Vision and Force
Catalog

Provides the robot with the senses of touch and sight
Like a human hand, Force Control provides the sense of touch andVision provides the sense of sight. Achieve greater ﬂexibility andefﬁciency by combining both Force Control and Vision for yourautomation needs.

FANUC robots, outﬁtted with advanced sensors from FANUC, canautomate intricate tasks that would typically require mastercraftsmen or elaborate ﬁxtures. By automating these complex tasks,
you will increase productivity, enhance quality, and reduce costs.

Force Control is a system that operates in aclosed loop. This system uses force and torquedata from a sensor attached to the robotʼs wrist
to guide the robotʼs position and trajectory, allwhile maintaining a speciﬁed force.

Vision allows the robot to accurately locate aworkpiece in a variety of scenarios using both ﬁxed
and robot-mounted cameras and 3DV sensors.
Vision provides offsets to guide the robot andadjust for workpiece movement.

A variety of Force Control functions make itpossible to perform intricate tasks such as
deburring, polishing, and assembly, which werepreviously performed by skilled workers orspecialized machines.

Utilizing vision gives robots greater ﬂexibility andeliminates the need for ﬁxturing when staging
workpieces.
Vision allows robots to perform applications suchas bin picking, depalletizing, line tracking,inspection, pick and place, and assembly.

Easy connection

Easy teaching

The FANUC vision system is fully integrated into the controller. Cameras and sensors connect directly to thecontroller. Integrated vison software allows vision to be seamlessly integrated into robot programming and to betaught through the robot teach pendant without the need for a PC.

Icon-based programming on the Tablet TP allows for easy programming of the robot and vision in a single interface.
Easily create programs to locate and pick workpieces or locate machine tools for machine tending.

Robotor Fixed
Mounting

Easy teaching

Teach pendant

Editor Screen

Easy
operation

Easy
teaching

Icons

Vision sensors

MarkerCamera port

Controller

FindLinear

Pick / Place

Joint

2D
CameraIcons are for the Tablet TP only andcannot be used on the i Pendant.

Fixed frame offset

Tool offset

Bin Picking Function

Locates loose workpieces using a 2D camera or 3D
Vision Sensor and provides the workpiece position tothe robot.

Locates the workpiece relative to the gripper andprovides an offset to correct for deviation in picking.

Pick randomly loaded-workpieces from a container using a 3D Vision Sensor. Integrated Interference Avoidance prevents
collisions between the robot and the container or workpieces. The integrated Part List Manager allows for picking multiple
workpieces and handling failed pick attempts. Pick positions can be easily taught using CAD of the gripper and workpiece.

2D Camera

Fixedframeoffset

4 PC Box

3D Vision Sensor

3DV Sensor

3D model detection by using 3D CAD data

3DV Sensor

Tooloffset

oror
2D Camera

Randomly
piledworkpieces
CAD data
4 PC Box

PathGeneration

AI Error Prooﬁng

AI Box Locator

AI learns to differentiate between OK and NG
workpieces using operator labeled images. This can beused to determine Pass or Fail of a process, workpiecepresence or absence, and part orientation.

Pretrained AI is able to detect boxes of various sizes ona pallet. AI training can be improved by the user todetect special boxes.

PassLearning

3DV Sensor

4 PC Box

Detects tightly-spaced boxes

OKRegisterController

Differentiation

Using the detected workpiece position and placement position as
input, ROBOGUIDE automatically generates a robot path that does
not interfere with peripheral equipment or other workpieces.

Visual Tracking Function

Realtime Visual Tracking Function

Enables the robot to track workpieces on moving linear
or circular conveyors. A pulsecoder enables the robot totrack the workpiece found by vision along the conveyor.

Enables the robot to track workpieces without the use ofa pulsecoder by using a vision camera, allowing the robot
to perform assembly operations.

3D VisionSensor

2D Camera

Trackingor

4 PC Box

FailDetects workpieces inany orientation

Controller

Conveyor feed direction

4 PC BoxEasy connection

Easy teaching

The FANUC Force Control system is fully-integrated with a force sensor that is connected to the controller,
eliminating the need for a personal computer.

The process of creating force control programs can be effortlessly accomplished by sequentially setting the force
control parameters. Force control parameters can be easily set using auto-tuning. The CRX is also designed toaccommodate both integrated sensors and external force sensors.

Force sensor

Easy
connection
Teach pendant

Program editor

MyFy

Easy
operation

Parameter setting

Force sensor

Setting
Controller

6-axiscontrol

Mx
Mz

Fx

Fz

Precise insertion

Insertion with phase-matching

Contouring (deburring, polishing)Threading

Designed for applications that insert a component to adepth. A practical example is the insertion of a shaft
into a hole with a ﬁt tolerance of 10 micrometers ormore.

Designed to ensure the alignment of a keyed shaft witha keyway, facilitating gear engagement.

The purpose of contouring is to apply a constant force
relative to the componentʼ s surface while following a
programmed path. Contouring is commonly used fortasks such as deburring, sanding, grinding, and polishing.

Threading is designed to correct errors in position andorientation while tightening a screw.

Insertion withphase-matching
VerticalCorrect the tilt of the screw

VerticalWorkpiece

Face matching

Centering

Weighing on-the-ﬂy

Force control with integrated sensor

Designed to match two ﬂat surfaces.

Designed to accurately center and align parts with alathe chuck.

