I have application that we tried to use one fixed cam to take pic of product that robot presents to cam, to get offset for placing on ship pallet pins. Have ran in to problem of the ship pallet/pins are not always consistent. So this makes my placement not consistent for placing product on to pins. Have decided to go to using a 2nd cam that will be fixed to the robot.
My question is would I just set up the 2nd cam that is fixed to robot to a new user frame? How does it work for the offset when you need to use both offsets combined to have one offset if they are not using the same frame? One using Tool frame and the new cam using User frame.
2 cam setup
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parends -
March 9, 2016 at 12:39 PM -
Thread is marked as Resolved.
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To clarify, the first camera is fixed to the world and takes a picture of the part being held by a robot, and provides a found position for that part. The second camera is attached to the end of the robot and will have its own separate UT and UF (offset frame) and takes a picture of the shipping pins, and provides a position.
You can then set a PR equal to each cameras found position and add them together to get a combined PR used for your final placement offset. It would like something like the following:
Code
Display More:J P[1] 100% Fine; : VISION RUN_FIND CAM_1; : VISION GET_OFFSET CAM_1 VR[1]; :; :J P[2] 100% Fine; : VISION RUN_FIND CAM_2; : VISION GET_OFFSET CAM_2 VR[2]; :; : PR[1]=VR[1].FOUND_POS[1] ; : PR[2]=VR[2].FOUND_POS[1] ; : PR[3]=PR[1]+PR[2]; (may need more math here) :; :L P[3] 100 mm/s Fine Offset PR[3] ;
P[3] is your normal placement position, which is offset by the combined found positions of camera 1 & camera 2. You may have to do more math to get it to work out correctly when you are combining the 2 vision found positions. As you stated you will be combining offsets from two different User Frames, so they may not correspond exactly to each other. That part you will have to figure out, but it should be doable.