MULTI' R[14] CAMERA_VIEW[2]
18: IF R[14]<1,JMP LBL[999]
19:
20: !SEARCH 3
21: J PR[4:Search3] 100% FINE
22: WAIT .30(sec)
23: VISION RUN_FIND 'V_3DV_MULTI' CAMERA_VIEW[3]
24: VISION GET_NFOUND 'V_3DV_MULTI' R[14] CAMERA_VIEW[3]
25: IF R[14]<1,JMP LBL[999]
26:
27: !SEARCH 4
28: J PR[5:Search4] 100% FINE
29: WAIT .30(sec)
30: VISION RUN_FIND 'V_3DV_MULTI' CAMERA_VIEW[4]
31: VISION GET_NFOUND 'V_3DV_MULTI' R[14] CAMERA_VIEW[4]
32: IF R[14]<1,JMP LBL[999]
33:
34: !GET OFFSET DATA
Get the offset data in the measurement results
35: VISION GET_OFFSET 'V_3DV_MULTI' VR[1] JMP LBL[999]
(jump to the last row when failed to get).
36:
37: !PICK
38: L PR[6:Pick Approach] 800mm/sec CNT100 VOFFSET,VR[1]
39: L PR[7:Pick] 200mm/sec FINE VOFFSET,VR[1] Move to the part pick position.
40: !Insert program instraction to grasp the part
41: CALL ...
42: L PR[8:Pick Retract] 800mm/sec CNT100 VOFFSET,VR[1]
43:
44: !PLACE
45: L PR[9:Place Approach] 800mm/sec CNT100
46: L PR[10:Place] 200mm/sec FINE Move to the part placement position.
47: !Insert program instraction to release the part
48: CALL ...
49: L PR[11:Place Retract] 800mm/sec CNT100
50: JMP LBL[10]
51:
52: !ERROR
53: LBL[999]

Memo
For the CALL commands on lines 41 and 48, specify the commands to grasp
and release the part, respectively.

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Checking Robot Offset Operation

Check that a part on the table can be detected and picked up accurately.
The detection results and offset data acquisition results from the vision command can be checked on the 2
vision runtime screen. For details about the vision runtime screen, refer to “iRVision OPERATOR’S
MANUAL (Reference) B-83914EN.”

Start with lower override of the robot to check that the logic of the program and the motion of the robot are
correct. Next, increase the override and keep the robot running continuously to check that it works properly.

Memo
Here, you need to move the part to check the operation. Move the part so that
the part features taught for each camera view are within the field of view for each
camera view, and then check operation.

• Place the part near the reference position, find it and check that it can be picked up accurately. If the
accuracy of compensation is low, retry the reference position setting.
• Move the part in the X direction or Y direction without rotation, find it and check that it can be picked
up accurately.
• Rotate the part, find it and check that it can be picked up accurately. If the part near the reference
position can be picked up accurately but the accuracy decreases as the part rotates, the settings of the
calibration grid and of the frame used for offset may not have been performed accurately. If you set
the frame with a pointer tool, check the accuracy of touch-up and retry calibrating the 3DV Sensor.
• Change the part’s height, find it and check that it can be picked up accurately.
• Tilt the part, find it and check that it can be picked up accurately.

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3 3D TOOL OFFSET SYSTEM

This chapter explains the setup procedures of the 3D tool offset system using a fixed camera.

Memo
This chapter describes the screens and operations in the simple mode unless
otherwise noted. For details on the Simple Mode and Advanced Mode, refer to
the “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

3D SINGLE-VIEW TOOL OFFSET SYSTEM USING A

FIXED CAMERA
This section explains the setup procedure of the 3D tool offset system using a fixed camera to measure one
location with the setup in the following figure.

Part Detection
→3DV Single-View Vision Process

Y Gripper TCP
→UTOOL[1]
X
Z

Part

Example of a 3D single-view tool offset system configuration

Installation and Connection of 3DV Sensor

Installation of the 3DV Sensor
Install the 3DV Sensor on the camera mount.

Connecting the 3DV Sensor

Connect the 3DV Sensor to a robot controller.

Checking the connection of the 3DV Sensor

Open Vision Devices and check that the 3DV Sensor is connected according to the following procedure.

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Setup 3. 3D TOOL OFFSET SYSTEM

1 On the ROBOT Homepage, select [iRVision] →[Vision Devices], and select the connected 3DV
Sensor on the Vision Devices screen.
2 Click [LIVE] and check that continuously snapped images are displayed.

Creating and Setting up 3DV Sensor Data

To use the 3DV Sensor, the 3DV Sensor must be set using a calibration grid.
Set the mounting position of the fixed camera according to the procedures described in “Know-How: 2.2
3DV SENSOR MOUNTING POSITION SETUP WITH FIXED CAMERA.”
This system has pre-installed sample 3DV Sensor Data. It is convenient to change the settings as necessary
based on the sample. This chapter explains the operations assuming that the sample 3DV Sensor Data will
be used.

Tool Frame Setting

Set a tool frame in the center of the end of the gripper claw or the pad to grasp a part. This frame is useful
for correcting the motion of the robot to accurately place a grasped part at the fixed position.
The Z-axis of this frame should be set along the direction of the gripper holding the part. The positive
direction of the Z-axis should be reversed compared to the direction in which the gripper approaches a part.
Therefore, change the direction to W=180 by the direct list method immediately after teaching a TCP.
Here, set the TCP of the gripper to UTOOL [1] referring to the figure ‘Example of a 3D single-view tool
offset system configuration’ at the beginning of this section. For how to set up the tool frame, refer to
“Know-How: 1 FRAME SETTING.”

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Setting up Vision Process

Set up a “3DV Single-View Vision Process.”
This system has a pre-installed sample vision process. The following explains the procedure for editing the
settings based on that sample.

Editing vision process

Select the sample vision process and open the edit screen.

1 Click [V_3DV_SAMPLE] in the [Vision Process Tools] category on the vision data list screen.

2 Click [EDIT].
The vision process setup screen appears.

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Setting parameters of vision process

1
2
3

1 Select [V_3DV_CAM] from the [3DV Sensor] drop-down box.

2 Select [Tool Offset] from the [Application] drop-down box.
3 Select [1] from the [Offset Frame] drop-down box.
Offset frame is the tool frame used for calculation of offset.
Select the tool frame number set in “Setup: 3.1.3 Tool Frame Setting.”
4 Hold the part with the gripper and jog the robot so that the part will come into the 3DV Sensor’s field
of view.
5 Teach the robot position in the robot program.
Teach the current position as the part detection position in the robot program.
This system comes with the sample TP program for tool offset installed. The details are described in
“Setup: 3.1.5 Editing TP Program.” The part measurement position is P[2] on the twelfth row in the
sample TP program.

NOTE
When working on step 4, make sure that the part will not be hidden behind the
robot or the gripper. From this point forward, do not move the part and robot until
teaching of the robot motion when the part is placed at the reference position is
finished in the TP program for tool offset.

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Teaching Snap Tool

Set parameters for snapping 2D images.

Select [Snap Tool 1] in the tree view to open the snap tool teaching screen. In most cases, you can use the
initial settings for the sample as they are. However, if the image is too dark or bright, adjust [Exposure
Time] or select [HDR] in [Exposure Mode].
For details on the snap tool, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

Memo
1 If the image is still too dark even when the exposure time is set to the maximum
(200 ms), change [LED Type] to [3DV Sensor] and then adjust the “Exposure
Time.”
2 The [HDR] option of [Exposure Mode] combines images snapped at multiple
exposure times, automatically selected according to the surrounding brightness,
into a single image with a wide dynamic range.

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Teaching Depth Snap Tool

Select [Depth Snap Tool 1] in the tree view, and then set each item.

Setting parameters
3

1 Click [SNAP].
2 Adjust each parameter so that measurement omission (black area) is removed from the part to be
measured. For details on each parameter, refer to "iRVision OPERATOR’S MANUAL (Reference)
B-83914EN". Repeat the procedure starting from step 1 until the parameters are adjusted appropriately.

Memo
Because of its structure, the 3DV Sensor cannot measure the depth at the right
edge of the sensor’s field of view. For this reason, the right edge of the sensor’s
field of view may remain a black area. For details, refer to "Setup: 2.4 3D
VISION SENSOR" in “iRVision OPERATOR’S MANUAL (Reference) B-
83914EN.”

Setting parameters of 3D Data Generator Tool

Select [3D Data Generator Tool] in the tree view, and then set each item.

Setting parameters

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1
2

1 Select [On Table] from the [Part Condition] drop-down box.

2 Uncheck the checkbox of [Enable] in [Table RM.].

Running a test
Check that 3D points necessary for the part detection have been detected correctly.

1 Click [SNAP+FIND]. An image is snapped and detection is performed.

2 Check that only necessary 3D points have been found and are shown in light blue.

Memo
If many 3D points other than the part are found, it may be improved by checking
the [Enable] checkbox in [Table RM.] and adjusting the table height.
If [Table RM.] is enabled, the removed 3D point cloud will be displayed in red.
Check that the areas other than the part are displayed in red.

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Teaching GPM Locator Tool

Set parameters for 2D measurement (detection of 2D features).
Select [GPM Locator Tool 1] in the tree view, and then set each item.

Setting parameters
3

5
1 3

2 7

1 Place the part so that it is within the camera view.

2 Click [SNAP] to snap an image.
3 Click the [Teach] button to teach the model.
The GPM Locator Tool model setup screen appears. Teach 2D features used for position detection.
Select features of the model on the same plane to reduce the effects of changes in shape due to parallax.
For features that do not need to be included in the model, [Training Mask] can be set to exclude them
from the teach model. For details on teaching 2D features, refer to “iRVision OPERATOR’S
MANUAL (Reference) B-83914EN.”
4 Check that the pattern that you want to use as the model has been plotted with a green line and that
the model origin (green cross) is on the plane of the pattern.

Memo
If the model origin is not on the same plane as the pattern, click the [Set Org.]
button and move the model origin onto the same plane as the pattern.

5 Click to switch to advanced mode.

6 Check the checkboxes of [Scale] and [Aspect] in [DOF].

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Memo
Change the [Min.] and [Max.] settings for [Orientation], [Scale], and [Aspect] in
[DOF] as necessary. If the distance between the camera and the part varies
widely, consider expanding the [Scale] search range setting. If the tilt between
the camera and the part varies widely, consider expanding the [Aspect] search
range setting. Also, if misdetection of the part seems to increase, consider
decreasing the search range parameters. For details, refer to “iRVision
OPERATOR’S MANUAL (Reference) B-83914EN.”

7 Click [SAVE].

Running a test

1 Check [Training Stability]

This item provides a guideline indicating whether the position, angle and size are detected correctly
in the taught model. Evaluations are indicated with [G] (good), [P] (poor) and [N] (none). [N] indicates
that stable detection of the model may be impossible.
In such a case, change the model, or uncheck [Enable] for the parameter in question in [DOF].
2 Click [SNAP+FIND].
An image is snapped and detection is performed.
3 Check that the same pattern as the model has been plotted with a green line. Then, check the score,
contrast, and other results of the detected model on the test result display area. If the score and contrast
values are higher than the set thresholds by at least 10 points, there is no problem.

Memo
Adjust parameters of the GPM Locator Tool if there is a problem. Some
parameters are displayed only in the advanced mode. For this reason, switch the
mode as necessary. For details, refer to “iRVision OPERATOR’S MANUAL
(Reference) B-83914EN.”

4 Change the part position and repeat the same check several times.

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Setting up 3D Plane Measurement Tool

Set parameters for detecting the plane near the 2D feature position detected with the GPM Locator Tool
from 3D points.
Select [3D Plane Measurement Tool] in the tree view, and then set each item.

Setting parameters 3

1
2

1 Select [3D Data Generator Tool 1] for [Input 3D data].

2 Click the [Set] button.
The green lines shown in the image are the model and the area taught with pattern matching, and the
area inside the red frame is the plane measurement area. When the measurement area is first taught,
the red frame will be shown overlapping the green frame, but this can be changed. For details on the
measurement area teaching screen for plane measurement, refer to “iRVision OPERATOR’S
MANUAL (Reference) B-83914EN.”
Once the measurement area has been taught, a thumbnail of the image used for teaching appears, and
the position and size of the area appear.

Memo
If the model origin for the GPM Locator Tool is not in the plane you want to
measure, change [2D-3D Gap]. If the model origin is above the Z direction as
seen from the plane you want to measure, specify a positive value for this
setting. For details, refer to “iRVision OPERATOR’S MANUAL (Reference) B-
83914EN.”

3 Change [Plot Mode] to [Plot Everything].

4 Click [SAVE].

CAUTION
Before setting the 3D Plane Measurement Tool, complete the setting of the GPM
Locator Tool. Also, the measurement area must be taught again if the model of
the GPM Locator Tool is changed.

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Running a test
Check whether the taught area is appropriate. If necessary, adjust parameters to enable stable detection.

1 3, 5

1 Click [SNAP+FIND].
An image is snapped and detection is performed.
2 Check that a light blue plot is displayed on the surface of the part that you want to measure.

Memo
1 Adjust parameters of the 3D Plane Measurement Tool if there is a problem. For
example, if a light blue plot is displayed on a surface other than the one that you
want to measure, teach [Window Mask]. Also, some parameters are displayed
only in advanced mode. For this reason, switch the mode as necessary. For
details, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”
2 Change the measurement area according to the shape of the part.

3 Click [SAVE].
4 Repeat steps 1 to 3 by changing the tilt of the plane.
5 If there is no problem with the test run, change the option for [Plot Mode] to [Plot Measurement Area]
and click [SAVE] again.

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Setting reference position

Here, hold a part on a reference position, run a test and set the detection result as the reference position
XYZWPR.
When the vision process is performed after the setting, the vision process calculates the offset data by
comparing the actual position where the part is detected against the reference position.
In preparation, select [3DV Single-View Vis. Proc] in the tree view, and select [Snap Tool 1] for [Display 3
Image].

Then, select [Offset data Calculation Tool] in the tree view, and then set each item.

1 3

1 Click [SNAP+FIND] to find the part.

2 Check that the part has been found correctly, and click the [Set] button of [Ref. Pos. Status].
3 Click [SAVE] and then [END EDIT].

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Editing TP Program
Edit the TP program for 3D tool offset system with a 3DV Sensor.
This system has a pre-installed sample program. This section explains how to create a program for
transporting a part while actually performing 3D tool offset based on this sample program.

Copying the sample program

1 Select [V_3DV_TOOL] and click [COPY] on the program list screen.

2 Edit the program name and click [OK].

Editing the program

1 Open the copied program and teach the following positions.
Positions
P[1: Home] Home position. The robot’s waiting position and posture when it is not doing
anything.
P[2: Search] The detection position. The robot’s position and posture when the sensor has
found the part.
P[3: Place Approach] The approach position when placing the part.
P[4: Place] The part placement position. It is the position at which the part is actually
placed (released).
P[5: Place Retract] The place retraction position. It is a relay point when moving from the
placement position to the home position.

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Setup 3. 3D TOOL OFFSET SYSTEM

1: !The register number and

2: !position register number below
3: !should be changed and commented
4: !as necessary.
5:
6: UFRAME_NUM=1 Specify the tool frame number set in
7: UTOOL_NUM=1
8: J P[1:Home] 100% FINE
“3.1.3 Tool Frame Setting.” 3
9: R[1]=0
10:
11: !SEARCH
12: J P[2:Search] 50% FINE Execute measurement.
13: WAIT (R[1])
14: VISION RUN_FIND 'V_3DV_SAMPLE'
Get offset data of the measurement
15: VISION GET_OFFSET 'V_3DV_SAMPLE'
VR[1] JMP LBL[100] result.
16:
17: !PLACE
18: L P[3:Place Approach] 2000mm/sec CNT100
VOFFSET,VR[1] Offset,PR[1]
Execute tool offset and the process to
19: L P[4:Place] 500mm/sec FINE VOFFSET,VR[1]
20: !Insert program instruction place the part.
21: !to release the part
22: CALL ...
23: L P[5:Place Retract] 2000mm/sec CNT100
VOFFSET,VR[1] Offset,PR[1]
24: JMP LBL[999]
25:
26: !ERROR
27: LBL[100]
28: R[1]=1
29:
30: LBL[999]

2 Specify the instruction to release the part after the P[4] motion instruction using the CALL instruction.

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Checking Robot Offset Operation

Check that a part gripped by the robot can be detected and placed precisely.
Start with lower override of the robot to check that the logic of the program and the motion of the robot are
correct. Next, increase the override and keep the robot running continuously to check that it works properly.

