Wipro Pari – Fanuc Robot Training & Fanuc 3DV Training Manual

FANUC ROBOT TRAINING

&
FANUC 3DV TRAINING
MANUAL

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TABLE OF CONTENTS
1. Introduction to Fanuc Robot
1.1. Controller, Internal Parts, and Connection
1.2. Robot Joints and Field Wiring.
1.3. Teach Pendent Introduction.
1.4. Coordinate Systems.
1.5. Basic Programming Instructions.
2. Introduction to 3DV Camera.
2.1. Camera Hardware Connectivity & Configurations.
2.2. Camera FOV (MR and CR)
3. 3DV Calibration.
4. 3DV Camera Programs.
5. Coordinate Offset Teaching.

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1. Introduction to Fanuc Robot.

1.1 Controller, Internal Parts, and Connection

Joint 5

Joint 6

Joint 4

Joint 3

Joint 2

Joint 1

Fixed Mount Stand

1.2 Connection View of Robot:

RM1 Connector Motor Power/Brake

RM2 Connector Motor Power

RP1 Connector Pulse coder

Air Connector

Co-Axial Camera Connector

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External View of Controller:

Exhaust Fan

Emergency
Switch

USB Ports

Operator Panel

Circuit Breaker

Key

Internal View of Controller:

Connector Panel
(For AC Reactor)

E Stop Unit

6 Axis Servo Amplifier

Power Supply Unit

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Teach Pendant View:

E Stop Button

Touch Display

All Blue colour keys work

with shift integrated.

All F allocated Key is

Function Key.

The main
Programmer Key

Arrow Key

This key used in programme

step by step checking.

This is Custom Key

Numeric Key

High and Low

Speed for Robot

This all are Jog

Keys

Images Hyperlink: Images of Robot and Robot Parts.

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Robot Connection Cable:

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1.4 Coordinate Systems:

A coordinates system defines the position and attitude of the robot. The system is defined
for the robot power in the workspace. A Joint coordinate system and a Cartesian coordinate
system are used.

Joint Coordinate System:

The joint coordinate system is defined for the robot joints. The position and attitude of the
robot are defined by angular displacements with regards to the joint coordinate system off
the joint base.

Cartesian Coordinate System:

The position and attitude of the robot in the Cartesian coordinate system are defined by
coordinates X, Y and Z from the origin of the space Cartesian coordinate system to the
origin (Tool Centre Point TCP) of the tool Cartesian coordinate system and angular
displacement W, P, and R of the tool Cartesian coordinate system against the X-, Y- and Z-
axis rotation of the space Cartesian coordinate system. The meaning of (W, P, R) is shown
below.

Meaning W, P, and R
To operate the robot in a user specified environment, user-specified environment, use a
corresponding Cartesian coordinate system. The following 7 coordinate system are
available:
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Mechanical interface coordinate system (Coordinate system fixed to the tool):

Standard Cartesian coordinate systems define for the mechanical interface of the robot
(The surface of wrist flange). The coordinate system is fixed at position determined by the
robot. Based on the coordinate system, a tool coordinate system is specified.

Tool coordinate system:

A coordinate system that defines the position of the tool center point (TCP) and the
attitude of the tool. The tool coordinate system must be specified. If the coordinates
system is not defined, the mechanical interface coordinates system substitutes for it.

World coordinate system (Coordinate system fixed in the workspace):

A Standard cartesian coordinate system fixed in a workspace. The coordinate system is
fixed at a position determined by the robot. Based on the coordinate system, a user
coordinate system and a jog coordinate system are specified. The world coordinate system
is used for specifying position data and executing the corresponding instruction.
Check Image 3.9: World Frame Origin:

User coordinate system:

A Cartesian coordinate system defined by the user in each work space. It is used to specify
a position register, execute the corresponding position register instruction, and position
compensation instruction, etc. If the coordinate system is not defined, the world
coordinate substitutes for it.

Jog coordinate system:

A coordinate system defined by the user. The jog coordinate system is used to efficiency
move the robot by jog feed. You need to take care of jog frame origin, since it is used only
when the jog frame is selected as the manual-feed coordinate systems. If the coordinate
system is not defined, the world coordinate system substitute for it.

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Cell coordinate system:

A coordinate system that all robots in the work cell share the original point. The cell
coordinate system is used to represent the robot position in the work cell in4D graphics
function. By the setting cell coordinate system, the relation of the position between the
robots can be represented. The cell coordinate system is defined by the position of the
original point of the world frame in the cell coordinate system (x, y, and z) and the rotation
angle around X axis, Y axis and Z axis (w, p, and r). The cell coordinate system is set in
each group of all robots in the work cell.

