FANUC CRX Robots Plugin Software
Control the FV+GripperKit seamlessly, directly from the CRX Tablet TP
This dedicated plugin enables gripper control and sensor data acquisition for the FV+GripperKit directly on the FANUC CRX robots. Designed for intuitive programming, it utilized dedicated instruction icons on the Tablet TP.
Product Overview
The CRX Plugin for FV+GripperKit is an extension software installed on the FANUC Tablet TP. It connects the robot controller and the FV+GripperKit (embedded control PC) via Modbus/TCP. This setup allows users to control gripper operations and evaluate sensor-detected state variables, such as object slip, area, and force, directly from the Tablet TP programming screen.
Key Features
① Intuitive Programming from the Tablet TP
Dedicated icons are added to the “Programming” tab on the Tablet TP.
Simply drag and drop the icons onto the timeline to quickly create control instructions.
② State Variable Acquisition and Robot Control Integration
Acquire state variables detected by the gripper’s camera, including object slip, area, center position, and force applied to the sensor surface.
Compare acquired values against pre-set baseline values and save the evaluation results in the robot’s registers.
③ Auxiliary Command Execution Linked with Motion
Execute auxiliary commands at any point within the robot program, such as starting/stopping the data logger or requesting calibration, independently of standard gripper operations.
Functions & Commands
Installing this plugin provides access to the following three dedicated instructions.
① FV RUN COMMAND
Function: Executes basic gripper operations
Capabilities: runs commands such as GRASP, HOLD, OPEN, and MOVE_TO, and sets wait times for completion.
② FV RUN AUX COMMAND
Function: Accesses auxiliary functions beyond standard gripper movements.
Capabilities: Executes commands including sensor zero-point setting (fv.set_force_zero), starting/stopping the data logger (fv.logger_start / fv.logger_finish), and saving calibration date.
③ FV CHECK STATUS
Function: Acquire state variables from the gripper or sensor and compare them against baseline values.
Capabilities: Retrieve metrics like slip (FV_SLIP), area (FV_AREA), and force (FV_FORCE), and evaluate conditions such as “greater than the baseline” or “equal to the baseline”. The evaluation result (TRUE/FALSE) is written to a designated register, allowing it to be used as a branching condition for subsequent robot motions.
Integration with FANUC CRX
When using this plugin, the system components interact through the following workflow:
Connection: The FV+GripperKit’s embedded control PC and the CRX robot controller are connected via a LAN cable.
Communication: Date is exchanged between the robot and the FV+GripperKit using Modbus/TCP.
Register-Based Control: When a dedicated instruction is executed on the Tablet TP, the plugin writes the command to a specific register on the robot. The FV+GripperKit reads this register to operate and then writes the current state and sensor data back to another register, completing the integration cycle.
Installation & Setup
Installation Flow
① Insert the USB flash drive containing the plugin installation package into the robot controller.
② Select [Plugin] > [Install] from the Tablet TP menu.
③ Select the package file (FV_GRIPPER_KIT.IPL), check the agreement box, and execute the installation.
④ Once completed, cycle the power (restart) on the robot controller and enable the plugin.
Note: Please refer to the product manual for detailed configuration steps and register assignments.
Specifications
Item | Description |
Supported Robot | FANUC CRX |
Operating/Configuration Device | FANUC Tablet TP |
Communication Protocol | Modbus/TCP |
Required Software Version | Robot Controller Software V9.40P/49 and above |
Required Software Function | Touch Panel Communication Function (R553) |
Display Language | English (Some error messages depend on the Tablet TP’s language setting) |
◆Company Profile◆
Company Name: FingerVision Inc.
Representative CEO: Yuki Nono
Development Bases:
・1F Mitsui Woody Building, 2-4-14 Toyo, Koto-ku, Tokyo
・1F Light One Building, 73-1 Suzakuhozo-cho, Shimogyo-ku, Kyoto-shi, Kyoto
・2F NK Marunouchi Building, 2-17-13 Marunouchi, Naka-ku, Nagoya-shi, Aichi
Established: October 2021
X/Twitter: https://x.com/FingerVisionInc | https://x.com/Yuki_Nono_fv
Email: contact@fingervision.jp
Webinar (FingerVision Robot Explanation): https://tv.aperza.com/watch/2069
TV Appearance: TV Tokyo Breakthrough: https://www.youtube.com/watch?v=xDapUJfuv_o
◆Technology Overview◆
The core technology is the concept of "reproducing tactile sensation based on images (cameras)." By mounting it on the fingertips of a robot hand, etc., it becomes possible to perceive tactile sensations (distribution of force and slip, etc.), enabling robots to handle objects with a sense of "palm" like a human. Its features are high functionality (high resolution, multi-modality) and high practicality with excellent economy. Although it is called a "tactile" sensor, it is a completely new concept of "visuo-tactile sensor" that also has the modality of seeing the object being grasped (vision), and has infinite application possibilities in addition to process automation combined with robots.