• Grasp the part on the reference position, find it and check the handling accuracy. If the handling
accuracy is low, retry the reference position setting.
• Move the part in the X direction or Y direction without rotation and find it while gripping it to check
the handling accuracy.
• Rotate the part and find it while gripping it to check the handling accuracy. If the part near the reference
position can be handled accurately but the accuracy decreases as the part rotates and is grasped, the
settings of the calibration grid and of the frame used for offset may not have been performed accurately.
If you set the frame with a pointer tool, check the accuracy of touch-up and retry calibrating the 3DV
Sensor.
• Change the distance from the camera to the part and find it while gripping it to check the handling
accuracy.
• Tilt the part and find it while gripping it to check the handling accuracy.

Memo
Depending on the shape of the part and the gripper, it may not be possible to
grip the part in the states described above. If this is the case, the check is not
required.

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3D MULTI-VIEW TOOL OFFSET SYSTEM USING A FIXED

CAMERA
When 3D tool offset is used with a large part that does not fit within the 3DV Sensor’s field of view, this
function can be used to perform fixed frame offset with a greater accuracy than measuring one location.
This section explains the setup procedures of the 3D tool offset system using one fixed camera to measure 3
multiple locations.

Memo
With this system, measurement is performed at multiple measurement points.
The offset precision is improved by selecting measurement points that are as far
apart as possible. If possible, measuring with multiple cameras is preferable.

3DV Sensor

Gripper TCP Part

→UTOOL［1］

Example of a 3D multi-view tool offset system configuration

Installation and Connection of 3DV Sensor

Installation of the 3DV Sensor
Install the 3DV Sensor on the camera mount.

Connecting the 3DV Sensor

Connect the 3DV Sensor to a robot controller.

Checking the connection of the 3DV Sensor

Open Vision Devices and check that the 3DV Sensor is connected according to the following procedure.

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1 On the ROBOT Homepage, select [iRVision] → [Vision Devices], and select the connected 3DV
Sensor on the Vision Devices screen.
2 Click [LIVE] and check that continuously snapped images are displayed.

Creating and Setting up 3DV Sensor Data

To use the 3DV Sensor, the 3DV Sensor must be set using a calibration grid.
Set the mounting position of the fixed camera according to the procedures described in “Know-How: 2.2
3DV SENSOR MOUNTING POSITION SETUP WITH FIXED CAMERA.”
This system has pre-installed sample 3DV Sensor Data. It is convenient to change the settings as necessary
based on the sample. This chapter explains the operations assuming that the sample 3DV Sensor Data will
be used.

Tool Frame Setting

Set a tool frame in the center of the end of the gripper claw or the pad to grasp a part. This frame is useful
for correcting the motion of the robot to accurately place a grasped part at the fixed position.
The Z-axis of this frame should be set along the direction of the gripper holding the part. The positive
direction of the Z-axis should be reversed compared to the direction in which the gripper approaches a part.
Therefore, change the direction to W=180 by the direct list method immediately after teaching a TCP.
Here, set the TCP of the gripper to UTOOL [1] referring to the figure ‘Example of a 3D multi-view tool
offset system configuration’ at the beginning of this section. For how to set up the tool frame, refer to
“Know-How: 1 FRAME SETTING.”

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Creating and Setting up Vision Process

Create and set up a new “3DV Multi-View Vision Process” program.

Creating a new vision process

Create a vision process with the following procedure. 3

1 Click [CREATE].
A pop-up is displayed for creating new vision data.

2 Select [3DV Multi-View Vision Process].

3 Enter a program name in [Name].
Give the program a unique name.

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4 Click [OK].
A new program is created.

5 Click [EDIT].
The vision process setup screen appears.

Setting parameters of vision process

1
2

1 Select [Tool Offset] from the [Application] drop-down box.

2 Select [1] from the [Offset Frame] drop-down box.
Offset frame is the tool frame used for calculation of offset.
Select the tool frame number set in “Setup: 3.2.3 Tool Frame Setting.”

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Memo
If you click to switch to advanced mode, you can enable/disable [Camera
Base Find]. If you select the [Camera Base Find] check box, the part is detected
based on the 3DV Sensor’s frame.
Also, with “3DV Multi-View Vision Process”, multiple camera views must be set
up. If [Camera Base Find] is enabled, the detection position of all camera views
3
is the position based on the 3DV Sensor’s frame.

Determining the measurement point for each camera view

In the following procedures, the measurement points for the camera views will be set up. Before the setup,
you must first roughly determine which parts of the work to measure.

Determine the measurement points with the camera views arranged as follows.

• The camera views are separated as much as possible.

• The camera views are not all arranged in a straight line.
• Each camera view can measure a different measurement surface to the extent possible.
Measurement surfaces are set in “Setup: 3.2.4.9 Setting up 3D Plane Measurement Tool”, but setting
different planes for each camera view is preferable.
• Each camera view includes model features and a wide plane.
Model features are taught in “Setup: 3.2.4.8 Teaching GPM Locator Tool”, and wide planes are set as
measurement surfaces in “Setup: 3.2.4.9 Setting up 3D Plane Measurement Tool.” Accuracy is
improved by setting measurement points in a way that both of these fit in the camera view.

In this section, the camera views are set up with the measurement points near the red circles in the figure
below. The numbers indicate the camera view numbers.

2
1

3 4

Determining the measurement points

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Setting up Camera View 1

Set up the 3DV Sensor to use for Camera View 1.

Setting parameters

1
3

1 Select [V_3DV_CAM] from the [3DV Sensor] drop-down box.

2 When you select [3DV Sensor], the following message appears. Here, click [OK] to use the same
camera data in other camera views.

3 Select [Snap Tool 1] from the [Display Image] drop-down box.

4 Jog the robot so that the feature on the part that you want to measure with Camera View 1 is near the
center of the 3DV Sensor’s field of view to determine the detection position.

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Memo
Once the detection position is determined, it is convenient to store the position in
a position register.
For details about setting up the position registers and an example TP program,
refer to “Setup: 3.2.5 Creating and Teaching a TP Program.”
3
Teaching Snap Tool
Set parameters for snapping 2D images.

Select [Snap Tool 1] in the tree view to open the Snap Tool teaching screen. In most cases, you can use the
initial settings for the sample as they are. However, if the image is too dark or bright, adjust [Exposure
Time] or select [HDR] in [Exposure Mode].
For details on the snap tool, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

Memo
1 If the image is still too dark even when the exposure time is set to the maximum
(200 ms), change [LED Type] to [3DV Sensor] and then adjust the “Exposure
Time.”
2 The [HDR] option of [Exposure Mode] combines images snapped at multiple
exposure times, automatically selected according to the surrounding brightness,
into a single image with a wide dynamic range.

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Teaching Depth Snap Tool

Select [Depth Snap Tool 1] in the tree view, and then set each item.

Setting parameters

1 Click [SNAP].
2 Adjust the parameters so that measurement omission (black area) is removed from the part to be
measured.
For details on each parameter, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

Memo
Because of its structure, the 3DV Sensor cannot measure the depth at the right
edge of the sensor’s field of view. For this reason, the right edge of the sensor’s
field of view may remain a black area. For details, refer to “Setup: 2.4 3DV
Sensor” in “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

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Setting parameters of 3D Data Generator Tool

Select [3D Data Generator Tool 1] in the tree view, and then set each item.

Setting parameters
3

1
2

1 Select [On Table] from the [Part Condition] drop-down box.

2 Uncheck the checkbox of [Enable] in [Table RM.].

Running a test
Check that the 3D points required for part detection have been detected correctly.

1 Click [SNAP+FIND]. An image is snapped and detection is performed.

2 Check that only necessary 3D points have been found and are shown in light blue.

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Memo
If many 3D points other than the part are found, it may be improved by checking
the [Enable] checkbox in [Table RM.] and adjusting the table height.
If [Table RM.] is enabled, the removed 3D point cloud will be displayed in red.
Check that the areas other than the part are displayed in red.

Teaching GPM Locator Tool

Set parameters for 2D measurement (detection of 2D features).
Select [GPM Locator Tool 1] in the tree view, and then set each item.

Setting parameters

1 6

1 Click [SNAP] to snap an image.

2 Click the [Teach] button to teach the model.
The GPM Locator Tool model setup screen appears. Teach 2D features used for position detection.
Select features of the model on the same plane to reduce the effects of changes in shape due to parallax.
For features that do not need to be included in the model, [Training Mask] can be set to exclude them
from the teach model. For details on teaching 2D features, refer to “iRVision OPERATOR’S
MANUAL (Reference) B-83914EN.”
In the above example, a portion of the robot is snapped, so you can set up a mask to exclude the robot
portion.
3 Check that the pattern that you want to use as the model has been plotted with a green line and that
the model origin (green cross) is on the same plane as pattern.

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Memo
If the model origin is not on the same plane as the pattern, click the [Set Org.]
button and move the model origin onto the same plane as the pattern.

4 Click to switch to advanced mode.

5 Check the checkboxes of [Scale] and [Aspect] in [DOF].
3
Memo
Change the [Min.] and [Max.] settings for [Orientation], [Scale], and [Aspect] in
[DOF] as necessary. If the distance between the camera and the part varies
widely, consider expanding the [Scale] search range setting. If the tilt between
the camera and the part varies widely, consider expanding the [Aspect] search
range setting. Also, if misdetection of the part seems to increase, consider
decreasing the search range parameters. For details, refer to “iRVision
OPERATOR’S MANUAL (Reference) B-83914EN.”

6 Click [SAVE].

Running a test

1 Check [Training Stability].

This item provides a guideline indicating whether the position, angle and size are detected correctly
in [Training Stability]. Evaluations are indicated with [G] (good), [P] (poor) and [N] (none). [N]
indicates that stable detection of the model may be impossible.
In such a case, change the model, or uncheck [Enable] for the parameter in question in [DOF].
2 Click [SNAP+FIND].
An image is snapped and detection is performed.
3 Check measurement results.
Check that the same pattern as the model has been plotted with a green line. Then, check the score,
contrast, and other results of the detected model on the test result display area. If the score and contrast
values are higher than the set thresholds by at least 10 points, there is no problem.

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Memo
Adjust parameters of the GPM Locator Tool if there is a problem. Some
parameters are displayed only in the advanced mode. For this reason, switch the
mode as necessary. For details, refer to “iRVision OPERATOR’S MANUAL
(Reference) B-83914EN.”

Setting up 3D Plane Measurement Tool

Set parameters for detecting the plane near the 2D feature position detected with the GPM Locator Tool
from 3D points. Select [3D Plane Measurement Tool 1] in the tree view, and then set each item.

Setting parameters

1 Select [3D Data Generator Tool 1] for [Input 3D data].

2 Click the [Set] button.
The green lines shown in the image are the model and the area taught with pattern matching, and the
area inside the red frame is the plane measurement area. When the measurement area is taught at first,
the red frame will be shown overlapping the green frame, but this can be changed. For details on
teaching plane measurement, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”
Once the measurement area has been taught, a thumbnail of the image used for teaching appears, and
the position and size of the area appear.

Memo
If the model origin for the GPM Locator Tool is not in the plane you want to
measure, change [2D-3D Gap]. If the model origin is above the Z direction as
seen from the plane you want to measure, specify a positive value for this
setting. For details, refer to “iRVision OPERATOR’S MANUAL (Reference) B-
83914EN.”

3 Change [Plot Mode] to [Plot Everything].

4 Click [SAVE].

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CAUTION
Before setting the 3D Plane Measurement Tool, complete the setting of the GPM
Locator Tool. Also, the measurement area must be taught again if the model of
the GPM Locator Tool is changed.

Running a test 3
Check whether the taught area is appropriate. If necessary, adjust parameters to enable stable detection.

1 4

1 Click [SNAP+FIND].
An image is snapped and detection is performed.
2 Check that a light blue plot is displayed on the surface of the part that you want to measure.

Memo
1 Adjust parameters of the 3D Plane Measurement Tool if there is a problem. For
example, if a light blue plot is displayed on a surface other than the one that you
want to measure, teach [Window Mask]. Also, some parameters are displayed
only in advanced mode. For this reason, switch the mode as necessary. For
details, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”
2 Change the measurement area to match the shape of the part.

3 If there is no problem with the test run, change the option for [Plot Mode] to [Plot Measurement Area].
4 Click [SAVE].

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Running a test for Camera View 1

After setting all child tools for Camera View 1, select [Camera View 1] in the tree view, and then perform
a test run to check whether detection with Camera View 1 is performed correctly.

1 Click [SNAP+FIND].
An image is snapped and detection is performed.
2 Check whether detection was successful.
If the features you want to detect on the screen are plotted with a green line, detection completed
without problems.

CAUTION
From here on, do not move the part until teaching for the robot operation while
holding the part at the reference position with the TP program for tool offset is
finished.

Memo
1 The reference position in “3DV Multi-View Vision Process” in “Setup: 3.2.4.12
Setting reference position” is set using the detection results from the camera
views. Therefore, if detection with the camera view is not successful, vision
process setup is not complete.
If detection with the camera view is unsuccessful, review the parameters for the
child tools, and check whether detection is performed correctly again.
2 The value for [Lean Angle] is not displayed in the result display area at this
stage. It will be displayed after the reference position is set in “Setup: 3.2.4.12
Setting reference position.”

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Setting up Camera Views 2 to 4

After setting up Camera View 1, set up Camera Views 2 to 4 using the same procedures.
The procedures are the same, but it is recommended that you move the robot and change the measurement
position for each camera view. This is because the accuracy of the offset motion is improved by separating
the part teaching positions as much as possible for each camera view.
3
Memo
1 When storing the camera view detection position in a position register, it is
convenient to store each camera view’s position in a different position register. If
you are creating a TP program based on the example in “Setup: 3.2.5 Creating
and Teaching a TP Program”, set up the position registers based on the setting
example too.
2 In the initial state, four camera views are available on the assumption that four
points will be measured, but if it is impractical to measure four points, you can
delete one of the camera views. However, Camera View 1 cannot be deleted.
3 When setting up Camera Views 2 to 4, snap after you have moved the robot to
each of the measurement positions. Be careful not to continue setup with the
same image snapped from another camera view.

Setting reference position

Here, place a part on a reference position, run a test and set the detection result as the reference position
XYZWPR.
When the vision process is performed after the setting, the vision process calculates the offset data by
comparing the actual position where the part is detected against the reference position.

Select [Offset data Calculation Tool] in the tree view, and then set each item.

1 3

1 Click [FIND] to detect the part.

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CAUTION
Do not click [SNAP] or [SNAP+FIND] at this point. If you make a snap, the snap
images of all camera views will be reacquired at the current position, and the
reference position will not be set correctly.
If you mistakenly click [SNAP] or [SNAP+FIND], move the robot to each camera
view’s measurement position, and repeat the test run for each camera view
again.

2 Check that the part has been found correctly, and click the [Set] button of [Ref. Pos. Status].
3 Click [SAVE] and then [END EDIT].

Creating and Teaching a TP Program

Create a TP program for the 3D tool offset system by measuring multiple points using the 3DV Sensor.
Below is an example TP program and an explanation of the position registers.

Position registers
PR [1: Home] Home position. The robot’s waiting position and posture when it is not doing
any work.
PR [2: Search1] The detection position. The robot’s position and posture when the sensor has
found the part in Camera View 1.
PR [3: Search2] The detection position. The robot’s position and posture when the sensor has
found the part in Camera View 2.
PR [4: Search3] The detection position. The robot’s position and posture when the sensor has
found the part in Camera View 3.
PR [5: Search4] The detection position. The robot’s position and posture when the sensor has
found the part in Camera View 4.
PR [9: Place Approach] The placement approach position.
PR [10: Place] The placement position.
PR [11: Place Retract] The place retraction position. It can be the same position and posture as
PR[9].

