Good morning, afternoon or evening depending where you are reading this from.
I have been working on a vision guided robot system for the last few months and we have come extremely far seeing as this is the first time we have done this sort of thing. I'm using a omron FH series camera system with a omron FZ camera for the vision side of things. I'm using the new motomini robot from yaskawa for the robot side. i'm using a siemens plc for the communications between them. I'm also using a Omron anyfeeder to feed the parts to the camera system and the robot picks from the bed of the anyfeeder.
So the issue i am having is there is a good 5-10mm variation on the pick point the robot goes to, the detection point on the camera system remains very consistant and doesn't seem to have much variation on it and the amount that is goes out i would see that point moving around which it doesn't.
If i explain as much as i can into the process i'm hoping someone might be able to offer some help. We have set the robot to the 0,0 point of the camera by working out a set distance in pixels and driving the robot to the points and working out the difference in mm and using that to create a conversion factor between the pixels and mm. In the camera program we then use that conversion factor to send out the distance from 0,0 in mm to the plc which we then send to the robot and do calculations within the robot to make the data sent into the mm's the camera is sending. We have checked the camera output of mm to the position variable we are setting in the robot and the distance in mm's match up perfectly every single time which would imply that the data isn't being sent differently between the two. We are using the X,Y and Theta from the camera system and have checked that its not constantly out on the X position only or only the Y position or just certain angles, it seems to be out on any of them and doesn't seem to have certain position that is always a problem. The weird part is that the robot will go to a position and completely miss the part then come back to the same part and pick it up perfectly. The tool point has been set, we are using imovs as the move to get to the position needed. The speed is fairly high as we have a cycle time goal of under 3.6 seconds for the complete machine cycle as this is what it was with an operator before we changed to a vision guided robot.
I don't know if thats enough information for someone to have a idea of what I could be doing wrong or not but any advise would be extremely helpful as i'm completely out of ideas at the moment.