I apologize if this has been covered, but a quick search didn't find anything.
How do I apply an offset from iRVision for position only, not orientation? I have a square part, but the process that occurs over the top is in a circular manner about the center point of the square.
That is, the only thing that matters in this case is the location of the center of the part (x,y), not R.
I've noticed that if the square has R>30 the motion becomes a little erratic. I'd like to avoid that.
Thanks.
Hello,
You can use PR[...]=VR[...].OFFSET. You can find this instruction under Vision -> Offset.
Then in PR[...] you can put W,P,R and Z to what value you want.
PR[1,4] = 0;
PR[1,5] = 0 and so on.
And you only let X and Y from the camera.
You can then use that PR[...] as an offset, instead as VR[...].
Or you can use Found Position in that PR[...] .
ME andy
Welcome to the robot-forum
For orientation
Take a look a your GPM Locator setup, at the bottom you'll see the options:
Orientation, Scale and Aspect Ratio. Disable Orientation
If he disables rotation in iRVision page, then the GPM Locator Tool will not find the object if the rotation is different than the taught model.
That's not as easy as you may think.
The vision offsets are computed and saved in a matrix format, not in a cartesian one. You can see the cartesian offset in the vision register, but is just for visualization and not the real offset.
If you wanna do it right, you have to copy the vision offset in a PR as matrix format, then calculate the cartesian values e.g. using Inverse.pc Karel program. After this you can adjust the values and then calculate the matrix format (which you will need for correct offset motion) of the new values.
I think best would be to directly call fanuc. I'm pretty sure that they have a example prgram you can use.
regards
Michael