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1: UFRAME_NUM=1
Specify the tool frame number set in “3.2.3
2: UTOOL_NUM=1
Tool Frame Setting.”
3: J PR[1:Home] 30% FINE
4:
5: LBL[10]
6: !SEARCH 1
7: J PR[2:Serach1] 100% FINE Wait for robot-vibration to reduce.
8: WAIT .30(sec)
Execute measurement of Camera View 1.
3
9: VISION RUN_FIND 'V_3DV_MULTI' CAMERA_VIEW[1]
10: VISION GET_NFOUND 'V_3DV_MULTI' R[14] CAMERA_VIEW[1]
11: IF R[14]<1,JMP LBL[999] Get the number of found for Camera View 1.
12:
13: !SEARCH 2 Jump to the last row when not found for
14: J PR[3:Serach2] 100% FINE Camera View 1.
15: WAIT .30(sec)
16: VISION RUN_FIND 'V_3DV_MULTI' CAMERA_VIEW[2]
17: VISION GET_NFOUND 'V_3DV_MULTI' R[14] CAMERA_VIEW[2]
18: IF R[14]<1,JMP LBL[999]
19:
20: !SEARCH 3
21: J PR[4:Serach3] 100% FINE
22: WAIT .30(sec)
23: VISION RUN_FIND 'V_3DV_MULTI' CAMERA_VIEW[3]
24: VISION GET_NFOUND 'V_3DV_MULTI' R[14] CAMERA_VIEW[3]
25: IF R[14]<1,JMP LBL[999]
26:
27: !SEARCH 4
28: J PR[5:Serach4] 100% FINE
29: WAIT .30(sec)
30: VISION RUN_FIND 'V_3DV_MULTI' CAMERA_VIEW[4]
31: VISION GET_NFOUND 'V_3DV_MULTI' R[14] CAMERA_VIEW[4]
32: IF R[14]<1,JMP LBL[999]
33:
34: !GET OFFSET DATA
Get the offset data in the measurement
35: VISION GET_OFFSET 'V_3DV_MULTI' VR[1] JMP LBL[999]
results (jump to the last row when failed to
36:
get).
37: !PLACE
38: L PR[9:Place Approach] 800mm/sec CNT100 VOFFSET,VR[1]
39: L PR[10:Place] 200mm/sec FINE VOFFSET,VR[1]
40: !Insert program instruction to release the part Move to the part placement position.
41: CALL ...
42: L PR[11:Place Retract] 800mm/sec CNT100 VOFFSET,VR[1]
43: JMP LBL[10]
44:
45: !ERROR
46: LBL[999]

Memo
For the CALL command on line 41, specify the command to release the part.

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Checking Robot Offset Operation

Check that a part gripped by the robot can be detected and placed precisely.
The detection results and offset data acquisition results from the vision command can be checked on the
vision runtime screen. For details about the vision runtime screen, refer to “iRVision OPERATOR’S
MANUAL (Reference) B-83914EN.”

Start with lower override of the robot to check that the logic of the program and the motion of the robot are
correct. Next, increase the override and keep the robot running continuously to check that it works properly.

Memo
Here, you need to move the part to check the operation. Move the part so that
the part features taught for each camera view are within the field of view for each
camera view, and then check operation.

• Grasp the part on the reference position, find it and check the handling accuracy. If the handling
accuracy is low, retry the reference position setting.
• Move the part in the X direction or Y direction without rotation, find it and check the handling
accuracy.
• Rotate the part, find it and check the handling accuracy. If the part near the reference position can be
handled accurately but the accuracy decreases as the part rotates, the settings of the calibration grid
and of the frame used for offset may not have been performed accurately. If you set the frame with a
pointer tool, check the accuracy of touch-up and retry calibrating the 3DV Sensor.
• Change the distance from the camera to the part and find it while gripping it to check the handling
accuracy.
• Tilt the part and find it while gripping it to check the handling accuracy.

Memo
Depending on the shape of the part and the gripper, it may not be possible to
grip the part in the states described above. If this is the case, the check is not
required.

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Setup 4. BIN PICKING SYSTEM

4 BIN PICKING SYSTEM

This chapter explains the setup procedure of the Bin Picking system using a fixed camera in the figure
below as an example.

Memo
This chapter describes the screens and operations in the simple mode unless 4
otherwise noted. For details on the Simple Mode and Advanced Mode, refer to
the “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

SEARCH
Interference Avoidance: ROBOT Data → 3DV Single-View Vision Process
→ a Cylinder Shaped Tool Object

Gripper TCP Reference UFRAME → UFRAME[1]

→ UTOOL[1]

Interference Avoidance: SYSTEM Data

→ a Container Object
Example of Bin Picking system configuration

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4.1 INSTALLATION AND CONNECTION OF 3DV SENSOR

Installation of the 3DV Sensor
Install the 3DV Sensor on the camera mount.

Connecting the 3DV Sensor

Connect the 3DV Sensor to a robot controller.

Checking the connection of the 3DV Sensor

Open Vision Devices and check that the 3DV Sensor is connected according to the following procedure.

1 On the ROBOT Homepage, select [iRVision] →[Vision Devices], and select the connected 3DV
Sensor on the Vision Devices screen.
2 Click [LIVE] and check that continuously snapped images are displayed.

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4.2 USER FRAME SETTING

Set the user frame that becomes the reference frame for an offset calculation and interference avoidance
calculation. Set it on the upper opening of the container as shown in the figure below. For how to set up the
user frame, refer to “Know-How: 1 FRAME SETTING.”
Z

Y
4

Example of user frame setup

Here, set the user frame to UFRAME [1] as described in the figure ‘Example of Bin Picking system
configuration’ at the beginning of this chapter.

4.3 CREATING AND SETTING UP 3DV SENSOR DATA

To use the 3DV Sensor, the 3DV Sensor must be set using a calibration grid.
Set the mounting position of the fixed camera according to the procedures described in “Know-How: 2.2
3DV SENSOR MOUNTING POSITION SETUP WITH FIXED CAMERA.”

4.4 TOOL FRAME SETTING

Set a tool frame in the center of the end of the gripper claw or the pad to pick up a part. This frame is useful
for accurately moving the TCP of the gripper to the part gripping position.
The Z-axis of this frame should be set along the direction in which the gripper approaches the part to be
picked up. The positive direction of the Z-axis should be reversed compared to the direction in which the
gripper approaches a part. Therefore, change the direction to W=180 by the direct list method immediately
after teaching a TCP.
Here, set the TCP of the gripper to UTOOL [1] referring to the figure ‘Example of Bin Picking system
configuration’ at the beginning of this chapter. For how to set up the tool frame, refer to “Know-How: 1
FRAME SETTING.”

4.5 SETUP OF INTERFERENCE AVOIDANCE DATA

Interference Avoidance data consists of Interference Setup (System) data, Interference Setup (Robot) data,
and Interference Setup (Condition) data. Set up the necessary type of Interference Avoidance data. This
system comes with pre-installed Interference Avoidance data. By editing the sample settings, you can
quickly prepare the data. For the operation of interference avoidance and description of each item, refer to
the description on interference avoidance in “iRVision Bin Picking Application OPERATOR’S MANUAL
B-83914EN-6.”

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4.5.1 Setup of Interference Setup (System) Data

Set Interference Setup (System) data for interference avoidance.

Creating Interference Setup (System) data

On the ROBOT Homepage, select [iRVision] then [Interference Avoidance Setup]. The interference
avoidance data list screen appears. Select [V_SYS] on the interference avoidance data list screen and click
[EDIT] to set Interference Setup (System) data.

Setting a container object

Set the user frame and a container object that form the basis for interference avoidance position calculation
according to the following procedures.

1
2
3

1 Select UF[1] for [User Frame Number].

2 Select [1] for [Container ID].
3 Set the container’s position and size for [Container Pos. Origin], [Container Pos. X], [Container Pos.
Y], and [Container Depth].
Touch up each of the positions shown in the following figure with the pointer tool mounted on the
robot, and set it by clicking the relevant [Set] button.
Set the value for [Container Depth] by measuring the depth of the container in the following figure.

Container Pos. Y Container Depth

Z Y Container Pos. Origin

UF[1]
X
Container Pos. X

Setting up a container

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Checking via 4D Graphics

After setting up the container object, check that the settings have been made correctly on the 4D Graphics
page on the teach pendant.
On the teach pendant, select the [MENU] key, [Next], [4D GRAPHICS], then [4D Display], and select
F1[TYPE], then [4D Bin Picking IA]. In addition to the robot, the set container object is displayed in 3D
graphics.

SYSTEM1
4

Check that the position and size of the container are correct.

4.5.2 Setup of Interference Setup (Robot) Data

Set Interference Setup (Robot) data for interference avoidance.
On the ROBOT Homepage, select [iRVision] then [Interference Avoidance Setup]. The interference
avoidance data list screen appears.

Setup of Interference Setup (Robot) data

Select [V_ROB] on the interference avoidance data list screen and click [EDIT] to set Interference Setup
(Robot) data.
First, set a tool object according to the following procedures.

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Setting a tool object

Select [HAND] in the tree view on the Interference Setup (Robot) screen, and set a tool object according
to the following procedures.

1 Set the size and positions in the following figure for [Radius], [Base Center1], and [Base Center2].

Base Center1

Base Center2 Radius

Checking via 4D Graphics

After setting the tool object, check that the setting has been made correctly on the 4D Graphics page on the
teach pendant.
On the teach pendant, select the [MENU] key, [Next], [4D GRAPHICS], then [4D Display], and select
F1[TYPE], then [4D Bin Picking IA]. In addition to the robot, the set tool object is displayed in 3D graphics.

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ROBOT1

Check that the position and size of the tool object are correct.

4.5.3 Setup of Interference Setup (Condition) Data

Set Interference Setup (Condition) data for interference avoidance.
Select [V_CND] on the interference avoidance data list screen and click [EDIT] to display the Interference
Setup (Condition) data setting screen.
Set the parameters according to the following procedures.

1
2

1 Select [Interference Avoidance] for [Type].

2 Select Utool [1] for [Utool Number].
3 Set the range of interference avoidance.
Set the range −30 to 30 degrees in the W direction as the range in which interference can be avoided.
Change the range according to the part and the gripper.

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4.6 SETTING UP VISION PROCESS

Set up a “3DV Single-View Vision Process.”
This system has a pre-installed sample vision process. The following explains the procedure for editing the
settings based on that sample.

The Bin Picking system using a fixed camera mainly uses the following two types of detection methods:
• 3D Blob Locator Tool
• GPM Locator Tool + 3D plane measurement command tool
This section explains the settings for the former method.

4.6.1 Editing Vision Process

Select the sample vision process and open the edit screen.

1 Click [V_3DV_SAMPLE] in the [Vision Process Tools] category on the vision data list screen.

2 Click [EDIT].
The vision process setup screen appears.
3 Select an unnecessary command tool from the tree view of the vision process and click the button
to delete it.
For the SEARCH Vision Process of the Bin Picking system to be set up, delete [Snap Tool 1] and
[GPM Locator Tool 1].

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Memo
1 For the sample vision process, the Snap Tool, Depth Snap Tool, 3D Data
Generator Tool, GPM Locator Tool, 3D plane measurement command tool, and
offset data calculation tool are placed by default.
2 Deleting the GPM Locator Tool deletes the 3D plane measurement command
tool at the same time.
3 Since the offset data calculation tool cannot be deleted, leave it as unset.

4.6.2 Setting Parameters of Vision Process

4

1
2
3

1 Select [V_3DV_CAM] from the [3DV Sensor] drop-down box.

2 Select [Bin-Picking] from the [Application] drop-down box.
3 Select the user frame number set as [Offset Frame] from the drop-down box.
Offset frame is the user frame used for calculation of offset.
Select the user frame number set in “Setup: 4.2 Setting User Frame.”

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4.6.3 Teaching Depth Snap Tool

Select [Depth Snap Tool 1] in the tree view, and then set each item.

Setting parameters

1 Click [SNAP].
2 Adjust each parameter so that measurement omission (black area) will be reduced.
For details on each parameter, refer to “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”
Repeat the procedure starting from step 1 until the parameters are adjusted appropriately.

Memo
Because of its structure, the 3DV Sensor cannot measure the depth at the right
edge of the sensor’s field of view. For this reason, the right edge of the sensor’s
field of view may remain a black area. For details, refer to “Setup: 2.4 3D
VISION SENSOR” in “iRVision OPERATOR’S MANUAL (Reference) B-
83914EN.”

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4.6.4 Setting Parameters of 3D Data Generator Tool

Select [3D Data Generator Tool1] in the tree view, and then set each item.

Setting parameters

1 Select [In Container] from the [Part Condition] drop-down box.

2 Click the [Teach] button of [Container Shape].
The container shape teaching screen for [3D Data Generator Tool] appears.
Move displayed on a 2D image to the position of a vertex (corner) of the container rim and click
[OK].
Then, the position of the vertex is set and is displayed again. Move to the position of the next
unset vertex of the container and click [OK].
Repeat this operation. When finished, select the position of the first vertex with .

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3 Set [Container Z] (unit: millimeters (mm)).

This value is the height of the top of the container from the XY plane of [Offset Frame].
[Container Z] is automatically calculated from the 3D points near the taught container shape.

4 Set the depth from the top of the container for [Container Depth].
When [Container Depth] is changed, the result of 3D points in the container being removed (red points
in the figure) is displayed. Adjust [Container Depth] based on the result.

Running a test
Check that unnecessary 3D points for part detection have been removed correctly.

1 Click [SNAP+FIND]. An image is snapped and detection is performed.

2 Check that unnecessary 3D points for part detection have been removed correctly.
The area displayed in red is a removed 3D point group. Check whether the area other than the part is
displayed in red.

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4.6.5 Setting Parameters of 3D Blob Locator Tool

Create a new 3D Blob Locator Tool for the vision process according to the following procedure.

1 Select [3DV Single-View Vis. Proc] in the tree-view and click the button.
A pop up to create a new vision tool appears.
2 Click [3D Blob Locator Tool] in [Type].
[3D Blob Locator Tool 1] is automatically set for [Name], but no change is needed here.
3 Click [OK].
3D Blob Locator Tool has been added.
4

Select [3D Blob Locator Tool 1] in the tree view, and then set each item.

Setting parameters

1
2

1 Select the tool to obtain 3D data for [Input 3D data].

Since [3D Data Generator Tool] is automatically selected when you newly create it, it is unnecessary
to change it in the system to be started here.
2 Select [Plot Found Pos + Points] from the [Plot Mode] drop-down box.

For details on each parameter, refer to the description of commands in “iRVision OPERATOR’S
MANUAL (Reference) B-83914EN.”

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Running a test
Check whether the part is correctly detected. Adjust each parameter to enable stable detection.

1 3

1 Click [SNAP+FIND].
An image is snapped, and detection is performed.
2 Check measurement results.
Check that unnecessary 3D points for part detection have been removed correctly.
3 Click [SAVE] and then [END EDIT] if there is no problem with the detection results.

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4.7 SETUP OF PARTS LIST MANAGER

Set the Parts List Manager.
On the ROBOT Homepage, select [iRVision], then [Parts List Manager], and the Parts List Manager list
screen appears. For the operation of Parts List Manager and a description of each item, refer to the
description on interference avoidance in “iRVision Bin Picking Application OPERATOR’S MANUAL B-
83914EN-6.”

4
4.7.1 Selection of Parts List
On the Parts List Manager list screen, select the pre-installed sample parts list and click [EDIT].

For details on creating a new parts list or changing the parts list type to [SEARCH + FINE], refer to
“iRVision Bin Picking Application OPERATOR’S MANUAL B-83914EN-6.”

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4.7.2 Setting SEARCH VP List

Set the created SEARCH vision process to the SEARCH VP List.
On the Parts List Manager data list screen, select the parts list to edit and click [EDIT]. The SEARCH VP
List edit screen will appear. Set the parameters according to the following procedures.

1
2
3

1 Select the first line in the SEARCH VP List.

2 For [Vision Process Name], select the created vision process for SEARCH Vision Process.
3 Select [Measurement 1] for [Priority].

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4.7.3 Setting PICK Position List

Teach the reference PICK position and set it to the PICK Position List.

On the Parts List Manager data list screen, select the parts list to edit and click [EDIT]. The SEARCH VP
List edit screen will appear. Select [PAGE], then [PICK Position List]. On the PICK Position List edit
screen, set the following.

1
4

1 Select the first line in the PICK Position List.

2 For [Vision Process Name], select the created vision process for SEARCH Vision Process.
3 Check the [Enable] checkbox in [Calculate IA].
4 Select the created Interference Avoidance data.
5 For [Tofs] in [Approach Setup], set the number of the position register used for approach position
calculation and to which the tool offset value from the PICK Position is set.
Here, the tool offset is assumed to be set to PR[23], and (0.0, 0.0, 100.0, 0.0, 0.0, 0.0), for example, is
set in Cartesian coordinate system format.