Cell Floor:
A coordinate system to describe the floor in which the robot is placed in 4D graphics
function. To set the cell floor, set the position and attitude of the floor in the cell
coordinate system. In default settings, the cell floor is set automatically depending on the
robot model. The cell floor can be set in the coordinate system setting screen.

Tool Coordinate System:

A tool coordinate system is a Cartesian coordinate system that defines the position of the
tool center point (TCP) and the attitude of the tool. On the tool coordinate system, the
zero point usually represents the TCP, and the Z-axis usually represents the tool axis. When
the tool coordinate system is not defined, the mechanical interface coordinate system
substitute for it. Tool coordinates include (x, y, and z) indicating the position of the tool
centre point (TCP), and (w, p, and r) indicating the attitude of the tool. Coordinates x, y
and z indicates the position of TCP on the mechanical interface coordinate system.
Coordinates w, p and r indicate the attitude of the tool and the angular displacement
around the X-, Y- and Z- axis of the mechanical interface coordinate system. The tool
centre point is used to specify the position data. The attitude of the tool is required to
perform tool attitude control.

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Methods of Tool Coordination System:

The tool frame can be set by five following methods.

Three Point Method (TCP auto set):

Use the three-point method to define the tool center point (TCP). The three approach
points must be taught 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, and r) can be set.
The setting value of the tool orientation (w, p, and r) is the standard value (0, 0 and 0).
The tool orientation should be defined by the six-point method or direct list method after
the location is set.

Fig: TCP auto set by the three-point method.

Six Point Method:

The tool center point can be set in the same method as the three-point method. Then, set
the tool attitude (w, p, and r).
You can choose Six Point (XY) Method and Six Point (YZ) Method.
In Six Point (XZ) Method, for example, teach the robot so that w, p, and r indicate a given
point in space, a point in the positive direction of the X-axis parallel to the tool coordinate
system, and a point on the XZ plane. Also, teach the robot using Cartesian or tool jog so
that the tilt of the tool does not change.

Hyperlink for TCP: TCP Videos

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1.5 Basic Programming Instructions:

To create a program, use a following procedure:
a) Register a program and specify program information.
b) Modify standard instructions.
c) Teach motion instructions.
d) Teach various control instructions including spot instructions or arc welding
instruction or sealing instruction or palletizing instruction.

Register a Program:
Enter a program name and register the program. A program name consists of up to 36
alphanumeric characters including systems to discriminate program names from on another.

1. Press (MENU) key to display the screen menu.

2. Select SELECT.

The following program list screen can also be displayed by pressing (SELECT) key.

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3. Press the F2, CREATE key. The program registration screen is displayed.

4. Select a method for entering a program name (words or alphabetic characters) using
the cursor keys.

5. Enter a program name by pressing the function keys corresponding to the characters
in the program name. The function key menu displayed depends on the method
selected in step 4.
6. After entering a program name, press the (ENTER) key.

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7. To edit the registered program, press the F3, EDIT or the (ENTER) key. The program
edit screen for the registered program will be displayed.

8. To enter program information, press the F2, DETAIL key (or the (ENTER) key) on the
screen of step 6. The program information screen is displayed.

9. After entering the program information items, press the F1, END key. The program
edit screen for the registered program is displayed.

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• The program edit screen must be selected.

• The teach pendant must be enabled.

STEP:
1. Press the F1, POINT key. The standard motion instruction menu will be displayed.

2. To change a standard motion instruction, press the F1 ED_DEF.

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3. Move the cursor to the instruction item to be changed (motion type, feed rate,
positioning type, or supplementary motion instruction) using the cursor keys.

4. Select numeric keys and function keys to correct the instruction item. To change the
feed rate, for instance, move the cursor to feed rate. Enter a new value with
numeric keys, then press the (ENTER) key.

5. When (CHOICE) is displayed in the F4 key name field, press the F4 key. Then, an
option of another instruction item can be selected from the menu.

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6. Repeat steps 3 to 5 for each instruction to be changed.

7. After teaching is completed, press the F5, DONE key.

Teaching a Motion Instruction:

A motion instruction moves the robot to the specified position in the work area at the
specified feed rate using the specified movement method. When the motion instruction is
taught, the instruction items of the motion instruction and position data are simultaneously
taught.
• Motion type: Control a path to the specified position. (Joint, Linear, Circular, Circle
Arc)
• Position variable: Stores data on positions to which the robot moves.
• Feed rate: Specifies the speed of the robot when it moves.
• Positioning type: Specifies whether positioning is performed at the specified position.
• Additional motion instruction: Specifies the instruction which executes with the
robot motion.

Teaching a motion instruction:

STEP:
1. Move the robot to the desired position in the work are by jog feed.
2. Move cursor to (END).

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3. Press the F1, POINT key to display the standard motion instruction menu.

4. Select the standard motion instruction to be taught, press the (ENTER) key, and
specify the desired motion instruction. At the same time the position is taught.

