Hi, we have used motoman robots at work for many years but with very basic use. we only ever used movl and movj and set our positions as everything is in a fixed position.
Recently been tasked with trialling making a vision guided system. we are taking a picture of a load of parts with a omron camera system and relaying the X,Y and T to the plc then to the robot and picking the best part. we have it working fine with parts that lay flat but now i am trying to do it with parts that sit at an angle. i've used the same program and driven to that point then adjusted to Ry and Rx to the correct position, taken the values of them in robot mode then added them to a P variable. Problem is when i get down to the correct pick up point height and i want it to correct to the Ry and Rx i get a interpolation error not matter what i try.
Does anyone have any ideas on how to make this work correctly with the tool. any help or info people can offer on vision guided systems to try and help out would be absolutely brilliant.
Thank you in advance
PS using mh5f FS100 robot but if all works the application will be done with a Motoman mini robot