This function weighs a component while the robot ismoving.

Force Control with integrated sensors is exclusive tothe CRX series of collaborative robots, and does not
require an external force sensor.

Workpiece to be machined

Lathe chuck

integratedsensor
motion

150g

CRX seriesComplete product lineup for a variety of force control and vision applications

Items

2D Camera

Items

Image Type

Grayscale/Color

Measurement
MethodGrayscale
2432×2048

Image Resolution[pixel]Maximum 3D Points

Color
1216×1024

Focal Length[mm]Measurement
Range[mm]*W1 x D1x H1, W2 x D2 x H2

8 / 12 / 16 / 25

LED Light for 2D Detection Red/White/None

LED Light for 2D Detection

Max. Number of Cameras

Max. Number of Sensors

Up to 28

3D Vision Sensor
3DV / 70, 3DV / 200,
3DV / 400, 3DV / 600

3D Vision Sensor
3DV / 1600

3DV / 70 : 870×950
3DV / 200 : 1060×950
3DV / 400 : 1104×950
3DV / 600 : 1104×950

1104×960

3DV/ 70 : 55×70×167,83×92×56
3DV/ 200 : 123×123×302,219×198×190
3DV/ 400 : 268×262×646,527×460×500
3DV/ 600 : 575×499×1247,805×698×500

Near mode
806 x 814 x 1000, 1491 x 1380 x 700
Standard mode
1245 x 1178 x 1448, 3203 x 2797 x 2000
Far mode
1491 x 1380 x 1700, 3740 x 3239 x 2300

Yes

Robot Mountable

75×75×123

Outer Dimension[mm]156×123×51

19

Protection Class

IP54

Operating Temperature[℃]

0 to 45*Measurement Range

1.1

3D Vision
Sensor
H10.6

Mass[kg]Protection Class

IP67

Operating Temperature[℃]

0 to 45

Operating Temperature[℃]

0 to 45

FS-154A

W1

234×198.2×70

IP67

Resolution

500×200×320

Mass[kg]

Yes

Mass[kg]

Static overload

Outer Dimension[mm]Up to 4

Protection Class

Rated load

100V AC to 240V AC
Single-phaseBlue
Up to 16

Robot Mountable

FS-154Ae

Input Voltage

Single Snap 3D Imaging

Outer Dimension[mm]

Items

Items

D1

H2

3.2

D2
W2

FS-404A

FS-1004A

FS-2504A

Fx, Fy, Fz

147N（Fz）

147N

392N

980N

2500N

Mx, My, Mz

11.8Nm（Mx,My）

11.8Nm

39.2Nm

156Nm

500Nm

Fx, Fy, Fz

1570N（Fz）

1570N

3920N

9800N

25000NMx, My, Mz

125Nm（Mx,My）

125Nm

392Nm

1560Nm

5000NmFx, Fy, Fz

0.39N（Fz）

0.39N

1.0N

2.0N

4.9N

Mx, My, Mz

0.016Nm（Mx,My）0.016Nm

0.029Nm

0.08Nm

0.25Nm

Accuracy

3% or less

2% or less of the rated load

2% or less of the rated load

2% or less of the rated load

2% or less of the rated load

Outer Dimension[mm]φ90×36

φ94×43

φ105×47

φ155×59

φ198×85

Mass[kg]

0.31

0.57

0.87

3.2

6.9

Protection Class

IP67

Operating Temperature[℃]

0 to 45●● Overseas Aﬃliated Companies

FANUC America Corporation
FANUC Europe Corporation, S.A.
SHANGHAI-FANUC Robotics CO., LTD.
KOREA FANUC CORPORATIONTAIWAN FANUC CORPORATIONFANUC INDIA PRIVATE LIMITEDFANUC SINGAPORE PTE. LTD.
FANUC THAI LIMITEDFANUC MECHATRONICS (MALAYSIA) SDN. BHD.
PT. FANUC INDONESIAFANUC OCEANIA PTY. LIMITEDFANUC SOUTH AFRICA (PROPRIETARY) LIMITED

Phone: (+1)248-377-7000
Phone: (+352)727777-1
Phone: (+86)21-5032-7700
Phone: (+82)55-278-1200
Phone: (+886)4-2359-0522
Phone: (+91)80-2852-0057
Phone: (+65)6567-8566
Phone: (+66)2-714-6111
Phone: (+60)3-3082-1222
Phone: (+62)21-4584-7285
Phone: (+61)2-8822-4600
Phone: (+27)11-392-3610

Headquarters 3580, Shibokusa, Oshino-mura, Minamitsuru-gun
Yamanashi, 401-0597, JAPAN
Phone: (+81)555-84-5555 https://www.fanuc.co.jp/

https://www.fanucamerica.com/
https://www.fanuc.eu/
https://www.shanghai-fanuc.com.cn/
https://www.fkc.co.kr/
https://www.fanuctaiwan.com.tw/https://www.fanucindia.com/
https://www.fanuc.com/fsp/
https://www.fanuc.com/fth/
https://www.fanuc.com/fmm/
https://www.fanuc.com/ﬁn/
https://www.fanucoceania.com.au/
https://fanuc.co.za/

All speciﬁcations are subject to change without notice.
No part of this catalog may be reproduced in any form.
The products in this catalog 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 toanother 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.

2021
VisionForce(E)-02, 2023.11, Printed in Japan