FREE 3D WORLD

1 Function Description

Babies grow up with a hand-eye coordination training, humans have, industrial robots must also have, and vision is equivalent to eyes, only with eyes, it can see the whole world.

Industrial robots are run according to pre-written programs and fixed parameters, with a vision system, these fixed parameters can become variable parameters, such as the position of the robot's pick and place point, can be automatically adjusted according to the actual position of the workpiece visually recognized, avoiding interference and collision, and improving the flexibility of the system.

Figure 1 3D visual guidance

2 Specific usage of FANUC robot vision

FANUC comes with iRVision vision software, iRVision is a graphical interface that does not require programming, the user only needs to configure the camera parameters and vision processing tools.

Figure 2 iRVision vision software interface

First of all, to make visual settings, you need to set up two things: Camera Data and Vision Process Tools. Camera Data is to set the parameters related to the camera (hardware), and Vision Process Tools is to set which vision processing methods (software) need to be called. These two contents are quite cumbersome, it is recommended to refer to the official FANUC documentation (download address: https://www.cad2d3d.com/post-1572.html).

Figure 3 iRVision Visual Settings page

3 FANUC iRVision vision program code example:

URFAME_NUM=1

UTOOL_NUM=1

LBL[1]

Note: The robot returns to origin

PR[1:HOME] 2000mm/sec FINE

VISION RUN_FIND "VISIONDATA"

VISION GET_NFOUND "VISIONDATA" R[10]

R[20]=R[10]

IF R[10]=0, JMP LBL[100]

LBL[10]

VISION GET_OFFSET "VISIONDATA" VR[R[10]] JMP LBL[100]

R[10]=R[10]-1

IF R[10]<>0, JMP LBL[10]

LBL[50]

L PR[3:PART_OFFSET] 3000mm/sec FINE Offset, PR[2:Z_OFFSET] VOFFSET, VR[R[20]]

L PR[3:PART_OFFSET] 3000mm/sec FINE VOFFSET, VR[R[20]]

CALL PICK_SIM

L PR[3:PART_OFFSET] 3000mm/sec FINE Offset, PR[2:Z_OFFSET] VOFFSET, VR[R[20]]

L PR[1:HOME] 3000mm/sec FINE

CALL DROP_SIM

R[20]=R[20]-1

IF R[20]<>0, JMP LBL[50]

LBL[100]