Automatic grid frame set inconsistent and wrong results

    I am runnuing irvision on an older robot with software edition 8.1/30.

    The camera is mounted on the robot. I tried using the automatic grid frame set to set a user tool for the camera. The first time it gave me a z value of 905 mm. Should be 600... i ran the grid frame set again, and it gave me 940mm.

    Now I know the mastering isn't perfect. We lost mastering some time ago and needed to adjust the path, even so we too every care with zero mastering. IRCalibration is installed but Fanuc forgot to mention that on 8.1 you need a USB camera.

    I double checked that the grid spacing is correct. I ran it at 10% speed. The calibration is spot on too, it figured out the focal lens and the mean error is .3 pix.

    So my question: Am I missing something or can the mastering throw it off that much?

    Edited once, last by IRockWell (March 1, 2021 at 3:38 PM).

    • Best Answer
    Quote from IRockWell

    The camera is mounted on the camera.

    Did you mean the camera is mounted on the robot?

    If so then the main purpose is to create a UF. The UT has no bearing on accuracy of nor is it strictly necessary to use for a robot camera. The UT is also generated but is not what you are thinking. The TCP of the camera UT is where the projected view would be. So if the grid is 900 mm away from the faceplate when calibrating, your UT z value will be 900.

    To put it simply, the camera calculated UT value is roughly where the center of the grid is from the face plate at the start point of the procedure.

    Edited once, last by HawkME (March 1, 2021 at 2:12 AM).

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