Hi, I hope everyone is doing well.
I'm creating this thread because I have some doubts with TCP and iRvision.
I'm using R-30iB mate plus controller with LR mate 200iD with iRvision option with fixed camera mounted.
We're picking part from a vibratory feeder. When I'm picking part without rotation it picks well but having issues with rotation around Joint 6. I found two similar threads however I'm recreating because I want help with other issues..
We're using a servo zimmer gripper to pick the part and I tried Reteaching the User frame with four point method, Recalibrated the camera without moving the grid(at same position as User frame), Reference pick position and Z part height is good too.
My questions are
1) My current TCP is X:0, Y:0, Z:148.0 W:0, P:0, R:0
However as per CAD it should X:0, Y:0, Z:156.625.0 W:0, P:0, R:0
Do you think that it'll make any difference with the pick from the Feeder?
As the z axis for TCP is pointing Straight out of the Flange it should not make any difference.
What if I change my z from 148 to 1000?
2) When robot rotates around joint 6 it's not picking well. Do you think that this could be calibration issue with Joint 5 or 6?
If someone can provide me the method to verify the calibration of the robot for reach axis except reference marks . Please and Thank you in advance.
3) This issue is different than 1 and 2 do not mix .
I'm attaching an Image for the reference
Note: Camera is finding the parts but it's not finding origin properly as it's off centered and and because of that I'm getting wrong offset.
Image Link:- Image
Also I'm not able to attach image to the thread.
Thanks in advance
