Hello everyone,
I request your help with our vision application on Fanuc Arc mate 100 iC with R 30iB controller.
We have two robots that are using the same camera which is placed in the center of the two robots. The RUN FIND for the follower robot is performed by the Master robot and the offsets (GET OFFSET command) are calculated by the follower robot, as while teaching the vision process we are able to select which robot is holding the part but we can only calibrate the camera using just the Master.
There are 2 user frames and 1 tool frame in our application. Since the robots are in completely different cells these frames cannot be exactly the same but they are somewhat close.
Following are the results for the Master and the follower. Any suggestion/ further questions you guys have to lead me in some direction here, I will greatly appreciate that.
Thank you.
Master Robot offsets (This robot is working fine)
Offset 1
X:0.4 Y:0.7 Z:0.4
W:0.1 P:-0.3 R:0.1
Offset 2
X:0.7 Y:0.1.1 Z:0.4
W:0.2 P:-0.4 R:0.1
Offset 3
X:0.4 Y:1.1 Z:0.4
W:-0.0 P:-0.3 R:0.2
Slave robot with same part in the gripper but different pictures
X:2.8 Y:0.1 Z:0.4
W:-0.2 P:1.7 R:-0.1
X:2.8 Y:0.0 Z:0.4
W:-0.2 P:1.7 R:-0.1
X:2.8 Y:0.0 Z:0.4
W:-0.2 P:1.7 R:-0.0
Slave with a different part in the gripper
X:1.7 Y:-0.5 Z:1.5
W:-0.4 P:1.1 R:0.5
X:2.1 Y:-0.6 Z:1.5
W:-0.3 P:1.6 R:0.6
X:2.0 Y:-0.5 Z:1.5
W:-0.4 P:1.3 R:0.5