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The next time I ran through the program it went away from the part again. Ran through the program again and taught the point saying yes to the vision offset. I taught the point say no to the vision offset. I attempted to go through the procedure you outlined and it resulted in a similar outcome. A Fanuc training course would likely help, but that doesn't help me much now. I've browsed through the forums but haven't been able to find anything that seems helpful. Then I let it run through the rest of the program, place the part and doing it's thing.īut whenever I sit the part in the exact same position and run it again, off my 100+mm. Next, I manually jog the robot to the pick position I desire, hit touch-up, no to vision offset, yes to tool offset. Then, I step through the pick and place program, making sure I don't move the part, stop the step before I go to my pick position, which is an offset of my pick position. Go into my vision program, snap and find, the hit set reference position. Whenever I teach the reference position here is my process.įirst, place part of table near center of camera's field of view. Although, I'm not sure that I fully understand how the reference position is used. But I went back this morning and tried to teach the reference position, responding no when the pendant asks to subtract vision offsets, and I didn't have any different results. This is something I was definitely messing up. "" with subtracting vision and tool offsets " When you teach the RefPos you have to answer NO,, then for touch up answer YES" now whether that's factual or not? But for our calibration we have System Origin(Center of grid), x, y, and coordinate origin. The system integrator that actually built our system said that because we have rotation we have to do a four point calibration. I think I misspoke whenever I said a simple pick and place, because the rotation/orientation of the part is important for the pick. It is the only grid we have ever used, it is actually the only one we have. Yes, we use grid with dot spacing of 15mm. I was trying to be as detailed as possible because I was not sure what would be my critical mistake. We use vacuum to determine when a part is ready to be picked up. 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.
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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.
#FANUC IR VISION WEB SERVER MANUAL#
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.
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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.