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4.7.4 Setting PICK Position with Set Reference Wizard

Set the reference PICK position and SEARCH Vision Process reference data.

1 When the [Start Set Reference Wizard] button is clicked on the PICK Position List edit screen, the
following screen appears. Check the setup procedure and click [NEXT].

2 When the following screen for finding a vision process appears, move the robot out of the container
by jogging it, for example, and click [FIND].

3 The vision process for SEARCH Vision Process is executed, and the message ‘The vision process has
run. Please check FIND result in Vision Runtime Page.’ shown below is displayed. On the Vision

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Runtime screen, check that the result of the vision process for SEARCH Vision Process is correct, and
click [NEXT].

4 The following Reference Data Setup screen appears. Click [SET] to set the reference data of the
SEARCH Vision Process, and click [NEXT].

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5 The following Reference Position Setup screen appears.

Then, a TP program named SET_POS.TP is automatically generated.

6 Execute the TP program and move to P[1].

The found position of the SEARCH Vision Process is automatically set to P[1]. Move the robot to
P[1] and check that the found position is on a point of a part.

SET_POS.TP
1: UFRAME_NUM=1
2: UTOOL_NUM=1
3:L P[1] 100mm/sec FINE

Position found by TP program

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7 Check whether P[1] is appropriate as a position to pick a part (the position is adjusted if necessary by
fine-tuning the position of the robot), and click [SET] in the Reference Position Setup screen, and the
set reference PICK position is displayed as follows.

8 Check that the displayed reference PICK position is correct, and click [COMPLETE] to close Set
Reference Wizard.

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4.8 EDITING TP PROGRAM

Edit the TP program for the Bin Picking system with 3DV Sensor.
This system has a pre-installed sample program. This section explains how to create a program for actually
performing bin picking using a 3DV Sensor based on this sample program.

4.8.1 Flow Chart of TP Program

The flow chart of TP program is as follows.

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4.8.2 Register Setting Table

TP programs use the following registers, position registers and tool frame and user frame.

Registers to be used
R [10] The status of the SEARCH Vision process. Each value represents the status
described below.
0: SUCCESS (Some new part data are added to a parts list)
1: FAIL (No part data is added to a parts list) 4
R [11] The status of POP. Each value represents the status described below.
0: SUCCESS
1: FAIL (No part data that can be popped)
R [12] The Model ID of the popped part data.
R [13] The status of the process to get a PICK position. Each value represents the status
described below.
0: SUCCESS
12: Failed to get an interference avoidance position at the PICK position
13: Failed to get an interference avoidance position at approach position

Position registers to be used

PR [20] Result of interference avoidance for the part pick position (avoidance position)
PR [21] Result of interference avoidance for the part pick position (tool offset value)
PR [22] Result of interference avoidance for the approach position (avoidance position)
PR [23] The tool offset value from the PICK Position used for approach position
calculation.

Tool frame to be used

UTOOL [1] The gripper TCP

User frame to be used

UFRAME [1] Application frame

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4.8.3 Batch Input of Register Comments

This system comes with a pre-installed sample program. By entering comments to registers and other
elements used in this sample program in advance, you can check operation and modify your program easily.
Although manually setting comments takes time, it will save the labor of performing the operation.

1 Select and execute [CMT_3DV_BP] on the program list screen.

2 On the register list screen and the position register list screen, check that the comments are entered as
follows.

Registers
R [10] Detection status
R [11] Pop status
R [12] Pop model ID
R [13] Pick status

Position registers
PR [20] Picking
PR [21] Pick interference offset
PR [22] Pick approach
PR [23] Pick approach offset

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4.8.4 Editing TP Program

Copy and edit the sample TP program.

1 Select [V_3DV_BP] and click [COPY] on the program list screen.

2 Edit the program name and click [OK].

3 Teach each position in the TP program.

Positions
P[1: Search] The robot’s waiting position when SEARCH is being executed. Teach a
position where the robot will not come into the 3DV Sensor’s field of view.
P[2: Pick Approach] The approach position when picking the part. It is desirable that a point
directly above the center of the container be taught.
P[3: Place Approach] The approach position when placing the part.
P[4: Place] The part placing position.
P[5: Home] The robot’s waiting position. It may be the same position as P[1].

4 Add part picking and placing instructions.

For the CALL instruction in P[5], specify the instruction to pick up the part with the gripper. In this
procedure, a macro call to turn ON the vacuum with the vacuum gripper is used as an example. Change
it according to the environment you use.

For the CALL instruction in P[6: Place], specify the instruction to release the part from the gripper. In
this procedure, a macro call to turn OFF the vacuum with the vacuum gripper is used as an example.
Change it according to the environment you use.

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V_3DV_BP.TP
This is the sample program for the Bin Picking system. For how to use macro programs such as
BINPICK_CLEAR, refer to the Parts List Manager Reference in “iRVision Bin Picking Application
OPERATOR’S MANUAL B-83914EN-6.”

1: !The register numbers and

2: !position register numbers below
3: !should be changed according to Specify the user frame number set in
4: !those set by CMT_3DV_BP.TP. “4.2 SETTING USER FRAME”.
5:
6: UFRAME_NUM=1 Specify the tool frame number set in
7: UTOOL_NUM=1 “4.4 SETTING TOOL FRAME”.
8: CALL BINPICK_CLEAR(1)
9:
10: !SEARCH
11: LBL[1]
12: L P[1:Search] 2000mm/sec FINE
13: CALL BINPICK_SEARCH(1,1,10) Execute SEARCH Vision Process.
14: IF R[10:Search Status]<>0,JMP LBL[999]
15:
If any part cannot be found, terminate
16: !POP
the process.
17: LBL[2]
18: CALL BINPICK_POP(1,11,12) ;
If part data fails to be popped, execute
19: IF R[11:Pop Status]<>0,JMP LBL[1]
the SEARCH vision process.
20:
21: !GETPICKPOS
22: CALL BINPICK_GETPICKPOS(1,1,13,20,21,22)
23: IF R[13:Pick Status]=0,JMP LBL[3]
24:
25: CALL BINPICK_SETSTAT(1,22)
If the PICK position fails to be
26: JMP LBL[2]
acquired, pop the next part data.
27:
28: !PICK
29: LBL[3]
30: L P[2:Pick Approach] 2000mm/sec CNT100
31: L PR[22:Pick App.] 2000mm/sec CNT50
32: L PR[20:Pick] 500mm/sec FINE Move to the part pick position
33: !Insert program instructions
34: !to grasp the part.
35: CALL ...
36: CALL BINPICK_SETSTAT(1,20)
37: L PR[22:Pick App.] 500mm/sec CNT50
38: L P[2:Pick Approach] 2000mm/sec CNT100
39:
40: !PLACE
41: L P[3:Place Approach] 2000mm/sec CNT100
42: L P[4:Place] 500mm/sec FINE Move to the part placement position
43: !Insert program instructions
44: !to release the part.
45: CALL ...
46: L P[3:Place Approach] 2000mm/sec CNT100
47:
48: !CONTINUOUS
After placing a part, pop the next part
49: JMP LBL[2]
data.
50:
51: !END
52: LBL[999]
53: J P[5:Home] 100% FINE

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4.9 CHECKING ROBOT OFFSET OPERATION

Check that a part in the container can be detected and picked up accurately.
Start with lower override of the robot to check that the logic of the program and the motion of the robot are
correct. Next, increase the override and keep the robot running continuously to check that it works properly.

• Place the part near the reference position, find it and check that it can be picked up accurately. If the
accuracy of compensation is low, retry the reference position setting.
• Move the part in the X direction or Y direction without rotation, find it and check that it can be picked 4
up accurately.
• Rotate the part, find it and check that it can be picked up accurately.
• Change the part’s height, find it and check that it can be picked up accurately.
• Tilt the part, find it and check that it can be picked up accurately.

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Know-How

1 FRAME SETTING
2 3DV SENSOR DATA SETTING
3 EXAMPLE OF SETTING ACCORDING TO
USAGE
Know-How 1. FRAME SETTING

1 FRAME SETTING
1

This chapter explains the setting method for the user frame and tool frame.
In iRVision, the following frames are used.

• World frame
The frame that is defined in the robot from the start. A specified location is defined for each model of
robot. It cannot be changed.
• User frame
A frame that is defined by a user. It is expressed using a relative position from the world frame. It will
be the same as the world frame when it is not set.
• Tool frame
A frame that shows the tool center point (TCP) and orientation of a tool. It needs to be set up in
accordance with each tool.

In iRVision, the above frames need to be setup in [Application Frame] or [Offset Frame].
For details on the general method for frame setting, refer to the description of setting coordinate systems in
“OPERATOR’S MANUAL (Basic Function) B-83284EN.”
There are two methods for frame setting. Refer to the following for each setting method.

• Setting with a pointer tool

For the setting method, refer to “Know-How: 1.1 FRAME SETTING WITH POINTER TOOL.”
• Setting with the calibration grid frame setting function
For the setting method, refer to “Know-How: 1.2 FRAME SETTING WITH GRID FRAME
SETTING FUNCTION.”

1.1 FRAME SETTING WITH POINTER TOOL

This is a method for setting a user frame or tool frame by physically performing touch-up with a pointer
tool.
This section explains a user frame and tool frame with the following configuration.

• For details of the user frame setting, refer to “Know-How: 1.1.1 User Frame Setting.”
• For details of the tool frame setting, refer to “Know-How: 1.1.2 Tool Frame Setting.”

1.1.1 User Frame Setting

This subsection explains a method for user frame setting on an arbitrary plane with a pointer attached on
the robot end of the arm tooling. It is necessary to perform a TCP setup to a pointer tool as preparation.

1.1.1.1 TCP set up

Attach a pointer tool on the robot end of the arm tooling, and set TCP to an arbitrary tool frame number.

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Pointer tool and tool frame

Prepare a pointer tool with a sharp tip. Make sure that the pointer tool is fixed securely to the robot end of
arm tooling so that it remains in place while the robot moves. It is recommended that positioning pins or
other appropriate means may be used so that the pointer tool can be mounted at the same position. Moreover,
prepare another pointer with a sharp tip, and fixed on the table. The position of the fixed pointer can be set
as desired. TCP is set up by touch-up the tip of the fixed pointer with the tip of the pointer attached on the
robot end of the arm tooling. Use the “Three point method” for setting a TCP. If the accuracy of this TCP
setting is low, the precision in handling of a workpiece by the robot is also degraded.

Example of a layout for pointer tool and fixed pointer tool

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Three point method

Use the three point method to define the tool center point (TCP). The three approach points must be taught 1
with the tool touching a common point from three different approach statuses. As a result, the location of
TCP is automatically calculated. To set the TCP accurately, three approach directions had better differ from
others as much as possible. In the three point method, only the tool center point (x, y, z,) can be set. The
setting value of tool orientation (w, p, r) is the standard value (0, 0, 0). It is not necessary that change the
(w, p, r) value.

1 On the teach pendant, after selecting the [MENU] key → [SETUP], place the cursor over [Frames]
and press the [ENTER] key.
2 Press F3 [OTHER].
3 Place the cursor over [Tool Frame] and press the [ENTER] key.
The list screen for tool frames will appear.

4 Place the cursor over the line of the tool frame number to be set.
5 Press F2 [DETAIL].
The setup screen for the tool frame for the selected frame number will appear.

6 Press F2 [METHOD].

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7 Place the cursor over [Three Point] and press the [ENTER] key.
A screen for tool frame setting using the three point teaching method will appear.

8 Enter a comment in the [Comment] field as necessary.

A comment to distinguish this frame from other frames is recommended.
9 Place the cursor over [Approach point 1].
10 Jog the robot and touch up the fixed pointer tool pin with the robot pointer tool pin.

Approach point 1

Touch-up of approach point 1

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11 While holding down the [SHIFT] key, press F5 [RECORD].

The current value’s data will be input as approach point 1.
[Used] will appear for [Approach point 1].
12 Place the cursor over [Approach point 2].
13 Jog the robot and touch up the fixed pointer tool pin with the robot pointer tool pin.
Touch up the same point as approach point 1. However, change the robot orientation from that of
approach point 1.

Approach point 2

Touch-up of approach point 2

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15

14

14 While holding down the [SHIFT] key, press F5 [RECORD].

The current value's data will be input as approach point 2.
For the taught [Approach point 2], [Used] will appear.
15 Move the cursor to [Approach point 3].
16 Jog the robot and touch up the fixed pointer tool pin with the robot pointer tool pin.
The position of approach point 3 is the same as approach point 1 and 2. However, the posture of
approach point 3 is different from the posture of approach point 1 and 2.

Touch-up of approach point 3

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17

17 While holding down the [SHIFT] key, press F5 [RECORD].

The current value's data will be input as approach point 3.
When all the approach points are taught, [Used] will appear. The tool frame has been set.
18 Press the [PREV] key.
The list screen for tool frames will appear.

19

19 Check that the TCP is set accurately. Press F5 [SETIND] and enter a frame number.
The tool frame that has been set will be set as the currently enabled tool frame.
20 Jog the robot to move its pointer tool close to the tip of the fixed pointer tool.

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Check by moving the pointer tool close to the tip of the fixed pointer tool

21 Jog the robot around the tool frame, and change the orientation of the tool (w, p, r). If the TCP is
accurate, the tip of the pointer tool will always point toward the tip of the fixed pointer tool.

1.1.1.2 Setting method types and procedures

There are three methods of setting a user frame, the “Three point method,” “Four point method” and “Direct
list method.” For settings of the three point method and four point method, use the touch-up pointer set in
“Know-How: 1.1.1.1 TCP set up.” Moreover, the farther away each taught point is, the better the accuracy
of the user frame setting becomes. When setting the calibration grid frame, the “Four point method” allows
the distance of each taught point to be farther away than the “Three point method.” When setting the
calibration grid frame, the “Four point method” is recommended. The “Three point method” and “Four
point method” are explained as shown below.

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Three point method

Teach the following three points: the origin of the x-axis, the point that specifies the positive direction of 1
the x-axis, and the point on the x-y plane. In the example of the following figure, the user frame is set on
the table so that the XY plane of the user frame is parallel with the table plan.

Example for setting a user frame that is parallel with a work table plane

1 On the teach pendant, after selecting the [MENU] key → [SETUP], place the cursor over [Frames]
and press the [ENTER] key.
2 Press F3 [OTHER].
3 Place the cursor over [User Frame] and press the [ENTER] key.
The following list screen for user frames will appear.

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4 Place the cursor over the line number of the frame to be set.
5 Press F2 [DETAIL].
The SETUP Frames screen for the selected frame will appear.
6 Press F2 [METHOD].
7 Place the cursor over [Three Point] and press the [ENTER] key.
A screen for user frame setting using the three point teaching method will appear.

8 Enter a comment in the [Comment] field as necessary.

A comment to distinguish this frame from other frames is recommended.
9 Move the cursor to the [Orient Origin Point].
10 Jog the robot and touch up the origin of the frame with the pointer tool pin.

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Touch-up of the orient origin point

11 While holding down the [SHIFT] key, press F5 [RECORD].

The current position data will be recorded as the orient origin of the frame.
As for the taught [Orient Origin Point], [USED] will appear.

12

11

12 Move the cursor to the [X Direction Point].

13 Jog the robot and touch up the X direction point with the pointer tool.
A line drawn between the orient origin point and the touched up X direction point will be the X-axis
of the frame.

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Touch-up of X direction point

15

14

14 While holding down the [SHIFT] key, press F5 [RECORD].

The current position data will be recorded as the X direction point.
[USED] will appear for [X Direction Point].
15 Move the cursor to the [Y Direction Point].
16 Jog the robot and touch up the Y direction point with the pointer tool.
Touching up the Y-axis direction will determine the X and Y plane of the frame.

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Touch-up of Y direction point

17

17 While holding down the [SHIFT] key, press F5 [RECORD].

The current position data will be recorded as the Y direction point.
When all the approach points are taught, [USED] will appear. The user frame will be set.
18 Press the [PREV] key.
The User Frame list screen will appear.

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19

19 Press F5 [SETIND] and enter a frame number.

The user frame that has been set will be set as the currently enabled user frame.

Four point method

Teach the following four points: the origin of the x-axis parallel to the frame, the point that specifies the
positive direction of the x-axis, a point on the xy plane, and the origin of the frame. In the example of the
following figure, the user frame is set on the fixed calibration grid.

