İRVision | Changing offset data for given distance

    VY4zCz6Hi Everyone Fanuc Newbie here,

    I followed tutorials and made a simulation about finding part and taking it in Roboguide.But in real life, length of these parts will be different for each.And ı supposed to take these parts from a specific coordinate.How may ı do this?

    VY4zCz6


    I need to find center of sphere and give distance from it , ı tried to make some calculations but couldnt find out how to output those values in to program.We will work with 60-70 parts and each of them have different lengths.And are we able to make programs for 60 part using with "" MODEL ID "?. If so, how can ı use it in the program.

    I'm planing to use "FOUND POS" option.What are your advices.

    VY4zCz6

  • Go to Best Answer

  • MOM May 3, 2023 at 4:50 PM

    Approved the thread.

    Hi Fabian,

    İt will be batches of the same part.But as ı said we have 60 parts.Parts will be carrying on the conveyor.Process will change for every part.And each part have a specific distance from sphere (where robot needs to hold it).I will teach each part to camera and robot.We will write different recipe in PLC for each part.You can see screenshot below.There are different parts on the conveyor,ı put them there for teaching.But it will be a batch of same part as ı said.

    MnDvpMs

    Thanks for the interest.

    Hi

    Do not use ModelID, create a vision process for each part

    You will have for example the word "Part" on SR[1] and the PLC will tell the value of R[2]

    So concatenation for part 53 will end as "Part53" in SR[2] and that's the program you run.

    If you want, lets say, you are running part 53 but need to identified colours, the you can use ModelID


    15: VISION RUN_FIND SR[2] ;

    16: VISION GET_NFOUND SR[2] R[49] ;

    17: VISION GET_OFFSET SR[2] VR[1] JMP LBL[5] ;



    Retired but still helping

    Hi,

    I understand you, it's another solution.But how can ı set a distance in irvision Interfence.I'm trying to make it in tp program but it's not so accurate.I'm using "FOUND POSİTİON" method.

    My program is :

    Tool is going to center of sphere and offsets from there according to distance. (I used tool offset) but even that is not working so accurately.I set equal "FOUND POS (RZ)" value to tool offset PR's Angle value.But it didnt work. If I can output distance relative to center of sphere in Irvision Interface.Everything will be correct.I used "Position Adjustment tool" to give offset.But ı dont want to select by my hand.I need to set numbers.

    My Screenshot:

    image hosted at ImgBB
    Image image hosted in ImgBB
    ibb.co


    Quote from umut.yildiz

    Tool is going to center of sphere and offsets from there according to distance.

    According to what distance? Your statement is unclear to me.

    If you want to move relative to the sphere, set your vision origin on the sphere and use voffset, not found position.

    Then use a tool offset on top of the voffset.

    L P[x] 500 mm/s fine Voffset VR[1] Tooloffset PR[y]

    Set your PR for tool offset equal to your distance.

    You need to ensure your tool is aligned with the offset direction when you teach your point.

    • Best Answer

    Is your goal to pick this part in the same place everytime? If so you should teach a user frame where the parts are presented to the camera. Use fixed frame offset mode. In the TP program use the offset VR[*]. This assumes you have proper calibration and reference data. Depending on your system you could do this with one position the pick position. The path going to and from your part are just offsets of the pick position.

    Quote from ROBOT_G

    Is your goal to pick this part in the same place everytime?

    Yes, but we have 60 parts.Each part has a specific distance from center of sphere.I made a program as your said (with vr offset) and it's working accurately.

    But what ı tried to do is giving offset directly from camera ,not in tp program. I thought with this way Robot will go to direct coordinate by using found position method but ıt didnt work for rotations.

    You can see my current program below.

    Voffset is the way to make them relative. It does all the math for you. That's why Fanuc created it.

    Found position will not do the coordinate transformations, so can't be used directly for that purpose. It is possible by creating a new user frame based on found pos, but has some caveats. I have done it before using Matrix multiplication to do the coordinate transformation and create a new user frame. It's possible to do without matrix math, but only if your user frame is coplaner with world.

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