So sometimes it picks a part at 33mm off the table, and sometimes at 2mm off the table. Our part is a "cup" shape, so a cylinder with one of the circular faces removed. Whenever I look at the frames in the pendant it is user frame 1, all the x, y, and z values are 0. I don't have a solid understanding of what exactly user frames are, but it remains constant. We only use a single user frame for our entire process. Then whenever i tried to jog through the program again, it takes an image, starts to move to the part and is off by >50mm.Īny help you guys have is greatly appreciated.
Then stepped my robot through its pick and place program, taking an image, then moving the robot to the part, manual moved it to the exact position I wanted, taught the position to my position to the position register, with subtracting vision and tool offsets. Went into my vision program for locating parts, taught a reference position of my GPM tool. Then removed the grid from the table and placed a part. I deleted points with high error, saved it. Here I setup the grid within the reference box, it locates all the points, Immediately after this I went to Vision Setup->Camera. To calibrate I went to Menu->Setup->Frames->User Frames->Frame 5(our Calibration Grid Frame->Clear Frame->Enter and then proceeded with a four point calibration. We use a fixed camera with a calibration grid placed on the table where parts feed out to. When trying to do a re-calibration of the vision the robot started going to seemingly random locations trying to pick parts.
I am working with a Fanuc 4 axis robot and iRVision for a simple pick and place. Robot newbie here, so dumb it down for me.