Example of setting a user frame on a fixed calibration grid

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The following figure is a calibration grid. When performing the Grid Pattern Calibration for camera
calibration, it is necessary to set up a user frame such as shown in the following figure. Since it is necessary 1
to set an Orient origin on the center of a calibration grid, when the “Three point method” is used, the
distance from the Orient Origin to the X Direction Point or the Y Direction Point is shorter. The accuracy
of user frame setting is better when the “Four point method” is used.

X Direction

System Origin

Y Direction Orient Origin

Four point teaching method touch-up points for a calibration grid

1 On the teach pendant, after selecting the [MENU] key → [SETUP], place the cursor over [Frames]
and press the [ENTER] key.
2 Press F3 [OTHER].
3 Place the cursor over [User Frame] and press the [ENTER] key.
The list screen for user frames will appear.

4 Place the cursor over the line number of the frame to be set.
5 Press F2 [DETAIL].
The SETUP Frames screen for the selected frame will appear.
6 Press F2 [METHOD].
7 Place the cursor over [Four Point] and press the [ENTER] key.
A screen for user frame setting using the four point teaching method will appear.

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8
9

8 Enter a comment in the [Comment] field as necessary.

A comment to distinguish this frame from other frames is recommended.
9 Place the cursor over [Orient Origin Point].
10 Jog the robot and touch up the X direction origin point with the pointer tool.

Touching up the orient origin point

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12

11

11 While holding down the [SHIFT] key, press F5 [RECORD].

The current position data will be entered as the X-axis origin point.
For the taught [Orient Origin Point], [Used] will appear.
12 Move the cursor to the [X Direction Point].
13 Jog the robot and touch up the X direction point with the pointer tool.
A line drawn between the orient origin point and the touched up X direction point will be the X-axis
of the frame.

Touch-up of X direction point

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15

14

14 While holding down the [SHIFT] key, press F5 [RECORD].

The current position data will be recorded as the X direction point.
[USED] will appear for [X Direction Point].
15 Move the cursor to the [Y Direction Point].
16 Jog the robot and touch up the Y direction point with the pointer tool.
Touching up the Y-axis direction will determine the X and Y plane of the frame.

Touch-up of Y direction point

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18

17

17 While holding down the [SHIFT] key, press F5 [RECORD].

The current position data will be recorded as the Y direction point.
[USED] will appear for the taught [Y Direction Point].
18 Move the cursor to the [Orient Origin Point].
19 Jog the robot and touch up the orient origin point of the frame with the pointer tool.

Touch-up of the orient origin point

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20

20 While holding down the [SHIFT] key, press F5 [RECORD].

The current position data will be recorded as the orient origin of the frame.
When all the approach points are taught, [USED] will appear. The user frame will be set.
21 Press the [PREV] key.
The User Frame list screen will appear.
22 Press F5 [SETIND] and enter a frame number.
The user frame that has been set will be set as the currently enabled user frame.

1.1.2 Tool Frame Setting

This subsection explains how to set a tool frame on the calibration grid that is mounted on the robot end of
arm tooling.

Example of tool frame setting with a pointer tool

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After the pointer for touch-up is secured to a secured stand, select “Tool Frame Setup / Six Point (XY)” or
“Tool Frame Setup / Six Point (XZ),” and teach the six points shown in the figure below by touch-up 1
operation. The position of the fixed pointer can be set as desired.

System Origin
Z - axis/Y - axis
Direction
Approach point 1
Approach point 2
Approach point 3

X Direction

Six point teaching method touch-up points for a calibration grid

The tool frame set using the “Tool Frame Setup / Six Point (XZ)” method is rotated by 90 degrees about
the X-axis with respect to a desired frame. Upon completion of setting the tool frame with the touch-up
operation, manually enter the value of W plus 90.
In the example of this subsection, “Tool Frame Setup / Six Point (XY)” is explained. Make sure that the
calibration grid is fixed securely to the robot end of arm tooling so that it remains in place while the robot
moves. Positioning pins or other appropriate means may be used so that the calibration grid can be mounted
at the same position for each measurement. Moreover, set the tool frame accurately on the calibration grid.
If the accuracy of this frame setting is low, the precision in handling of a workpiece by the robot is also
degraded.

1 On the teach pendant, after selecting the [MENU] key → [SETUP], place the cursor over [Frames]
and press the [ENTER] key.
2 Press F3 [OTHER].
3 Place the cursor over [Tool Frame] and press the [ENTER] key.
The list screen for tool frames will appear.

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4 Place the cursor over the line of the tool frame number to be set.
5 Press F2 [DETAIL].
The setup screen for the tool frame for the selected frame number will appear.

6
6 Press F2 [METHOD].
7 Place the cursor over [Six Point (XY)] and press the [ENTER] key.
A screen for tool frame setting using six points will appear.

8
9

8 Enter a comment in the [Comment] field as necessary.

A comment to distinguish this frame from other frames is recommended.
9 Place the cursor over [Approach point 1].
10 Jog the robot and touch up the approach point 1 with the pointer tool.

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Approach point 1

Touch-up of approach point 1

12

11

11 While holding down the [SHIFT] key, press F5 [RECORD].

The current value’s data will be input as approach point 1.
[Used] will appear for [Approach point 1].
12 Place the cursor over [Approach point 2].
13 Jog the robot and touch up the approach point 2 with the pointer tool.
Touch up the same point as approach point 1. However, change the robot orientation from that of
approach point 1.

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Approach point 2

Touch-up of approach point 2

15

14

14 While holding down the [SHIFT] key, press F5 [RECORD].

The current value’s data will be input as approach point 2.
As for the [Approach point 2], [USED] will appear.
15 Move the cursor to [Approach point 3].
16 Jog the robot and touch up the approach point 3 with the fixed pointer.
The position of approach point 3 is the same as approach point 1 and 2. However, the posture of
approach point 3 is different from the posture of approach point 1 and 2.

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Approach point 3

Touch-up of approach point 3

18

17

17 While holding down the [SHIFT] key, press F5 [RECORD].

The current value’s data will be input as approach point 3.
As for the taught [Approach point 3], [USED] will appear.
18 Move the cursor to the [Orient Origin Point].
19 Jog the robot and touch up the Orient Origin Point with the fixed pointer.

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Orient Origin Point

Touch-up of the point for the Orient Origin Point

21

20

20 While holding down the [SHIFT] key, press F5 [RECORD].

The current position data will be recorded as the orient origin of the frame.
As for the taught [Orient Origin Point], [USED] will appear.
21 Move the cursor to the [X Direction Point].
22 Jog the robot and touch up the X Direction Point with the fixed pointer.

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X Direction Point

Touch-up of X direction point

24

23

23 While holding down the [SHIFT] key, press F5 [RECORD].

The current position data will be recorded as the X direction point.
[USED] will appear for [X Direction Point].
24 Move the cursor to the [Y Direction Point].
25 Jog the robot and touch up the Y Direction Point with the fixed pointer.

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Y Direction Point

Touch-up of Y direction point

26

26 While holding down the [SHIFT] key, press F5 [RECORD].

The current position data will be recorded as the Y direction point.
When all the reference points are taught, [USED] will appear. The tool frame has been set.
27 Press the [PREV] key.
The list screen for tool frames will appear.
28 Check that the TCP is set accurately. Press F5 [SETIND] and enter a frame number.
The tool frame that has been set will be set as the currently enabled tool frame.
29 Jog the robot to move the origin point of the calibration grid close to the tip of the fixed pointer tool.

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Center of rotation

Check by moving the origin point of the calibration grid close to tip of fixed pointer tool

30 Jog the robot around the tool frame, and change the orientation of the calibration grid (w, p, r). If the
TCP is accurate, the tip of the pointer tool will always point toward the origin point of the calibration
grid.

1.2 FRAME SETTING WITH GRID FRAME SETTING

FUNCTION
Function overview
The calibration grid frame setting function sets the calibration grid frame using a camera. In the calibration
grid frame setting function, the robot holding the camera or the robot holding calibration grid automatically
moves to change relative position and orientation between the camera and the calibration grid, and find the
grid pattern repeatedly. Finally, the position of the calibration grid frame relative to the robot base frame
or the robot mechanical interface frame (the robot face place) is identified. When the calibration grid frame
setting function is executed, a frame is set on the calibration grid, as shown in the following figure.

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Y Origin

Example of frame using calibration grid

Compared with the manual touch-up setting method, this function offers a number of merits, including
accurate setting of the frame without requiring user skills, no need for touch-up pointers or to set the TCP
for touch-up setting, and semi-automatic easy operation.

There are the following two methods for the calibration grid frame setting.

• Opening the camera data edit screen on the teach pendant and automatically measuring the position
information of a calibration grid.
• Perform the calibration grid frame setting on the [iRVision Utilities] screen on the teach pendant.

When you want to quickly perform camera calibration, the method to automatically measure the position
information of a calibration grid on the camera data edit screen is convenient. However, it cannot be done
from the camera edit screen on your PC. It must be done by opening iRVision’s camera edit screen from
the teach pendant.

CAUTION
The calibration grid frame setting function is usable with 6-axis robots only. The
function cannot be used with 4-axis robots and 5-axis robots.

Memo
The frame obtained through a calibration grid frame setting performed on the
camera data edit screen will not be set to the user frame or tool frame. The
obtained frame is stored inside the camera data and is used for the calibration of
the camera data. Although this method is convenient when you only want to
perform a calibration of camera data, to set a user frame or tool frame on the
calibration grid, perform a calibration grid frame setting on the iRVision Utilities
screen.

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1.2.1 Setting Procedure Using Camera Data Edit Screen 1

Use the following setup procedure for the calibration grid frame setting function on the camera data edit
screen:
1 Mounting calibration grid

2 Editing the camera data

3 Teaching start position (Camera data edit screen)

4 Running measurement (Camera data edit screen)

1.2.1.1 Mounting calibration grid

When the calibration grid is secured to a fixed surface
When the calibration grid is secured to fixed surface, a camera mounted on the robot end of the arm tooling
is used to measure the position of the calibration grid frame. The calibration grid frame setting function
identifies the position of the calibration grid frame relative to the robot base frame (world). When using a
robot-mounted camera, the calibration grid frame setting function can be performed with the camera
currently used. When using a fixed camera, prepare another camera for the calibration grid frame setting
function.

Example of a fixed calibration grid

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When the calibration grid is mounted on the robot

When the calibration grid is mounted on the robot, a fixed camera is used to measure the position of the
calibration grid frame. The robot moves the calibration grid within the field of view of the fixed camera.
The calibration grid frame setting function identifies the position of the calibration grid frame relative to
the robot mechanical interface frame (the robot face plate). The calibration grid frame setting function can
be performed with the camera currently used. When there is not enough space to perform the calibration
grid frame setting function with the camera currently used, prepare another fixed camera to make it possible
to perform the calibration grid frame setting function.

Example of a calibration grid attached to the robot hand

Make sure that the calibration grid is fixed securely so that it does not move during measurement.

Memo
To prevent unnecessary circles from being found, check that the calibration grid
is free of dirt and flaws. Laying out a plain sheet in the background is effective.
Also, make sure to cover the printed text on the calibration grid.

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1.2.1.2 Editing the camera data 1

Open the camera data edit screen and configure settings to automatically measure the position information
of a calibration grid.
When the icon is shown for [1 2D Setup], [2 3D Setup], and [3 Parameters Setup] in the navigation
area, the setup is complete.

For details when using a fixed camera, refer to “Know-How: 2.2 3DV SENSOR MOUNTING POSITION
SETUP WITH FIXED CAMERA,” or when using the robot-mounted camera, refer to “Know-How: 2.1
3DV SENSOR MOUNTING POSITION SETUP WITH ROBOT-MOUNTED CAMERA.” However, in
step “Setting the Parameters,” you must select [Measure automatically] from the [Cal. Grid Frame] drop-
down box.

1.2.1.3 Teaching start position

Teach the start position using the following procedure.

1 Press [4 Fixture Pos. Setting] in the navigation area.

2 Press [LIVE].
The image being snapped by the camera is shown in real time.
3 Jog the robot so that the camera’s optical axis is approximately perpendicular to the plate surface of
the calibration grid and that all four of the large black circles of the calibration grid are inside the
camera’s field of view. The distance between the calibration grid and the camera should be appropriate
for the grid to come into focus, which is, under normal circumstances, roughly the same as the distance
at which camera calibration is performed.

Memo
For Automatic Grid Frame Set, measurement is performed by panning and
rotating the camera attached to the robot’s gripper or the calibration grid. It is
recommended that you set the field of view to something quite large in relation to
the calibration grid, so that the four large black circles will not be outside of the
field of view.

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Camera field
of view

Camera field of view

4 Press [Record] in [Measurement Start Position]

The start position will be recorded, and [Start Position] changes to [Recorded].
5 To check the trained start position, press [Loc.] in [Measurement Start Position].
The value of each axis of the start position will appear, as shown below.

To return to the previous menu, press [CANCEL].

6 When moving the robot to the taught start position, press [OK] while pressing the [SHIFT] key on the
teach pendant.

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1.2.1.4 Running measurement 1

Perform measurement as follows, using the taught start position as a reference.

1 Check that the robot is at the start position.

2 While holding down the [SHIFT] key on the teach pendant, press [EXECUTE] in [Measure Fixture
Position].
The robot will start the operation, and measurement will be executed. When the robot is in operation,
the menu switches, allowing you to check the image being measured in real time.

CAUTION
1 The measurement will stop if you release the [SHIFT] key on the teach pendant
during measurement.
In such cases, redo the measurement. The measurement can be resumed from
where it was stopped.
2 Although the robot will perform the decided motion to some extent, depending on
the settings, it is possible that it will move with an unexpected motion range.
When executing measurement, check that the setup of parameters is correct,
and be careful to lower the override so that the robot will not interfere with
devices.
3 The robot may not be able to operate if other programs are in a paused state. In
such cases, press the [FCTN] key on the teach pendant and end the programs.

When the measurement is successfully completed, a menu like the one shown below appears.
The robot stops after moving to a position where the camera directly faces the calibration grid and the
origin of the calibration grid comes to the center of the image.

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Checking measurement result

When the measurement is completed, the settings of the calibration grid are shown on the screen. You can
check if there is a problem with the displayed settings using the following procedure.

1 Set the displayed position information to a frame number that has yet to be set.
When the calibration grid is robot-mounted, set the information to the tool frame.
When the calibration grid is fixed, set the information to the user frame.

Memo
Set the displayed position information on the frame setting screen on the teach
pendant.

2 Switch to the frame set in step 1.

3 Set the manual feed frame to the frame set in step 1.
For a tool frame, press the [COORD] key and switch to [Tool].
For a user frame, press the [COORD] key and switch to [User].
4 Press the icon in the image display area on the camera data edit screen.
5 Press [LIVE] on the camera data edit screen.
6 Jog the robot around the WPR. There will be no problem unless the center position of the grid pattern
is significantly far from the center line of the image.

In the event of failure to measure

If the measurement fails, the screen returns to the camera data edit screen without displaying a message on
the completion of measurement.
Review the setting items, [1 2D Setup], [3 Parameter Setup], and [4 Cal. Grid Location] or the start position
and redo the measurement. For details, refer to the description of setting the fixture position (Measure
Automatically) in "iRVision OPERATOR'S MANUAL (Reference) B-83914EN".

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1.2.2 Setting Procedure Using iRVision Utilities Screen 1

Use the following setup procedure for the calibration grid frame setting function on the iRVision Utilities
screen:

Setup flow

1.2.2.1 Mounting calibration grid

When the calibration grid is secured to a fixed surface
When the calibration grid is secured to fixed surface, a camera mounted on the robot end of the arm tooling
is used to measure the position of the calibration grid frame. The calibration grid frame setting function
identifies the position of the calibration grid frame relative to the robot base frame (world), and sets the
results in a user specified user frame. When using a robot-mounted camera, the calibration grid frame
setting function can be performed with the camera currently used. When using a fixed camera, prepare
another camera for the calibration grid frame setting function.

Memo
When you want to set the position information of a calibration grid to calibrate
the robot-mounted camera, the method to automatically measure the position
information on the camera data edit screen is convenient.

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Example of a fixed calibration grid

When the calibration grid is mounted on the robot

When the calibration grid is mounted on the robot, a fixed camera is used to measure the position of the
calibration grid frame. The robot moves the calibration grid within the field of view of the fixed camera.
The calibration grid frame setting function identifies the position of the calibration grid frame relative to
the robot mechanical interface frame (the robot face plate), and the results is written in a user defined tool
frame. The calibration grid frame setting function can be performed with the camera currently used. When
there is not enough space to perform the calibration grid frame setting function with the camera currently
used, prepare another fixed camera to make it possible to perform the calibration grid frame setting function.

