FIRST-TIME USERS OF iRVision
Without vision guidance, the FANUC robot moves to the same taught positions every time. If the workpiece's position varies then iRVision can be used to adjust the robot's position dynamically.

The first step to set up an operation is to teach the robot. This step is the same whether or not iRVision is used. Place a workpiece in an arbitrary position, and teach the tasks to the robot. After being taught, the robot should now be able to run programmed positions on the workpiece when the workpiece's position does not change. The position of the workpiece when the robot positions are taught is called the workpiece's "reference position". This reference position will be used in the next steps.

The next step is to set up iRVision so that the robot can perform the tasks correctly on the workpieces that are not in the same location as the reference position. Within iRVision, the program that performs vision processing on the images is called a vision process. The vision process is executed in the robot TP program. When the vision process is executed, it will find the workpiece and return an offset relative to the workpiece's reference position. This offset is known as "vision offset". The robot uses the vision offset to adjust the robot positions.

Additional
In addition to offsetting the robot motion, iRVision can also read bar codes, and perform inspection on the workpiece to determine pass or fail based on criteria set by the user. This document describes the robot guidance portion of iRVision and does not cover the non-guidance portions.