iRVision

Fully Integrated Plug & Play Vision System

Machine Vision in 2D and 3D

Efficiency Tool for

Higher Productivity
W W W.FANUCAMERICA.COM
 Easy Plug and Play
We Empower Robots To See Cover All Types Technology
iRVision is FANUC’s unique, fully robot integrated visual detection system enabling the robots to see in
order to manage production settings in a faster, smarter and more reliable way. of Vision iRVision is fully robot integrated, not requiring an

with iRVision
This increases the overall production flexibility and efficiency in the workplace. The iRVision application interface to external devices or any additional
solution can be implemented without complicated programing or expert knowledge. The need to place hardware (such as PCs, monitors or side cabinets) for
the work piece in an exact position for the robot to grip is no longer required, as iRVision recognizes the the set up and operation. The vision process
work piece independently. This results in a high operational efficiency of the overall process. The solution configuration can be done directly on the robot
is applicable to various industries (Automotive, Food, Metal, Plastic, Aerospace, Pharma, etc.) and can be Thanks to iRVision, each robot works as precisely
as a human operator. All types of vision are controller itself or via a web browser. The entire
customized according to your various needs. range of robots - from small to large, as well as all
applicable, ranging from 2D to 3D. The entire range
of robots can be equipped with this technology, controller types are compatible with the iRVision
from the smallest to the strongest robot, across all solution because the robot controller hardware is
controller types. Based on this vast variety, the ready-for-vision.

100% FANUC
iRVision solution is suitable to various applications
and industries.

Based on over 30 years of experience, we are specialists on the field of specifically tailored vision
systems for robots. FANUC robots stand for high reliability, and our globally uniform service & support
network guarantees competent troubleshooting and a timely delivery of spare parts.

Efficient Ease of Use

FANUC iRVision supports: Ultimate Flexibility
for Your Production Setup iRVision quickly and easily. iRVision guides you
• Up to 27 cameras (B/W and color) in different through each step along the way. A powerful vision
resolutions connectable Processes. toolbox, that is integrated in the standard iRVision
package, supports any custom application. Thanks to
• Supported vision technologies: 2D, 3D by laser The robot equipped with iRVision is able a common HMI (GUI), all vision types share the same
projection and 3D map by structured light to: look and feel, independant of the used software or
• Can be combined with Bin Picking and iRPickTool • Perform visual processing hardware platform. The vision executions are
• Complete robot range, from small to large integrated in the basic robot TPP (Teach Pendant
• Perform picking and placing of Programming) with direct and complete access to
• Detection of non-moving and moving parts randomly positioned and oriented vision process data through iPendant.
independent of their size, shape or position parts
• Usage of iRVision for advanced service functions • Sort by color, shape or many other
(iRCalibration Suite) features

• Tools which automate calibration procedures and • Read 1D and 2D barcodes

make manual teaching unnecessary • Control completeness and
dimensions

Easy Simulation

All vision types of iRVision are supported in FANUC's

simulation software ROBOGUIDE.
This software enables a simulation of the process,
allowing you to select and modify parts and
dimensions as required and evaluate the feasibility
and efficiency of the entire process before making a
purchase decision.
 iRVision Efficiency Highlights
2D Vision
• Detection of objects positioned in one layer (X, Y, R)
• Picking up non-moving parts

iRVision Overview
3D Laser Vision
• Vision software is completely embedded in the robot’s hard- and software
• Detection of object position and orientation by laser projection • 2D, 3D and Barcode reading
(X, Y, Z, W, P, R)
• iRPickTool supports 2D and 3D iRVision
• Picking up non-moving parts in all 6 degrees of freedom
• 2 different 3D technologies (3D-map and 3D-laser projection)
• Image processing and data storage on robot controller
• Max. 27 cameras connectable to one robot controller
• Different resolutions up to 1920x1200 pixels
3D Area Sensor • Many vision algorithms supported such as Geometric Pattern Matching and Blob detection
• Detection of objects by 3D map (structured light projection) (X, Y, Z, W, P, R) • Cable length up to 50m supported
• Can be used for high-end vision based bin picking, depalletizing, and other • Huge vision tool box embedded in iRVision standard software package
material handling applications and functions despite the parts conditions,
- Over 20 different vision process types supported
e.g. being dirty, rusty or oily
- Additionally over 50 different vision command tools could be used/combined to create a
special, tailor-made iRVision solution
• Robot integrated camera cable for harsh environment
3D Vision Sensor • 100% FANUC Product, worldwide support
• Detection of objects by 3D map (structured light projection) (X, Y, Z, W, P, R) • FANUC simulation-software ROBOGUIDE supports all iRVision types
• Can be used for high-end vision based bin picking, depalletizing, and other
material handling applications and functions despite the parts conditions,
e.g. being dirty, rusty or oily
• Detect objects in 3D on a moving conveyor

iRPickTool
Pre-Sales Support
• Detection of objects on-the-fly in conveyor tracking (X, Y, R)
• For all processes involving the need to identify, pick and place objects
on a moving conveyor Prior to the purchase of our iRVision solution, we offer to test the vision process within your
environment. Through the usage of our simulation software tool – ROBOGUIDE, we are capable of
evaluating the time, effort and feasibility of the entire process to implement the vision system application
requirements.

