irvision problem

[h.esk60]

Hi
I think have a simple mistake in setup vision in R30ia-mate

I setup  vision parameter  and write a program exactly  the manual
But when execute the program  robot goes to other position with a lot off distance  while TCP is OK .
I define a user coordinate with world coordinate and then calibrate the camera with put the application frame 0.
I think have problem in define a user coordinate or camera calibration .
 

Please help me and explain for me about define user coordinate and camera calibration together.


best regards.

 

[Fabian Munoz]

I could help you, it's going to be a long process and post screen shots

First i need to know    grid size and which vision method,  where is the camera mounted ?
What are you taking the picture to ?

[h.esk60]

Dear my friend
Many thanks for your favor.
 
Today i adjust all of thing according the manual irvision  and when execute program robot went to exact position while my workpiece has zero angle .
but when a workpiece has  180 deg rotation(more than zero angle for example 100, 90, Etc) robot has a 6 mm  mistake in get position .
would you please help me why when the work piece has rotation robot position has  fault ,how can i solve it .

while when the angle position is near the zero robot goes exactly.

(grid size is 20mm  ,fixed camera ,i taking the picture by "runfind" instruction .
while tool data is OK .

please help me.

[flatcurve]

It sounds like either a calibration problem, or there's a problem with the perspective. Is this a tall workpiece?

[h.esk60]

Dear flatcurve
 
Many thanks for your favor.
My work piece is not very tall it is a Little .

I recalibrate the camera with perspective but in this time i have a difference again.
What is my problem?

Is it very important that my camera became exactly horizontal with my plan ??
because i think have a  little divination whit camera and plan less than 2 degree .

many thanks and best regards.

[andreic]

Hello to all,

This is my first post on this forum.
I know this topic is two months old, but I will post the solution.

Try a robot generated calibration instead of grid pattern. It's more accurate and it will work for you.