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Example of a calibration grid attached to the robot hand

Make sure that the calibration grid is fixed securely so that it does not move during measurement.

Memo
To prevent unnecessary circles from being found, check that the calibration grid
is free of dirt and flaws. Laying out a plain sheet in the background is effective.
Also, make sure to cover the printed text on the calibration grid.

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1.2.2.2 Setting parameters

Setup the parameters on the [iRVision Utilities] screen of the teach pendant.

1 On the teach pendant, after selecting the [MENU] key → [iRVision], place the cursor over [Vision
Utilities] and press the [ENTER] key.
The [iRVision Utilities] screen will appear.

2 Place the cursor over [Automatic Grid Frame Set] and press the [ENTER] key.
The [Grid Frame Set] screen will appear.

CAUTION
The Grid Frame Set menu cannot be opened in more than one window at a time.

The following items will appear on the [Grid Frame Set] screen.

[Robot Group Number to Use]

Specify the group number of the robot to be used for measurement.

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[Set UFrame or UTool?] 1

Select the frame to be set with the calibration grid frame setting function - user frame or tool frame. To set
the tool frame with the calibration grid mounted on the robot, select F4 [UTOOL]. To set the user frame
with the calibration grid secured to a table or other fixed surface, select F5 [UFRAME].

[User Frame Number to set]

Specify the number of the user frame to be set. The range of specifiable user frame numbers is 1 to 9. This
will only appear if [UFRAME] is selected in [Set UFrame or UTool?].

[Tool Frame Number to set]

Specify the number of the tool frame to be set. The range of specifiable tool frame numbers is 1 to 10. This
will only appear if [UTOOL] is selected for [Set UFrame or UTool?].

[Camera Name]
Select a camera to use in the measurement. Place the cursor over the line of [Camera Name], then press F4
[CHOICE], and a list of cameras will appear. By selecting from the list, specify the camera to use for the
measurement.

[Exposure Time]
Specify the exposure time for the camera to capture an image (Shutter speed). The larger the value, the
brighter the images that will be snapped.
Adjust the exposure time so that the black circles of the calibration grid are clearly visible.

[Start Position]
Teach the position where measurement is to be started. If the position has been taught already, [Recorded]
will appear, and if it hasn’t been, [Not Recorded] will appear.
In the case of [Not Recorded], measurement cannot be executed. Be sure you always teach the start position
before measurement.
For the procedure to teach the start position, refer to “Know-how: 1.2.1.3, Teaching start position.”

[Grid Spacing]
Set the grid spacing of the calibration grid in use.

[Setting Result]
This item is displayed when the measurement is complete. For details, refer to the description of checking
the measurement result in “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

[Set Tool/User Frame for check]

This item can be set after the completion of measurement. It cannot be set when the measurement has not
been completed. For details, refer to the description of checking the measurement result in “iRVision
OPERATOR’S MANUAL (Reference) B-83914EN.”

F2 [DISP IMG]
Pressing F2 [DISP IMG] displays the Grid Frame Set screen and Vision Runtime screen as follows.

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F3 [LIVE]
A live image for the selected camera will appear on the Vision Runtime screen. When a live image appears,
it changes to F3 [STOPLIVE] and if F3 [STOPLIVE] is pressed, live image display will be stopped.

F4 [FIND]
Performs detection of a grid pattern. The detection result will be displayed on the Vision Runtime screen.

F7 [DEFAULT]
The set values will be changed to the initial values. [Camera Name] and [Start Position] will be returned to
their initial values so that you can set them again.

F8 [LED TYPE]
The setting screen for the LED light integrated in the camera package will be displayed. For details on LED
light setting, refer to the description of setting the LED light in “iRVision OPERATOR’S MANUAL
(Reference) B-83914EN.”

F9 [MOVE_LIM]
The robot moves during measurement of a calibration grid frame. A setting screen will appear to limit the
amount of such movement. For details on the move amount limit setting, refer to the description of setting
the moving limit in “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

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1.2.2.3 Teaching start position 1

Teach the start position using the following procedure.

1 If Vision Runtime does not appear, press F2 [DISP IMG].

2 Place the cursor over [Start Position].
3 Jog the robot so that the camera’s optical axis is approximately perpendicular to the plate surface of
the calibration grid and that all four of the large black circles of the calibration grid are inside the
camera’s field of view. The distance between the calibration grid and the camera should be appropriate
for the grid to come into focus, which is, under normal circumstances, roughly the same as the distance
at which camera calibration is performed.

Memo
For Automatic Grid Frame Set, measurement is performed by panning and
rotating the camera attached to the robot’s gripper or the calibration grid. It is
recommended that you set the field of view to something quite large in relation to
the calibration grid, so that the four large black circles will not be outside of the
field of view.

Camera field of view

Camera field of view

4 While holding down the [SHIFT] key, press F4 [RECORD].

The start position will be recorded, and [Start Position] changes to [Recorded].
5 To check the trained start position, press F3 [POSITION].
The value of each axis of the start position will appear, as shown below.

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To return to the previous menu, press the [PREV] key.

6 When moving the robot to the taught start position, press F5 [MOVE TO] while pressing the [SHIFT]
key.

1.2.2.4 Running measurement

Perform measurement as follows, using the taught start position as a reference.

1 If Vision Runtime does not appear, press F2 [DISP IMG].

2 Check the parameter setup on the [Automatic Grid Frame Set] screen.
3 Check that the robot is at the start position.
4 While holding down the [SHIFT] key, press F5 [EXECUTE].
The robot will start the operation, and measurement will be executed. A message saying ‘Now
executing’ will appear during the operation.

CAUTION
1 The measurement will stop if you release the [SHIFT] key during measurement.
In such cases, redo the measurement. The measurement can be resumed from
where it was stopped.
2 The measurement will stop if you perform an operation that moves to another
screen during measurement, such as pressing the [SELECT] key on the teach
pendant. In such cases, open the [Automatic Grid Frame Set] screen and redo
the measurement. The measurement can be resumed from where it was
stopped.
3 Although the robot will perform the decided motion to some extent, depending on
the settings, it is possible that it will move with an unexpected motion range.
When executing measurement, check that the setup of parameters is correct,
and be careful to lower the override so that the robot will not interfere with
devices.
4 The robot may not be able to operate if other programs are in a paused state. In
such cases, press the [FCTN] key and end the programs.

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When the measurement is successfully completed, a menu like the one shown below appears.
The robot stops after moving to a position where the camera directly faces the calibration grid and the 1
origin of the calibration grid comes to the center of the image.

5 If you press F4 [OK], you will return to the Automatic Grid Frame Set screen.

Checking measurement result

The calibration grid frame will be set depending on the measurement. The set frame can be checked using
the following procedure.

1 Set the manual feed frame as the frame for automatic grid frame set.
For a tool frame, press the [COORD] key and switch to [Tool].
For a user frame, press the [COORD] key to switch to [User], and specify the tool frame number that
was specified in [Camera User Tool Number] in [Tool] under the jog menu, using the number keys.
2 Press F3 [LIVE] to start the display of a live image, and move the robot by jog operation around the
WPR of the selected tool frame. There will be no problem unless the center position of the grid pattern
is significantly far from the center line of the image.

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In the event of failure to measure

If measurement fails, the following message will appear.

If F4 [OK] is pressed, the screen will return to the original screen.

After changing the setup parameters, measurement can be redone by pressing F5 [EXECUTE] while
holding down the [SHIFT] key.

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2 3DV SENSOR DATA SETTING

2
This chapter explains the settings for 3DV Sensor Data.
Create 3DV Sensor Data and perform camera setup and mounting position setup. Mounting Position Setup
is the task of setting where the 3DV Sensor is installed as seen from the robot. Complete mounting position
setup before teaching a vision process. There are two mounting position setup methods for the 3DV Sensor.
This chapter explains them using the following system configuration.

• “Know-How: 2.1 3DV SENSOR MOUNTING POSITION SETUP WITH ROBOT-MOUNTED

CAMERA”
• “Know-How: 2.2 3DV SENSOR MOUNTING POSITION SETUP WITH FIXED CAMERA”

CAUTION
The appropriate distance between a 3DV Sensor and the calibration grid is
dependent on the standoff distance of the 3DV Sensor.
In this chapter, 3DV/400, the standoff distance of which is about 800 mm is used
as an example for explanation.

2.1 3DV SENSOR MOUNTING POSITION SETUP WITH

ROBOT-MOUNTED CAMERA
To use the 3DV Sensor, mounting position setup using a calibration grid is required. When performing
mounting position setup, prepare a calibration grid in advance. You would usually use a calibration grid
that is bigger than the field of view. A standard calibration grid is available from FANUC in several sizes.
It is strongly recommended that you order a calibration grid as well as a camera and a lens.

Calibration grid

It is not necessary to detect all the circles on the calibration grid. There are 11 x 11 circles in the standard
calibration grid of FANUC. If 7 x 7 circles can be detected, calibration is performed with high accuracy
(the four large circles need to be detected). There is no need to prepare a small calibration grid in order to
show all the circles in the field of view. In order to perform calibration with sufficient accuracy to the edge
of the field of view, even if there are fewer detectable circles, prepare a calibration grid that is bigger than
the field of view.
Use the following setup procedure for 3DV Sensor mounting position setup with a robot-mounted camera.

This section explains how to automatically measure the position information of a calibration grid as an
example.

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CAUTION
1 There are certain requirements for automatically measuring the position
information of a calibration grid. For details, refer to “Know-How: 1.2.1 Setting
Procedure Using Camera Data Edit Screen.”
2 30 mm calibration grid spacing is recommended when using 3DV/1600.
3 7.5 mm calibration grid spacing is recommended when using 3DV/70 or
3DV/200.

1．Editing 3DV Sensor Data

2．2D Setup

3．3D Setup

4． Parameter Setup

5． Fixture Position Setup

6．Mounting Position Setup

7．Checking Mounting Position Setup Result

Setup flow of the 3DV Sensor data

2.1.1 Editing 3DV Sensor Data

Open the 3DV Sensor Data edit screen.
This system has pre-installed sample 3DV Sensor Data. The following explains the procedure for editing
the settings based on that sample.

1 Place the calibration grid within the 3DV Sensor’s field of view.

CAUTION
The robot moves during automatic measurement of the calibration grid position.
Do not place the calibration grid too close to the robot. Basically, place the
calibration grid on the offset plane.

2 Select “V_3DV_CAM” in the [Camera Data] category on the vision data list screen.

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3 Click [EDIT].
The camera data edit screen appears.

2.1.2 2D Setup
Set up the conditions for snapping 2D images.

1 Click [1 2D Setup] in the navigation area.

The following screen appears.

2
3
4
5

2 Select a camera from the [Channel] drop-down box.

When the 3DV Sensor to be used is selected, the 3DV Sensor automatically snaps an image, and the
image appears in the image view area.
3 Select the 3DV Sensor mounting method.
If the 3DV Sensor is attached to the robot end of arm tooling, select [Yes] for [Robot-Mounted].
4 Check [Enable] for [Auto Brightness].
The 3DV Sensor can use the HDR function to automatically adjust the snap brightness. For details
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such as precautions for automatic adjustment, refer to the description of automatic brightness
adjustment in “iRVision OPERATOR’S MANUAL (Reference) B-83914EN”.

If the calibration grid appears on the image display view as shown below, detection of the calibration
grid and calibration will be performed normally.

Example of an appropriate image

If the calibration grid appears on the image display view as shown below, there will be a problem in
detection of the calibration grid and calibration.

Too dark Too light

Examples of inappropriate images

Memo
If a well exposed image like the one above is not obtained using the automatic
brightness adjustment of the HDR function, uncheck [Enable] for [Auto
Brightness], and then adjust the exposure time in [Exposure Time (2D)] that is
displayed. Adjust until the dots of the calibration grid are clearly visible. If the
image is too dark, increase the exposure time (make the value bigger). On the
other hand, if the image is too light, decrease the exposure time (make the value
smaller). Each time you change the exposure time, an image snapped with the
changed exposure time is displayed.

5 Select [Yes] for the [Position Setting] drop-down box.

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2.1.3 3D Setup
Set up the conditions for snapping depth images.
2
1 Click [2 3D Setup] in the navigation area.
The following screen appears.

2
3
4

2 Click to switch to the advanced mode.

3 Set [Multi(normal)] from the [Snap Mode] drop-down box.
4 Adjust values of [Exposure Time (3D)] and [Projector Intensity] so that the depth data cannot be
measured (the area displayed in black) decreases.

Memo
Because of its structure, the 3DV Sensor cannot measure the depth at the right
edge of the sensor’s field of view. For this reason, the right edge of the sensor’s
field of view may remain a black area. For details, refer to the description of 3DV
sensor in “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

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2.1.4 Parameter Setup

Set the grid spacing of the calibration grid and placement information.

1 Click [3 Parameters Setup] in the navigation area.

The screen to make settings such as the grid spacing of the calibration grid appears.

2
3
4

2 From the [Grid Spacing] drop-down box, select the grid spacing for the calibration grid.
3 Select [No] from the [Robot-Held Cal. Grid] drop-down box.
4 Select [Measure automatically] from the [Setting Fixture Pos. Method] drop-down box.

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2.1.5 Fixture Position Setup

Automatically measure and set the calibration grid.
For details, refer to “Know-How: 1.2.1 Setting Procedure Using Camera Data Edit Screen.” 2
1 Click [4 Fixture Pos. Setting] in the navigation area.
The calibration grid position setting screen will appear.

2 Jog the robot to the start position for automatic measurement.

Set the distance at which the center of the sensor faces that of the calibration grid almost directly as
the measurement start position.
3 Click the [Record] button in [Measurement Start Position].
[Set] appears in [Measurement Start Position].
4 While holding down the [SHIFT] key on the teach pendant, click the [Excute] button in [Measure
Fixture Position].
When the measurement is successfully completed, a message on successful completion is displayed
in a pop-up window.
5 Check if there is a problem with the position information displayed in [Position of Cal. Grid Relative
to App. UFrame].

CAUTION
From this point forward, do not move the calibration grid until the mounting
position setup is complete.

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2.1.6 Mounting Position Setup

Detect the calibration grid and measure the 3DV Sensor mounting position.

When using the robot-mounted camera, after 3DV Sensor Data is created with the mounting position setup,
another 3DV Sensor Data does not need to be created even if the camera measurement position is changed.
This is because iRVision uses the current robot position when calculating the position of the part.

Mounting position setup procedure

The mounting position setup procedure is as follows.

1 Click [5 Mounting Pos. Setup] in the navigation area.

The mounting position setup screen appears.

2 Click the [Find] button in [Find Grid Pattern].

The following screen appears.

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3 Teach the search window to enclose only the perfect circles on the calibration grid.
When the area outside the calibration grid is included in the search range, a circle detection error may
occur. Therefore, teach the search window to enclose only the calibration grid. Also, if the grid pattern
does not fit in the camera FOV, do not allow imperfect circles around the circumference of the camera
FOV to be included within the search range.
2
4 Click [OK].
Check that all circles are detected in the snap view area. If the detection is successful, [Find Grid
Pattern] shows [Found].

2.1.7 Checking Mounting Position Setup Result

Check the calculated mounting position setup result.

1 Check the calculated mounting position.

• Check that [Mean error value] is 1.0 mm or less.
• Check that [Maximum error value] is 3.0 mm or less.
• Check that the value of [Grid Spacing] is close to the value of the selected [Grid Spacing].
• Check that there is no red crosshair (+) on the image display view.
If the values etc. is not appropriate, perform the mounting position setup again.

Memo
1 In case of 3DV/70 or 3DV/200, on the image display view, the grids with an error
of more 0.5 mm are displayed in yellow crosshairs (+). The grids with an error of
more 1 mm are displayed in red crosshairs (+).
2 In case of 3DV/400, 3DV/600 or 3DV/1600, on the image display view, the grids
with an error of more 1 mm are displayed in yellow crosshairs (+). The grids with
an error of more 3 mm are displayed in red crosshairs (+).

2 Click [SAVE] to save the setting, and then click [END EDIT] to close the 3DV Sensor Data edit screen.

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2.2 3DV SENSOR MOUNTING POSITION SETUP WITH FIXED

CAMERA
To use the 3DV Sensor, mounting position setup using a calibration grid is required. When performing
mounting position setup, prepare a calibration grid in advance. You would usually use a calibration grid
that is bigger than the field of view. A standard calibration grid is available from FANUC in several sizes.
It is strongly recommended that you order a calibration grid as well as a camera and a lens.