5. Repeat steps 2 to 4 for each motion instruction to be specified in the program.

6. To specify the same standard motion instruction repeatedly, press the F1, POINT key
while pressing (SHIFT) key. This adds the previously specified motion instruction.

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Teaching an Additional Motion Instruction:

The additional motion instruction makes the robot do special work while it is moving
according to the motion instruction. Some of the following additional motion
instructions are provided.
• Wrist joint motion instruction.
• Acceleration/Deacceleration override instruction.
• Skip instruction
• Position compensation instruction
• Direct position compensation instruction
• Tool offset instruction
• Direct tool offset instruction
• Incremental instruction
• Path instruction
• Soft Float
• Asynchronous additional speed
• Synchronous additional speed
• Pre-execution
• Post-execution
To teach an additional motion instruction, place the cursor behind the motion instruction
and press the F4, (CHOICE) key to display the additional motion instruction menu. Select
the additional motion instruction from the menu.

Teaching the additional motion instruction:

STEP:

1. Place the cursor immediately behind the motion instruction.

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2. Press the F4, (CHOICE) key. The additional motion instruction menu will be displayed.

3. Select the desired item. (For example. The following screen teaches an acceleration
override instruction.

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2. Introduction to iR Vision 3DV Camera.

iR Vision is an image processing function integrated in robot controller. It finds part in an

image snapped from a camera, offsets the robot motion, and measures the features of the
part.

2.1 Camera Hardware Connectivity & Configurations.

Basic Configuration:
The manual describes the standard iR Vision configuration. Some applicants might require
special components.
iR Vision components:

2D Camera Components.
• Robot Controller
• Camera & Lens
• Camera Cable
• Light Equipment
• Camera Multiplexer (used if needed)

3D Camera Components.
• Robot Controller
• 3DV Sensor
• Camera Cable
• Camera Multiplexer (used if needed)
• Lighting Equipment (used if needed)

Fig: Basic Configuration of iR Vision.

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The image of 3DV/400 series camera.

2.2 Camera FOV (MR and CR)

Datasheet:

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Define Fixed Frame Offset & Tool Offset:

Fixed Frame Offset-

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
(example. Grip) the part correctly.

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

3. 3DV Camera Calibration

Coordinate system used for Camera:

It is necessary to set up a couple coordinate systems for 3DV.

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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 of 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 move. For the fixed frame offset, set the offset frame as a user
frame. For the tool offset, set the offset frame as tool frame.

Calibration Grid Frame-

Set the information of the calibration grid location in a user frame or tool free. As shown in
the above figure when the calibration grid is fixed on a table for calibration, set the
installation information in the user frame. When the calibration grid is installed on the
robot end of r tooling for calibration, set the installation information in a tool frame. The
installation information of the calibration grid can we set by touch up using the touchpad
pointer with TCP set. When a robot mounted camera is used or calibration grid is mounted
on a robot and of arm tooling, the calibration grade frame setting functions can also be
used for setting.
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 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
upset.
• In cases where the robot to be offset belongs to another group.

Calibration Grid:
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 iR Vision, 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, iR Vision
automatically recognizes the positional relationship of the calibration grid and the camera,
lens distortion, the focal distance, etc.

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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).

Hyperlink for Calibration through grid: Calibration by Grid

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4. 3DV Camera Programming

1) 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 below figure.

• Installation of the 3DV Sensor.

• Connect the 3DV sensor to the robot controller.
• In the teach pendant, On the ROBOT Homepage, select (iR Vision) and (Vision
Devices) and select the connected 3DV Sensor on the Vision Devices screen.
• Click (Live) and check that continuously snapped images are displayed.

User Frame Setting:

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Set the user frame which becomes the reference frame for an offset calculation. Set it on
the worktable as shown in the figure above.

Creating 3DV Camera Data:

Open the 3DV Sensor Data on browser and on 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 calibration grid within the 3DV Sensor Field of view.
2. Make a Name of “V_3DV_CAM in the (Camera Data) category on the vision data list
screen.
3. Click (EDIT) The Camera data edit screen appears.

Hyperlink Video for Creating Camera Data: Creating Camera Data

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2DV Setup:

Setup the conditions for snapping 2D images.

1. Click (1 2D Setup) in the navigation area. The following screen appears.

2. Select the camera from the (CHANNEL) drop-down box.

When the 3DV Sensor to be used is selected, the 3DV Sensor automatically nspas an
image, and the image appears in the image view area.
3. Selct the 3DV Senosr Mounting method.
If the 3DV Sensor is fixed, Select (No) for (Robot-Mounted).
4. Check (Enable) for (Auto Brightness).
The 3D censor can use the HDR function to automatically adjust the snap brightness.
For details such as precaution for automatic adjustment, refer to the description of
automatic brightness adjustment in “iR Vision operators manual.

