I was hoping someone might be able to help me improve the accuracy of a part picking program I'm using with an SC130EF2 camera and SR6iA/ R-30iB. Currently, when I go to pick up the part that I've created vision data for, the tool is a few millimeters off with no visible pattern (sometimes it is on the part, sometimes it is right next to the part, sometimes it is a little further). I was wondering if there was a way to take an image multiple times and then average the location - although I've been working with FANUC for a few weeks now I am still pretty new to how to program these types of things.
I'm not sure if these details are important but I figured I'd add them:
-When I set up camera calibration, the software thinks the camera is much further away from the grid than it really is. Hard coding this value does not improve accuracy.
-When I teach the part in the middle of the tray I am using, anywhere outside of the bottom right quadrant of the tray (meaning the origin is in the top left) results in a limit error; I have to teach the part in the top left corner of the tray in order for the robot to reach anywhere on the tray
-The part is seen as a circle from above so rotation should not really be a factor, although when the part is moved anywhere other than the middle of the tray (which is in line with the middle of the camera) the part is seen as a little more of an oval. It is still detected as a part either way.
Sorry if any of this is confusing, please feel free to ask clarifying questions and as always any help is greatly appreciated.