iRCalibration
• iRCalibration functions are service tools based on iRVision.
They simplify the initial setup, speeding up the entire integration,
which results in an improvement of the application accuracy.
Integration and Maintenance Support

Once you have selected the iRVision solution, we further support you in getting started with the set-up to
iRVision Weld Tip Inspection / iRTorchMate tailor the solution to your individual application needs. We provide you with a direct access to your entire
vision process, enabling you to identify further vision needs. Furthermore, our 24/7 real-application support
• iRVision Weld Tip Inspection for spot welding hotline is available worldwide, where technicians provide their help in troubleshooting the entire setup.
• iRTorchMate for arc welding
• Supports the optical wear and condition control of a WeldTip
or ArcTorch during automatic production.
iRVision Functions iRVision Functions

iRVision 2D iRVision 3D with 3DL Sensor

iRVision finds parts and their precise positioning and part orientation (X,Y, Z and R). iRVision 3DL uses a hybrid sensor head (FANUC development) for the 3D vision function. 3DL head uses structured laser light
As a result, the production flexibility increases due to the eliminated need for expensive positioning fixtures. projections for reliable detections. The projection of structured light makes the system robust against various surface
2D vision is suited for any material handling applications, palletizing and depalletizing applications, conditions (e.g. flat metal, rust, wet, discolorations, etc.). Through this hybrid technology, FANUC’s 3DL Sensor can detect 3
as well as for vision inspections. dimensional position and posture of a part.

Different 2D Process Types Available Different 3DL Process Types Available

• 2D Single-View Vision Process • 3D Multi-View Vision Process
X, Y, R robot coordinates for non-moving parts X, Y, Z, W, P, R robot coordinates for non-moving parts. • 3DL Single-View Vision Process • Bin Picking Support (optional)
Four 2D sensors deliver position compensation, mostly X, Y, Z, W, P, R robot coordinates for non-moving parts Bin picking system enables the vision system to recognize
• 2D Multi-View Vision Process used for several robots (typically paint, sealing the position and posture of all parts,
X, Y, R robot coordinates for non-moving parts. applications) • 3DL Multi-View Vision Process
which are randomly placed inside a container.
Increased accuracy for huge parts based on more than X, Y, Z, W, P, R robot coordinates for non-moving parts.
• Barcode Reader Vision Process This option contains all mandatory functions required for a
1 camera snap Provides increased accuracy for huge parts based on at
Delivers the string of 1D or 2D Barcode. Five types of 1D successful bin picking application. Bin picking supports all
least two camera snaps
• 2D Single-View Visual Tracking Process barcode (EAN-13/JAN-13/UPC-A; Code 39; Interleave types of iRVision Sensors, and provides two important
X, Y, R robot coordinates for moving parts. Supports 2-of-5; Codabar/NW7) and two types of 2D barcode • 3DL Cross Section Vision Process functions:
iRPickTool to pick parts from a moving conveyor (data matrix ECC200; Model 2 and Micro QR-Code). X, Y, Z robot coordinates (linked to UTtool or UFrame)
- Part List Manager organizes all detected parts
No position information will be delivered for non-moving parts. Laser slit beam projection
• Gaze Line Offset Vision Process in accordance to their position and posture, reachability
generates a black and white image of the contour of the
X, Y, Z, R robot coordinates and orientation according to and other part-relevant information
• Image to Points Vision Process part
Camera View Line for non-moving parts Finds chains of connected edge points in an image - Interference Avoidance takes all mechanical
• 3DL Curved Surface Vision Process
captured by a 2D camera. The detected points on the interference contours in account and plans all
• Single View Inspection Process X, Y, Z, W, P, R robot coordinates for non-moving parts,
outline of a work piece could be extracted into a TP mandatory positions for the robot approach, the pick and
Delivers binary inspection result (PASS/FAIL). No robot combines CSM.
program for applications such as deburring retract movements. Complete robot movement is
coordinates Locator Tool and laser beam projection to locate parts
planned by the system itself
• Floating Frame Vision Process with a cylindrical surface
• 2D Calibration Free Vision Process X, Y, R robot coordinates for non-moving parts. Allows
X, Y, R robot coordinates for non-moving parts without measuring of objects from various robot postures when
camera calibration keeping same relationship between object plane and
camera
iRVision Functions iRVision Functions