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

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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.

5. Select (YES) for the (Position Setting) drop-down box.

3D Setup:

Set up the condition for snapping depth images.

1. Click (2 3D Setup) in the navigation area. The following screen appears.

2. Click to switch to the advance mode.

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

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Parameter Setup:

Set the grid spacing of the calibration grid and placement information.
1. Click (3 Parameter Setup) in the navigation area. The screen to make settings such as
the grid spacing of the calibration grid appears.

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.

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Fixture Position Setup:

Set the calibration grid position tp camra data.

1. Click (4 Fixture Position Set.) in the navigation area. The calibration grid position
setting screen will appear.

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.”

3. Click the (Set) button of (Fixture Position Status).

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Mounting Position Setup:

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. 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.
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2. Click (LIVE). The live image of the selected camera will appears in the image view
area.
3. Move the calibration grid so that the center of the calbration grid is almost at the
center of the image view area. The button surface of the camera of the 3DV Sensor
faces the calibration grid almost staright with a distance of about 800 mm. Jog the
robot in XY direction of the calibration gird 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).

Execute the mounting position setup:

1. Teach the search window to enclose only the perfect circle 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 circle around the circumference of the camera FOV to be included within
the search range.
2. Click (OK). Check that all circles are deducted in the snap view area. If the detection
is succesful, (Find Grid Pattern) Shows (Found).

Checking Mounting Position Setup Result:

Check the Calculated mounting position setup result.

1. Check the calculated mounting position.

• Check that (Mean erro r value) is 1.00mm or less.
• Check that (Maximum error value) is 3.00mm or less.
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• 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 value etc. are not appropriate, perform the mounting position setup
again.

2. Click (SAVE) to save the settings, and then click (END EDIT) to close the 3DV Sensor
Data edit screen.

This all process is completed.

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Creating and 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 setting based on that sample.
Editing Vision Process:

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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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 Sensors 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 path 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 7th row in the sample TP program.

Teaching Snap Tool:

Select parameter 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) for select (HDR) in (Exposure Mode).

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Teaching Depth Snap Tool:

1. Click (SNAP).
2. Adjust each parameter so that measurement ommission (black area) will be reduced.
Repeat the procedure starting from step 3 until the parameters are adjusted
appropriately.

3D Data Generator Tool:

1. Select (On Table) from the (Part Condition) drop-down box.

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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 Test:

Check the 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 points group. Check whether the area
other than the part is displayed in red.

Teaching GPM Locator Tool:

Set parameters for 2D measurement (detction of 2D feature.

Select (GPM Locator Tool 1) in the tree view, and then set each item.

1. Move the robot so that the part is in the F.O.V of the camera.
2. After determining the measurement position, click (SNAP) to capture an image.
3. Click the (TEACH) button to teach the model.
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The GPM Locator 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 effect 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.
4. Check that the pattern that you want to use as the model has been plotted with the
green line and that the model region (green cross) is on the same plane as the
pattern.
5. Click to switch to advanced mode.
6. Check the checkboxes of (Scale) and (Aspect) in (DOF).
7. Click (SAVE).

Running a Test:

1. Check (Training Stability)

2. Click (SNAP+FIND) for detection is performed.
3. Check measurements results.
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4. Change the part position and repeat the same & check several times.

Setting to 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

1. Select (3D Data Generator Tool 1) for (Input 3D data).

2. Click the set button. The green lines shown in the images are the model and area is
taught with the GPM Locator Tool.
Once the area has been taught, a thumbnail of the image uses for teaching appears,
and the position and size of the area appear.
3. Select (Plot Everything) from the (Plot Mode) drop-down box.
4. Click (SAVE).
5. Test the teaching by clicking on (SNAP+FIND).

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Setting reference position offset:

Here, a place a part on a reference position, runa atest and set the detection result as the
reference result as the refernce position XYZWPR.
When the vision process is performed after the settings, the recent 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).

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. Clcik (SAVE) and then (END EDIT).

This Videos is for Multi View Vision Process Hyperlink: Multi View Video

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Creating or Copying The Sample Program in Teach Pendant:

Coordinate Offset Teaching:

1. Select (V_3DV_FIXED) and click (COPY) on the program list screen.

2. Edit the program name and click (OK).

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3. Specify the instruction to gsap the part and release the part after the P(4) and P (7)
motion 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 of 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

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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.

Offset setting in Teach Pendant Hyperlink: Offset Setting

Program Backup:

This is reference video for taking backup in Pendrive through Pendrive access in teach
pendant.

Hyperlink Video: Backup Video

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1 Revision Details

Date Version No. Description

16-08-2023 1.0 New Written manual.

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Approval / Update Required / Acceptance sheet

Fanuc 3DV Manual document was read, understood, and accepted.

Manual approved by ……………………

Date …………………..

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