Low cost 3D LiDAR complement cameras in perception application for various industrial environments. Safe and efficient human robot collaboration requires easy and accurate extrinsic calibration of sensors with an industrial robot. This work presents an efficient and accurate method for extrinsic calibration between LiDAR, camera and a heavy-duty industrial robot. Open-box target mounted on robot enables parameter estimation by constraining sensor data to multiple planes, which constitute the target surface. The method enables eight correspondences between the sensors and the robot in each data sample. The method enables speedup in sensor setup and drastically reduces efforts required for data collection through automation. The results have been evaluated for simulated and real environment.