iRVision 3D with 3DV Sensor iRVision 3D with 3DA Sensor

The iRVision 3D Area Sensor uses a projector unit for 3D measurements. 3D data is measured in a wide area by projecting iRVision 3D Area Sensor uses a projector unit for 3D measurements. 3D data is measured in a wide area by projecting
structured light very quickly for reliable detection. A 3DV Sensor may be used for depalletizing, kitting, tote picking, presence structured light very quickly for reliable detection. 3DA Sensor can be mainly used for depalletizing and bin picking.
absence check, 3D visual line tracking and many more applications. The 3DV Sensor is also ideal for 2D applications with low
contrast or hard to find targets.

3D Vision Sensor 3D Area Sensor

• 3DV/400 for smaller field of view (400 x 300 x 300 mm)

• 3DV/600 for medium field of view (700 x 525 x 500 mm) • 3DA/1300 for standard pallet format (1340 x 1000 x 1000 mm)

Different 3D Tools and Functions Available Different 3D Tools and Functions Available
• 3D Peak Locator Tool • 3D COG Measurement Tool
• 3D Peak Locator Tool • 3D Plane Measurement Tool X, Y, Z robot coordinates for non-moving parts. X, Y, Z robot coordinates for non-moving parts.
X, Y, Z robot coordinates for non-moving parts. X, Y, Z, W, P, R robot coordinates for non-moving parts. This Locally, it finds the highest position in the 3D map It finds positions of the gravity center relatively
Locally, it finds the highest position in the 3D map tool is combined with 2D pattern matching and finds the to parent GPM or CSM
position and orientation of a part • 3D Blob Locator Tool
• 3D Blob Locator Tool
X, Y, Z, W, P, R robot coordinates for non-moving parts. • 3D Plane Measurement Tool
X, Y, Z, W, P, R robot coordinates for non-moving parts. It • 3D Obstruction Measurement Tool It delivers normal vector of plane positions of the X, Y, Z, W, P, R robot coordinates for non-moving parts.
delivers normal vector of plane positions of the gravity Could be added to GPM or CSM locator tool, to detect gravity centre of blobs This tool is combined with 2D pattern matching and
centre of blobs higher 3D point and avoid potential collisions before pick finds the position and orientation of a part
• 3D Gripper Finger Locator Tool operation • 3D Gripper Finger Locator Tool
Finds the grip position of a work piece using real grippers. • Bin Picking Support Finds the grip position of a work piece using real • 3D Obstruction Measurement Tool
In case a part needs to be picked up with a gripper (no Enables the vision system to recognize the position and grippers. In case a part needs to be picked up with a Could be added to GPM or CSM locator tool, to detect
vacuum or magnet), additional space around the part is orientation of all parts, which are randomly placed inside a gripper (no vacuum or magnet), additional space around higher 3D point and avoid potential collisions before pick
mandatory. GF locator tool uses a gripper model to find the container. This option contains all mandatory functions the part is mandatory. GF locator tool uses a gripper operation
best pick position required for a successful bin picking application. Bin model to find the best pick position
• Bin Picking Support
• 3D Box Locator Tool picking supports all types of iRVision Sensor, and provides • 3D Box Locator Tool Bin picking system enables the vision system to recognize
Finds boxes which are palletized orderly. It uses the size of two important functions: Finds boxes which are palletized orderly. It uses the the position and orientation of all parts, which are
boxes to find their upper surface by referring to a 3D map size of boxes to find their upper surface by referring to randomly placed inside a container. This option contains all
and a camera image - Part List Manager organizes all detected parts a 3D map and a camera image mandatory functions required for a successful bin picking
in accordance to their position and orientation, reachability application. Bin picking supports all types of iRVision
• 3D Cylinder Locator Tool and other part-relevant information • 3D Cylinder Locator Tool Sensor, and provides two important functions:
Finds some cylinder parts from a 3D map Finds some cylinder parts from a 3D map
- Part list manager organizes all detected parts
• 3D One-Sight-Model Locator Tool - Interference Avoidance takes all mechanical interference
• 3D One-Sight-Model Locator Tool in accordance to their position and orientation,
Finds a 3D model which has been taught in advance for contours in account and plans all mandatory positions for
Finds a 3D model which has been taught in advance for reachability and other part-relevant information
one face of a workpiece from 3D data and outputs the 3D the robot approach, the pick and retract movements.
Complete robot movement is planned by the system itself one face of a workpiece from 3D data and outputs the - Interference avoidance takes all mechanical
position and posture 3D position and posture interference contours in account and plans all
• 3D COG Measurement Tool mandatory positions for the robot approach, the pick and
X, Y, Z robot coordinates for non-moving parts. retract movements. Complete robot movement is
It finds positions of the gravity center relatively planned by the system itself
to parent GPM or CSM
iRVision functions iRVision Functions