Calibration grid

It is not necessary to detect all the circles on the calibration grid. There are 11 x 11 circles in the standard
calibration grid of FANUC. If 7 x 7 circles can be detected, calibration is performed with high accuracy
(the four large circles need to be detected). There is no need to prepare a small calibration grid in order to
show all the circles in the field of view. In order to perform calibration with sufficient accuracy to the edge
of the field of view, even if there are fewer detectable circles, prepare a calibration grid that is bigger than
the field of view.
Use the following setup procedure for 3DV Sensor mounting position setup with a fixed camera.

CAUTION
1 30 mm calibration grid spacing is recommended when using 3DV/1600.
2 7.5 mm calibration grid spacing is recommended when using 3DV/70 or
3DV/200.

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1．Editing 3DV Sensor Data

2．2D Setup 2

3．3D Setup

4．Parameter Setup

5．Fixture Position Setup

6．Mounting Position Setup

7．Checking Mounting Position Setup Result

Setup flow of the 3DV Sensor data

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2.2.1 Editing 3DV Sensor Data

Open the 3DV Sensor Data edit screen.
This system has pre-installed sample 3DV Sensor Data. The following explains the procedure for editing
the settings based on that sample.

1 Place the calibration grid so that it faces the 3DV Sensor at a distance of about 800 mm within the
3DV Sensor’s field of view.
2 Select “V_3DV_CAM” in the [Camera Data] category on the vision data list screen.
3 Click [EDIT].
The camera data edit screen appears.

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2.2.2 2D Setup
Set up the conditions for snapping 2D images.
1 Click [1 2D Setup] in the navigation area. 2
The following screen appears.

2
3
4
5

2 Select a camera from the [Channel] drop-down box.

When the 3DV Sensor to be used is selected, the 3DV Sensor automatically snaps an image, and the
image appears in the image view area.
3 Select the 3DV Sensor mounting method.
If the 3DV Sensor is fixed, select [No] for [Robot-Mounted].
4 Check [Enable] for [Auto Brightness].
The 3DV Sensor can use the HDR function to automatically adjust the snap brightness. For details
such as precautions for automatic adjustment, refer to the description of automatic brightness
adjustment in “iRVision OPERATOR’S MANUAL (Reference) B-83914EN”.

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If the calibration grid appears on the image display view as shown below, detection of the calibration
grid and calibration will be performed normally.

Example of an appropriate image

If the calibration grid appears on the image display view as shown below, there will be a problem in
detection of the calibration grid and calibration.

Too dark Too light

Examples of inappropriate images

Memo
If a well exposed image like the one above is not obtained using the automatic
brightness adjustment of the HDR function, uncheck [Enable] for [Auto
Brightness], and then adjust the exposure time in [Exposure Time (2D)] that is
displayed. Adjust until the dots of the calibration grid are clearly visible. If the
image is too dark, increase the exposure time (make the value bigger). On the
other hand, if the image is too light, decrease the exposure time (make the value
smaller). Each time you change the exposure time, an image snapped with the
changed exposure time is displayed.

5 Select [Yes] for the [Position Setting] drop-down box.

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2.2.3 3D Setup
Set up the conditions for snapping depth images.
2
1 Click [2 3D Setup] in the navigation area.
The following screen appears.

2
3
4

2 Click to switch to the advanced mode.

3 Set [Multi(normal)] from the [Snap Mode] drop-down box.
4 Adjust values of [Exposure Time (3D)] and [Projector Intensity] so that the depth data cannot be
measured (the area displayed in black) decreases.

Memo
Because of its structure, the 3DV Sensor cannot measure the depth at the right
edge of the sensor’s field of view. For this reason, the right edge of the sensor’s
field of view may remain a black area. For details, refer to the description of 3DV
sensor in “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

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2.2.4 Parameter Setup

Set the grid spacing of the calibration grid and placement information.

1 Click [3 Parameters Setup] in the navigation area.

The screen to make settings such as the grid spacing of the calibration grid appears.

2
3
4

2 From the [Grid Spacing] drop-down box, select the grid spacing for the calibration grid.
3 Select [No] from the [Robot-Held Cal. Grid] drop-down box.
4 Select [Use Frame] from the [Setting Fixture Pos. Method] drop-down box.

Memo
When the calibration grid is mounted to the gripper, select [Yes] from the [Robot-
Held Cal. Grid] drop-down box. In this case, if you select [Measure automatically]
from the [Measure Fixtures Position] drop-down box, the settings of the
calibration grid can be measured automatically. For details, refer to “Know-How:
1.2.1 Frame Setting With Grid Frame Setting Function.”
When the calibration grid is fixed, automatic measurement is not available. In
this section, it is assumed that the calibration grid is fixed.

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2.2.5 Fixture Position Setup

Set the calibration grid position to camera data.
2
1 Click [4 Fixture Pos. Setting] in the navigation area.
The calibration grid position setting screen will appear.

2
3

2 From the [Cal. Grid Frame] drop-down box, select the number of the user frame in which the
calibration grid installation information was recorded.
In order to set up the user frame for the calibration grid, refer to “Know-How: 1.2 FRAME SETTING
WITH GRID FRAME SETTING FUNCTION.”

CAUTION
From this point forward, do not move the calibration grid until the mounting
position setup is complete.

Memo
Note that the frame for installation information of the calibration grid is different
from [Application Frame] and [Offset Frame].

3 Click the [Set] button of [Fixture Position Status].

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2.2.6 Mounting Position Setup

Detect the calibration grid and measure the 3DV Sensor mounting position.

Mounting position setup procedure

The mounting position setup procedure is as follows.

1 Select [5 Mounting Pos. Setup] in the navigation area.

The mounting position setup screen appears.

Moving the calibration grid to an appropriate position

When the setting of 3DV Sensor described so far is completed, move the calibration grid to an appropriate
position by following the steps below to perform mounting position setup.

1
4

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1 Click the button.

A vertical line and a horizontal line appear in the image view area to indicate the center of the image.
Based on these lines, the calibration grid can be aligned with the center of the image.
2 Click [LIVE].
The live image of the selected camera appears in the image view area.
2
3 Move the calibration grid so that the center of the calibration grid is almost at the center of the image
view area.
The bottom surface of the camera of the 3DV Sensor faces the calibration grid almost straight with a
distance of about 800 mm. Jog the robot in the XY direction of the calibration grid so that the center
of the calibration grid is almost at the center of the image view area. Next, move the calibration grid
so that the center of the calibration grid is almost at the center of the image view area.
4 Click the [Find] button in [Find Grid Pattern].

Executing the mounting position setup

1 Teach the search window to enclose only the perfect circles on the calibration grid.
When the area outside the calibration grid is included in the search range, a circle detection error may
occur. Therefore, teach the search window to enclose only the calibration grid. Also, if the grid pattern
does not fit in the camera FOV, do not allow imperfect circles around the circumference of the camera
FOV to be included within the search range.
2 Click [OK].
Check that all circles are detected in the snap view area. If the detection is successful, [Find Grid
Pattern] shows [Found].

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2.2.7 Checking Mounting Position Setup Result

Check the calculated mounting position setup result.

1 Check the calculated mounting position.

• Check that [Mean error value] is 1.0 mm or less.
• Check that [Maximum error value] is 3.0 mm or less.
• Check that the value of [Grid Spacing] is close to the value of the selected [Grid Spacing].
• Check that there is no red crosshair (+) on the image display view.
If the values etc. are not appropriate, perform the mounting position setup again.

Memo
1 In case of 3DV/70 or 3DV/200, on the image display view, the grids with an error
of more 0.5 mm are displayed in yellow crosshairs (+). The grids with an error of
more 1 mm are displayed in red crosshairs (+).
2 In case of 3DV/400, 3DV/600 or 3DV/1600, on the image display view, the grids
with an error of more 1 mm are displayed in yellow crosshairs (+). The grids with
an error of more 3 mm are displayed in red crosshairs (+).

2 Click [SAVE] to save the setting, and then click [END EDIT] to close the 3DV Sensor Data edit screen.

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3 EXAMPLE OF SETTING ACCORDING TO

USAGE
This chapter explains examples of settings according to usage of 3DV Sensor. 3

3.1 SENSOR

3.1.1 Improving Detection Performance

The accuracy of 3D points and 2D images measured by 3DV Sensor is higher the closer the standoff of the
3DV Sensor is to the focus position of the camera in the 3DV Sensor. Detection Performance may be
improved by adjusting the layout so that the distance between the 3DV Sensor and the part is close to the
focus position.
The focus position of the 3DV sensor is as follows.
• 3DV/70: 191mm
• 3DV/200: 395mm
• 3DV/400: 800mm
• 3DV/600: 1615mm
• 3DV/1600: 2240mm

3.2 ROBOT-MOUNTED CAMERA

3.2.1 Moving Search Window of 3D Command Tool with Robot-

Mounted Camera According to Robot’s Snap Position
The search window of the 3D command tool is set on the frame used for detection. The frame used for
detection is the camera frame when [Camera Base Find] is valid, and is the offset frame otherwise. If
[Camera Base Find] is invalid with a robot-mounted camera and the search window of the 3D command
tool is used, the search window may be out of the view area when the robot’s snap position changes, and
the part cannot be detected at all.
To move the search window of the 3D command tool according to the snap position of the robot, use
[Camera Base Find].

The setting procedure of the example using the 3D Blob Locator Tool is explained below.
1 Create 3DV Single-View Vision Process and click the [Edit] button to open the setup screen.
2 Set [3DV Sensor] and [Offset Frame].
3 Switch to the advanced mode and check the checkbox of [Camera Base Find].
4 Select [3D Blob Locator Tool] in the tree view and set [Search Window].

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Move the robot

to the right.

The search window moves

according to the robot motion.

3.2.2 Fixing Search Window of 3D Command Tool with Robot-

Mounted Camera Regardless of Robot’s Snap Position
The search window of the 3D command tool is set on the frame used for detection. The frame used for
detection is the camera frame when [Camera Base Find] is valid, and is the offset frame otherwise. When
the area to be detected is fixed on the world frame, detection can be performed regardless of the snap
position of the robot by disabling [Camera Base Find].

The setting procedure of the example using the 3D Blob Locator Tool is explained below.
1 Create 3DV Single-View Vision Process and click the [Edit] button to open the setup screen.
2 Set [3DV Sensor] and [Offset Frame].
3 Switch to the advanced mode and uncheck the checkbox of [Camera Base Find].
4 Select [3D Blob Locator Tool] in the tree view and set [Search Window].

Move the robot

to the right.

The search window is

fixed to the container.

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3.3 3DV SENSOR STITCHING

3DV Sensor stitching is a vision process that offsets the robot motion by integrating depth images measured
by multiple 3DV Sensors or at multiple measurement positions and use them as a single depth image to
detect position and posture of the part in 3D. With this vision process, 3D fixed offset and bin picking can
be performed. 3

Although the system setup procedure is similar to that for the “3DV Single-View Vision Process”, it is
necessary to configure the setting to obtain the snapped depth images from multiple camera views and to
teach a command tool to integrate depth images. For details, refer to the description of 3DV Stitching Vision
Process in “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”
This section explains how to perform 3D fixed offset for a large part by snapping multiple camera views
with a single 3DV Sensor mounted to the robot as an example.

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3.3.1 Setting up Vision Process

Create and set a “3DV Sensor Stitching” vision process.

3.3.1.1 Creating vision process

Create a vision process and open the edit screen.

1 Click [CREATE] on the vision data list screen.

2 Click the type of vision data to create.
Select [3DV Stitching Vision Process] in [Vision Process Tools].

3 In [Name], enter the name of the vision process you are going to create.
The name can be up to 34 alphanumeric characters in length. The name must not contain spaces or
symbols other than underscores, and must start with a letter.
In [Comment], enter any character string providing additional information about the vision data if
necessary. The comment can be up to 50 one-byte or 25 two-byte characters.
4 Click [OK].
A new vision process is created.
5 When the screen returns to the vision data list screen, select the created vision process and click [Edit].

CAUTION
The following names are not usable as the name of the vision data:
CON, PRN, AUX, NUL, COM1, COM2, COM3, COM4, COM5, COM6, COM7,
COM8, COM9, LPT1, LPT2, LPT3, LPT4, LPT5, LPT6, LPT7, LPT8, LPT9.

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3.3.1.2 Setting parameters of vision process

3
1

2
3
4

1 Select [Fixed Frame Offset] from the [Application] drop-down box.

2 Set the user frame that you want to use as the base for offset calculation from the [Offset Frame] drop-
down box.
3 Select [All Robot-Mounted] from the [Camera Installation] drop-down box.
4 Select [FOV Expansion] from the [Stitching Mode] drop-down box.

3.3.1.3 Camera View 1 setup

Select [Camera View 1] in the tree view, and then set each item.

1 Jog the robot so that the field that you want to include in the first camera view is within the sensor’s
field of view.
2 Select the sensor data to use from the [3DV Sensor] drop-down box.
When sensor data is selected, a depth image is snapped.

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Memo
In the setup example in this section, all the sensor data selected for the camera
view must be that from a sensor mounted to the robot. Specifically, it is the
sensor data for which [Yes] is selected for [Robot-Mounted].

3 To adjust the snapping position, jog the robot and click [SNAP] again.
At this point, there is only one snapped depth image and so only the depth image of camera view 1 is
shown in the image display area.

3.3.1.4 Camera View 2 setup

Select [Camera View 2] in the tree view, and then set each item.

1 Jog the robot so that the field that you want to include in the second camera view is within the sensor’s
field of view.
2 Select the sensor data to use from the [3DV Sensor] drop-down box.

Memo
In the setup example in this section, all the sensor data selected for the camera
view must be that from a sensor mounted to the robot. In the setup example in
this section, since multiple camera views are snapped with a single 3DV Sensor,
select the same sensor data used for Camera View 1.

3 To adjust the snapping position, jog the robot and click [SNAP] again.
The depth image snapped by camera view 2 is shown on the left of the image display area. Although
a stitched image is shown on the right of the image display area, it will not be a correctly stitched
image until the range of stitching, which is explained in the next section, has been set.

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3.3.1.5 Setting Stitching

Select [Stitching 1] in the tree view, and then set each item.

1 Click [Calc Auto].

The stitching range in the green border section is automatically calculated.
When [FOV Expansion] is set for [Stitching Mode], a stitching range is calculated in a way the field
of view of all camera views will be included.
2 Click [Stitch].

Memo
When you click [SNAP] here, a depth image is snapped at the current robot
gripper position and the snapped image is reflected to all camera views. In such
a case, redo snapping with each camera view.

3 Check stitching results.

Adjust parameters as necessary.

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3.3.1.6 Setting reference position

Here, place a part on a reference position, run a test and set the detection result as the reference position
XYZWPR.
When the vision process is performed after the setting, the vision process calculates the offset data by
comparing the actual position where the part is detected against the reference position.
Select [Offset data Calculation Tool] in the tree view, and then set each item.

1 3

1 Click [SNAP] to find the part.

2 Check that the part has been found correctly, and click the [Set] button of [Ref. Pos. Status].
3 Click [SAVE] and then [END EDIT].

CAUTION
From this point forward, do not move the part until teaching of the robot motion
when the part is placed at the reference position is finished in the TP program.

3.3.2 TP Program
The TP instruction, [VISION RUN_FIND] and KAREL programs, [IRVSNAP.KL] and [IRVFIND.KL]
are not supported. Use KAREL processes, [IRVSTSNAP.KL] and [IRVSTRUNFIND.KL], instead.
1: ! Snap by Camera View1 and store snapped depth image
2: ! in the image register which is selected in the setup page.
3:
4: J PR[2:cameraview1] 60% FINE
5: CALL IRVSTSNAP("Vision Process"='Prog',
"Camera View"=1)
6:
7: ! Snap by Camera View2 and store snapped depth image
8: ! ! in the image register which is selected in the setup page.
9:
10: J PR[3:cameraview2] 60% FINE
11: CALL IRVSTSNAP("Vision Process"='Prog',
"Camera View"=2)
12:
13: ! Create an integrated depth image by stitching depth images by
camera views and find parts.
14: CALL IRVSTRUNFIND("Vision Process"='Prog')

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3.3.3 Other Applications

3DV Sensor installation
When the 3DV Sensor used for switching is fixed, select [All Robot-Mounted] from the [Camera
Installation] drop-down box in the vision process. When 3DV Sensors mounted to the robot and fixed are
used in combination, select [Both].
For a TP Program example in such a case, refer to the description of 3DV Stitching Vision Process in 3
“iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

Stitching in bin-picking
When using stitching, set interference avoidance data and Parts List Manager in the same way as with bin
picking using a single 3DV Sensor.
Note, however, that instead of using the image registers on the SEARCH VP List edit screen, those set with
camera views are used.

