Requirements / components with FANUC

The MIRAI UX1 kit includes key components that are required to set up the MIRAI robot control subsystem for a FANUC. The following components are included in the kit:

Scope of delivery:

• 1x MIRAI UX1 robot controller (Figure 1a)
• 1x L-mount for MIRAI UX1
• 1x universal AC power supply, DC19V/120W
• 1x AC power cord for EU and US region
• 2x wireless antennas
• 1x Ximea xiQ USB3 camera (Figure 1b)
• 1x USB3 cable
• 1x Fujinon lens 1 (Figure 1c)
• 1x Fujinon lens 2
• 2x Camera fixtures for the robot arm (Figure 1d)
• 4x M-6 mounting screws (included with the camera)
• 4x CBSTSR6-16 screws to mount the fixtures
• 1x USB drive with the MIRAI Training App, SETUP.CM and MIRAIEXECUTE

Furthermore, the following system components are necessary for a minimum MIRAI controlled robot setup:

• FANUC robot arm and control system (CRX10iA/L) with the R-30iB Plus Mini controller: minimum software versions required for FANUC robot control: V9.4
• FANUC Tablet Teach Pendant (FANUC Tablet TP)
• Important: The following software options are prerequisites that need to be installed on the FANUC robot controller:
  • R739 Dyn Path Modifier: R739
  • R648 User Socket Msg: R648
  • J742 Customize support function: J742
  • US customers: R632 Karel + R553 HMI device (This function allows an HMI Device to monitor and control data remotely [from] within a robot controller. The robot communicates with the remote HMI by using the same drivers and addressing as a GE Fanuc Series 90 PLC.)
  • EU customers: R651 FRL Params (already shipped with EU FANUC robots)
• OnRobot HEX-E v2 or QC force/torque sensor or
• ATI F/T sensors supported models
  • All ATI sensors that support Network Force/Torque (NET F/T) system (tested with ATI-9105-Net-Gamma)
  • ATI Axia80-M20 with adapters
  • We do not recommend using ATI Schunk F/T Sensor at the moment
• Ethernet Gigabit switch (1GB per port, full duplex)
• Android based 10” tablet running Android 6 or higher
• An external lighting solution for cameras is recommended to ensure constant lighting conditions during recordings. We recommend Effilux ring light for your setup.