Hello, new member here.
I am having a problem when I am using my fanuc robot to pick up a part. I am using irvision and robot controller R-30ib
I trained the robot to pick up the part when it is longitudinal to the robot's Y axis.
However when I try to run the program, I notice that the pick position has an X-Y offset that is proportional to the angle of the part that I'm trying to pick.
So I am only able to pick up parts which are approximately parallel to the Y axis. The error is not random and is consistent
I have set the TCP twice using the 4 point method and gotten mean errors less than 0.3mm. I also calibrated the robot/camera by mounting the 11.5 mm grid on the robot's arm
Is there anything else I can try? I came across at thread in this forum about using ADJ_OFS. Is that related to my issue?