iRPickTool iRCalibration
iRVision 2D functionality can be added to iRPickTool to support the detection of randomly placed parts on a moving conveyor. iRCalibration functions are based on iRVision, but it is a stand-alone service tool to simplify the initial setup and to speed up
This way, the iRPickTool equips single or multiple robots with the ability to identify, pick and place items in linear and/or the entire integration, which results in an improvement of the application accuracy. Additional solutions based on vision
circular conveyor tracking. This is supported by a wide range of features including advanced queue management, buffering systems are the iRVision Weld Tip Inspection, which prevents wear and tear of the weld tip, and the iRTorchMate, which
and tray functionality. inspects the ArcTorch, calculates and corrects a possible misalignment.

Camera

Camera

Target
Ta
T rget mark
Target mark

iRPickTool’s highly functional software package includes: Different iRCalibration Functions Available
• Various system layouts by default supported • Different sorting functions by default integrated
• Linear and Circular conveyor systems by default • Wide conveyors can be equipped with several parallel • iRCalibration Vision Mastering /Mastering Recovery • iRTorchMate for Arc Welding
supported mounted cameras to increase part detection accuracy Function Supports the optical control of an e.g. ArcTorch during
Supports quicker and simpler mastering/remastering automatic production. Based on the result ArcTorch
• Multiple robots by default supported, • Pre-Grouping by default integrated. of FANUC robots, independent of the operator’s skills offset can be added or other actions can be executed
connected by TCP/IP Creation of pre-groups on the same conveyor to save
time when complete groups can be picked and placed in • iRCalibration Vision Tool Center Point (TCP) Setting
• Queue Management by default integrated in the
downstream area Supports simpler and more accurate setting of the • iRTorchMate
standard iRPickTool software package
robot TCP, independent of the operator skill’s Prevents alignment
• Sensor task customization can be performed by users issues from occurring by
• Load balancing by default integrated.
to have full control over complex detection methods • iRCalibration Vision Frame Setting
Amount of parts to be handled by each robot can easily keeping the tool centre
and queue feed. This is supported by default Supports simpler and more accurate setting of robot
be manipulated during runtime point exactly on the tool
UFRAME. Function is available as a manual, one time
• Servo conveyor and Indexer function path, ensuring consistent
• Recipe management by default supported to quickly setup function or as an automated UFRAME setting,
by default supported in order to control conveyor by weld quality
switch between different production scenarios independent of the operator’s skills
FANUC servo motor
• Tray function (bvox or blister) by default integrated. • iRCalibration Vision Multi-Group Calibration
Completeness check of outgoing tray and tray Supports simpler and more accurate setting
management is easy to setup, fully supported by load of relationships between two robots, or between
balance and additional special functions a robot and a positioner coordinated by a single
• Conveyor stop/start function by default integrated. Different 2D Process Types Available: controller, independent of the operator’s skills
Infeed part check and outgoing tray completeness • iRVision Weld Tip Inspection for Spot Welding iRTorchMate
• 2D Single-View Visual Tracking, X, Y, R robot coordinates for
check could be combined with the conveyor moving parts Supports the optical wear and condition control
stop/start and/or ejector function to eject of a WeldTip during automatic production. Based
incomplete trays • 2D Multi-View Visual Tracking, X, Y, R robot coordinates for on the result, the tip can be reworked or replaced
moving parts. Increased accuracy for huge parts based on without a production interrupt
more than 1 camera snap
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the world. That way, you can be sure you have always got a local contact that speaks your language.

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Productivity: FANUC extensive educational offering. Lifetime OEM Spare
Maintenance Services Parts
To minimize impact on As long as your machine is in
production and get the most out service we will provide you with
of your machine, we offer original spare parts – for a
maintenance services designed minimum of 25 years. With more
to lower your machine’s TCO. than 20 parts centres all over
Whatever your production Europe, dedicated service
scenario, FANUC solutions keep engineers and direct online
your machine running via access to FANUC stores,
dedicated preventive, predictive availability checks and ordering,
and reactive maintenance we keep you running whatever
procedures that maximize happens.
uptime and keep downtime
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