IRVision Offset Issues

Been racking my brain on this all day and have come up stumped. Running IRVision 2D on a Fanuc Crx5 R30iB+. Doing a pick and place operation for small screws. User frame is set, camera calibrated, offset position set to 70,0,0 (just to get the robot head to clear the vibe plate when approaching).

When I go into IRVision and find part everything looks good, part coords seem to match what's on the plate but for some reason when I call the offset to a PR:

GET_OFFSET SR[1] VR[1]

PR[100]=VR[1].OFFSET

Now the issue arises when PR[100] is written with the offset value. It should be (reference position/0 point of robot tip) - (VR position/offset from calibration grid 0) but the numbers it spits out to the PR seem to just be random. I tried changing sort command from Parent command (H) to vision process (X) but that didn't help.

We are running all of our robot positions in FUT and the vision spits out in NDB but we have an identical system operating that way as well with no issues.

Let me know if there is anything I can provide that might help with assistance.

Quote from RobcadSim

I do not understand what function do u used of the iRVision

We are using the blob function to find our screws. We run a snap and flat field tool prior to running the blob tool then use the offset data calc tool to determine the offset.

That is our Karel code for the programs to identify screw location. Not sure on what you meant on your last bit but we do get the VR to write to PR[100] but what it writes doesn’t make sense based on the numbers.

Ex.

In IRVision take a picture of a part and found results show X8.86 Y3.74 (rotation we disregard)

When I execute the program to have it write its position to PR[100] it writes X-46.38 Y-38.61.

Now we have the reference position in IRVision set to X70 Y0 (0,0 is the center of the pick table) so it should be writing X-61.14 Y-3.74 as the offset added to our pick position. So where are these other numbers coming from/being calculated?

Alright I was able to figure it out, kind of. Basically needed to end up setting the reference position to 0,0 and have the robots pick position also be 0,0 and now everything seems to be transferring over fine. I'm guessing it has something to do with rotation and offset but I haven't been able to figure out what that all is.