In a TP program, call the [BINPICK_SEARCH] macro program when finding, instead of using the
[IRVSTRUNFIND.KL] macro program.

3.4 BIN PICKING

3.4.1 Setting Container Larger Than Field of View of 3DV Sensor

This section explains how to set [Container Shape] in the 3D Data Generator Tool when dealing with a
container that cannot fit within the field of view of the 3DV Sensor.
Only if the following conditions are satisfied.
• The 3DV Sensor can be moved with the robot-mounted camera or using similar methods.
• [Camera Base Find] in [3DV Single-View Vis. Proc] is not checked.

The setting procedures are explained below.

1 Open the vision process of ‘3DV Single-View Vis Proc’ and select [In Container] from the [Part
Condition] drop-down box in the setup screen of [3D Data Generator Tool].

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2 Click the [Teach] button, teach vertices (corners) at the edge of the visible area of the top of the
container in order and click the [OK] button. In the figure below, 5 vertices are taught.

3 Set [Container Z] and click the [FINISH] button. [Container Z] will be adjusted later, so a rough value
can be entered here.

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4 Move the 3DV Sensor so that the container area not shown in the snap can be seen and click the
[SNAP] button.
5 Specify the last number of [Vertex Index] and click the [Add] button.

6 A vertex is added to [Vertex Index]. Specify the number of the added [Vertex Index] and click the
[Move] button.

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7 Move to any vertex at the edge of the top of the container and click the [OK] button.

8 A new [Vertex Index] is set as shown below.

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9 Repeat steps 5 to 8 to set all [Vertex Index] of current view.

10 If necessary, repeat steps 4 to 9 until all the container vertices are set.
11 Click the [FIND] button.

11

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12 Adjust [Container Z], [Container Depth] and [Margin from Wall] if the 3D points of the bottom of the
container or outside the container are not properly removed.
For how to adjust them, refer to the description of 3D Data Generator Tool in “iRVision
OPERATOR’S MANUAL (Reference) B-83914EN.”
After completing adjustment of each parameter, the setting is completed.

12

3.4.2 Using Robot-Mounted Camera for Multiple Containers

As shown in the figure below, if there are multiple containers of the same type and you want to move the
robot with the robot-mounted camera to each container and to perform detection, use [Camera Base Find].

For the setup procedure, refer to ‘3.2.1 Moving the Search Window of the 3D Command Tool with the
Robot-mounted Camera According to the Snap Position of the Robot.’

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Move upward to the

container on the right. 3

The search window onto the

container next to the right.
When [Camera Base Find] is disabled, the search window does not change from the set area even if the
robot moved to above another container.

3.4.3 Container Position Is Not Fixed

In a bin-picking system, because the container will not be positioned correctly due to the nature of the
mechanism or because it is positioned to a certain degree but the clearance is relatively large, the container
installation position may change each time when it is replaced, causing the following problems.

• A misjudgment frequently occurs with the interference avoidance function.

The container object set in the system data for interference avoidance memorizes the container position
and size based on three points in the reference user frame set in the system data. For this reason, if the
container installation position changes, the memorized position of the container object and the actual
position of the container will not match, resulting in a misjudgment on interference.

• The search window cannot be set correctly.

The part search window set by the SEARCH vision process is normally set along the internal wall of
a container in which the part is present. However, if the container installation position moves, the
search window will not be set correctly along the internal wall of the container, resulting in parts that
cannot be found (see the figure below).

Camera Search Window Search Window

Camera

Container moves
After the move
Container Before the move

If this is the case, use a function that automatically moves the container object and search window. This
function uses the found result of a vision process for finding the container installation position to internally
move them.

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Creating and setting a container detection vision process

On the [Vision Setup] screen of iRVision, create and set a vision process for finding a container. 2-D Single-
View Vision Process or 2-D Multi-View Vision Process are useful for container detection. For details, refer
to the descriptions of 2-D Single-View Vision Process or 2-D Multi-View Vision Process in “iRVision
OPERATOR’S MANUAL (Reference) B-83914EN.”

Changing the TP program

The following describes how to change the TP program explained in “Setup: 4 BIN PICKING SYSTEM”
to one that uses the result of container detection for bin-picking. A TP program can also be customized in
other bin-picking system using the same method.

In this customization, the following registers are used in addition to those used in the TP program explained
in “Setup: 4.8 CREATING TP PROGRAM.”

Additional registers to be used

R [15] The maximum retry count for container detection.
R [16] The retry count for container detection.

The following vision register is additionally used.

Additional vision register to be used

VR [1] The container detection result.

BIN_FIND_CONTAINER.TP
Add a TP program that performs container detection. When obtaining the offset value fails, a retry is
repeated for the number of times set in R [15]. When the retry count has exceeded the value in R [15], a
user alarm is issued. Note that in the following TP program, the vision process for container detection is
named CNTROFS.

1: ! Move to snapping position

2: J P[2] 100% FINE Move to a position to snap an image.
3:
4: R[15]=5 Set maximum number of times to
5: R[16]=0 retry.
6:
7: LBL[10] Set 0 to the number of times retry.
8: ! Check retry times
9: IF R[16]>R[15],JMP LBL[99] Terminate the cycle if the number
10: of times of retry exceed the
11: ! Run CONTAINER OFFSET process maximum number of times.
12: VISION RUN_FIND 'CNTROFS'
13: VISION GET_OFFSET ‘CNTROFS’ VR[1] JMP LBL[91]
14: Run the vision process for
15: END CONTAINER OFFSET
16:
17: ! Retry CONTAINER OFFSET process
18: LBL[91]
19: R[16]=R[16]+1 Count the retry times
20: JMP LBL[10]
21: Jump to the process to check the retry
22: ! ALARM times
23: LBL[99]
24: UALM[2]
25: END

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BIN_PICKING.TP
Change the section indicated with a bold line of the TP program BIN_PICKING.TP explained in “Setup:
4.8 CREATING TP PROGRAM.”

1: !The register numbers and

2: !position register numbers below
3: !should be changed according to 3
4: !those set by CMT_3DV_BP.TP.
5:
6: UFRAME_NUM=1
7: UTOOL_NUM=1
8: CALL BINPICK_CLEAR(1)
9:
Add the instruction for calling the
10: CALL BINPICK_FIND_CONTAINER
program for CONTAINER OFFSET
11:
12: !SEARCH
13: LBL[1]
14: L P[1:Search] 2000mm/sec FINE
15: CALL BINPICK_SEARCH(1,1,10)
16: IF R[10]<>0,JMP LBL[999]
17:
18: !POP
19:

3.4.3.1 Moving container objects for interference avoidance data

according to amount of movement of container
On the edit screen for the interference avoidance setting system data, enter the vision register number that
stores the result of the above-mentioned container detection vision process in [VR] under [Container Offset]
in the setting item area.

In the tree view of the edit screen for the interference avoidance setting system data, select an object that
moves with the container. Check the checkbox of [Shift Objects Pos.] in the setting item area.

3.4.3.2 Shifting Search Window according to amount of container

movement
The following explains how to shift the search window according to the amount of container movement.
Configure the following settings in the “3DV Single-View Vision Process” created for bin-picking.

Adding and teaching the window shift tool

Add a window shift tool to the “3DV Single-View Vision Process.”

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Select [Window Shift Tool 1] in the tree view of the vision process edit screen, and select [Other VP Result]
from the [Input Data Type] drop-down box in the setting item area. Enter the vision register number for
storing the result of the container detection vision process in the text box for [VR to Use] that appears when
[Other VP Result] is selected.

Teaching 3D Data Generator Tool and 3D Blob Locator Tool

Once the container detection vision process is run from the TP program, obtain the vision offset value and
store the result in the vision register. Then, teach the container shape on the 3D Data Generator Tool edit
screen. When a search window is being used by the 3D Blob Locator Tool, and so on, teach the search
window again. For details on the setting method, refer to the description of 3D Data Generator Tool and
3D Blob Locator Tool in “iRVision OPERATOR’S MANUAL (Reference) B-83914EN.”

3.5 COMMAND TOOL

3.5.1 Using 3D Blob Locator Tool for Close Contact Parts

Because the 3D Blob Locator Tool uses the difference in height with the surroundings to detect parts, when
parts are in close contact with each other, several parts may be connected and detected as one part. In such
a case, if the boundaries between parts can be distinguished by the camera image, connected 3D blobs may
be separated by utilizing the camera image.

1 Create 3DV Single-View Vision Process and click the [Edit] button to open the setup screen.
2 Click the button in the tree view to add [Snap Tool].
3 Select [3D Blob Locator Tool] in the tree view and select the added Snap Tool in [Input Image].
4 Enable [Contrast] of [Connecting Threshold].

The following figures show the detection results when [Contrast] is disabled/enabled.

Invalid Valid

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4 TROUBLESHOOTING
This chapter explains how to troubleshoot if any failure happens while using the 3DV Sensor.

4.1 DISTANCE CANNOT BE MEASURED

4
If a strong impact or vibration is applied to the 3DV Sensor, the measurement performance may degrade as
the following figure.
In such a case, you can re-adjust the 3DV Sensor.
For details, refer to the description about re-adjusting the 3DV Sensor in “iRVision OPERATOR’S
MANUAL (Reference) B-83914EN.”

Failure case

Normal case

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 INDEX

INDEX
Editing TP Program ............................... 27,41,74,116,119
<Number> Editing vision process ................................... 17,31,64,102
2D Setup................................................................ 173,183 EXAMPLE OF SETTING ACCORDING TO
3D FIXED FRAME OFFSET SYSTEM........................ 15 USAGE .................................................................... 191
3D MULTI-VIEW FIXED FRAME OFFSET
SYSTEM USING ROBOT-MOUNTED CAMERA .. 43 <F>
3D MULTI-VIEW TOOL OFFSET SYSTEM USING FEATURES ................................................................... 13
A FIXED CAMERA .................................................. 77 FIXED CAMERA AND ROBOT-MOUNTED
3D Setup................................................................ 175,185 CAMERA ..................................................................... 4
3D SINGLE-VIEW FIXED FRAME OFFSET FIXED FRAME OFFSET AND TOOL OFFSET............ 5
SYSTEM USING FIXED CAMERA......................... 29 Fixing Search Window of 3D Command Tool with
3D SINGLE-VIEW FIXED FRAME OFFSET Robot-Mounted Camera Regardless of Robot’s Snap
SYSTEM USING ROBOT-MOUNTED CAMERA .. 15 Position..................................................................... 192
3D SINGLE-VIEW TOOL OFFSET SYSTEM USING Fixture Position Setup ........................................... 177,187
A FIXED CAMERA .................................................. 62 Flow Chart of TP Program ........................................... 116
3D TOOL OFFSET SYSTEM ....................................... 62 FRAME SETTING ...................................................... 125
3DV Sensor Data Setting .............................. 17,31,45,171 FRAME SETTING WITH GRID FRAME SETTING
3DV SENSOR MOUNTING POSITION SETUP FUNCTION .............................................................. 153
WITH FIXED CAMERA ......................................... 180 FRAME SETTING WITH POINTER TOOL .............. 125
3DV SENSOR MOUNTING POSITION SETUP
WITH ROBOT-MOUNTED CAMERA .................. 171 <I>
3DV SENSOR STITCHING ........................................ 193 Improving Detection Performance ............................... 191
Installation and Connection of 3DV
<A> Sensor ................................................ 16,29,43,62,77,96
ABOUT iRVision............................................................. 3 iRVision ........................................................................... 3

<B> <M>
BASIC CONFIGURATION ............................................ 3 MEMORY CARD PREPARATION ............................. 10
Batch Input of Register Comments .............................. 118 Mounting calibration grid ..................................... 155,161
BIN PICKING .............................................................. 199 Mounting Position Setup ....................................... 178,188
BIN PICKING SYSTEM ............................................... 95 Moving container objects for interference avoidance
data according to amount of movement of container 207
<C> Moving Search Window of 3D Command Tool with
CALIBRATION GRID .................................................... 9 Robot-Mounted Camera According to Robot’s Snap
Camera View 1 setup ................................................... 195 Position..................................................................... 191
Camera View 2 setup ................................................... 196
Checking Mounting Position Setup Result ............ 179,190 <O>
Checking Robot Offset Operation ....... 28,42,61,76,94,121 Other Applications ....................................................... 199
COMMAND TOOL ..................................................... 208
Container Position Is Not Fixed ................................... 205 <P>
COORDINATE SYSTEMS USED FOR iRVision .......... 6 Parameter Setup .................................................... 176,186
Creating a new vision process ................................... 45,79 PREFACE .................................................................... p-1
Creating and Setting up 3DV Sensor Data ........... 63,78,97
Creating and Setting up Vision Process .................... 45,79 <R>
Creating and Teaching a TP Program........................ 59,92 Register Setting Table .................................................. 117
Creating vision process ................................................ 194 ROBOT-MOUNTED CAMERA ................................. 191
Running a test for Camera View 1 ............................ 57,90
<D> Running measurement ........................................... 159,168
Determining measurement point for each camera view . 48
Determining the measurement point for each camera <S>
view ............................................................................ 81 SAFETY PRECAUTIONS ........................................... s-1
DISTANCE CANNOT BE MEASURED .................... 209 Selection of Parts List .................................................. 109
SENSOR ...................................................................... 191
<E> Setting Container Larger Than Field of View of 3DV
Editing 3DV Sensor Data ...................................... 172,182 Sensor ....................................................................... 199
Editing the camera data ................................................ 157 Setting method types and procedures ........................... 132

B-83914EN-3/04 i-1
INDEX

Setting parameters ........................................................ 164

Setting Parameters of 3D Blob Locator Tool ............... 107
Setting parameters of 3D Data Generator
Tool ................................................. 20,34,52,67,85,105
Setting parameters of vision
process ...................................... 18,32,47,65,80,103,195
Setting PICK Position List ........................................... 111
Setting PICK Position with Set Reference Wizard ....... 112
Setting Procedure Using Camera Data Edit Screen ...... 155
Setting Procedure Using iRVision Utilities Screen ...... 161
Setting reference position .................... 26,40,58,73,91,198
Setting SEARCH VP List............................................. 110
Setting Stitching ........................................................... 197
Setting up 3D Plane Measurement Tool ..... 24,38,55,71,88
Setting up Camera View 1......................................... 49,82
Setting up Camera Views 2 to 4 ................................ 58,91
Setting up Vision Process ....................... 17,31,64,102,194
SETUP OF INTERFERENCE AVOIDANCE DATA ... 97
Setup of Interference Setup (Condition) Data .............. 101
Setup of Interference Setup (Robot) Data ...................... 99
Setup of Interference Setup (System) Data .................... 98
SETUP OF PARTS LIST MANAGER ........................ 109
Shifting Search Window according to amount of
container movement ................................................. 207

<T>
TCP set up .................................................................... 125
Teaching Depth Snap Tool .................. 20,33,51,67,84,104
Teaching GPM Locator Tool ..................... 22,35,53,69,86
Teaching Snap Tool ................................... 19,32,50,66,83
Teaching start position .......................................... 157,167
Tool Frame Setting ......................... 17,31,45,63,78,97,144
TP Program .................................................................. 198
TROUBLESHOOTING ............................................... 209

<U>
User Frame Setting ................................... 16,30,44,97,125
Using 3D Blob Locator Tool for Close Contact Parts .. 208
Using Robot-Mounted Camera for Multiple
Containers................................................................. 204

i-2 B-83914EN-3/04
 REVISION RECORD

REVISION RECORD
Edition Date Contents
04 Nov., 2021 • Applied to series 7DF5/17 (V9.40P/17)
• Applied to series 7DF5/06 (V9.40P/06)
03 Feb., 2021
• Applied to R-30iB Mini Plus controller
• Applied to series 7DF3/06 (V9.30P/06)
02 Oct., 2020
• Applied to R-30iB Compact Plus controller
01 Feb., 2019

B-83914EN-3/04 r-1
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