iRVision Setup rotating parts offset off

    Using iRVision on R30ib Mate controllers. I've followed Fanuc instructions, had others give it a go numerous times, and on all 6 robots its the same story. I can leave the the part strait and the offset vision data is pretty accurate. The moment we start rotating parts, the X and Y data is off. The more we rotate the further off it gets. We're clearly missing a step somewhere. Thought?...

    I had this issue trying when to pick very small parts (.120"x .040") so I was having trouble hitting the part at all. I would add to previous post to make sure you are defining a very accurate USER FRAME near the pick point. Even doing this and robot generated calibration and fine-tuning TCP and all the other suggestions in manuals didn't completely fix it for me.

    I had to use the ADJ_OFS command in the Vision Support Tools option (not too expensive...). You can read about it in the iRVision manual. Using it involves a trial-and-error setup process, but I did get it to work in the end.

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