I am having issues with picking up parts on a constant moving conveyor. I have the robot picking parts up in 2 of the 4 orientations. I programmed the pickup point at X amount of MM down the belt and as long as the part is within 90 degrees of that placement it will pick the part up spot on. If it is completely opposite (180 degrees) of that programmed point it picks the part up 10mm off target only in the -Y direction. All of my tooling is concentric to the T Axis flange also my TCP is set up correctly. All other motions in this program are good except the 180 degree spin on the T Axis. Is there a way to tell the robot to parallel shift +Y if the T Axis is < or > the set point on the vision system tracking job? Been fighting with this for 3 weeks now.
Trouble with Conveyor tracking
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SquizzleT -
September 5, 2013 at 2:45 PM -
Thread is marked as Resolved.
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Hi,
you have a vision system right? How did you calibrate the system, and where is your pickpoint? in the center of the rotation of the part?
I calibrate UF#1 for the tracking direction, then I put a Checkerboard wit hfiducial (Cognex) under the camera and calibrate it. Then I move the conveyor to the position where I want to pick the pieces and create another Userframe for example UF#11. Then I define three pickingvariables un UF#11 the code looks like this.SYMOVL P001 V=1500 CTP = 895 (the position registered when teaching the UF#11)
Important: ORG of UF#11 should be in the "0" of the checkerboard, there should be also the "0" when calibrating the camera.
Please consider it, and reply if there are questions I hope it helped
Minimann
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As far as the camera calibration we did those same steps. We didn't however create this extra user frame you speak of. Also when teaching our pick point do we need to program that using our userframe motions as opposed to using world or joint? Right now my line of code is as follows:
SYMOVL V=1500.0 CV# (1) CTP=LD000
This is for our pick point as the conveyor is moving.
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Miniman's explanation is correct.
You need to create a UF for your camera calibration and then a UF for the CTP teaching distance.
RoboGuru
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Thanks for your helps guys! My mistake was that we weren't placing the origin of our part to the origin of the grid for the pick up. Therefore when we would rotate about Z we were bias to one side of the part. Your help was very much appreciated.