Offset tool using vision data

[roboteacher]

I have a customer that has an RJ controlled arm.  They want to send coordinate data to the arm via the rs-232 port and shift the tool respectively.  I know you can do it with newer arms but I've never had the opportunity to try anything like this with an older arm. 

Any input?

[TylerRobertson]

How quickly do you need the data response time?

I'm not sure any of the fanuc standard vision would operate like that - but you could make something work I'm sure

[roboteacher]

not sure what response time they're after but i'm sure it's not too quick.  essentially we want to create a PR for picking up the widget.  When we receive data from the vision system through the rs-232, we want to offset the PR accordingly.  Pick up the widget, revert back to the origian TCP, move to an adhesive applicator and place the widget in a fixture.  Seems pretty straight forward but i've only done one system like this and it was 10+ years ago using a Cognex system purchased through Fanuc with an RJ3 controlled arm.  This application is not using a pre-packaged vision system and i'm not even sure what the data configuration would be coming in on the comm port.

[joker]

why tcp offset and not frame offset?? I think is easiest.
On RS-232 You'll get 9600 baud max I think without losing data or any other problems. But anyway Yo can wait 'til get all data and after execute calculations and process.

[roboteacher]

you're correct.  I should have caught that.  any idea what the pin-out for the rs232 is?

[fanuc_insider]

send me email and I'll send you pinout picture