Automatic UTOOL for Cam on Gripper

Hi there,

I have a FANUC robot with one camera mounted on the gripper.

There are two drawers (left and right of the robot), where I can insert the same grid frame to calibrate the UFRAMEs. This works perfectly with the IRVision Utilities.

I also nee the perfect UTOOL of the camera, because I need to navigate above the same position relative to each UFRAME. But my camera has a small tilt and manually I tried but I cannot find the perfect TCP setting for the camera.

If I try to set the UTOOL with the same Utility after calibrating the UFRAME than the FANUC tells me, that this is only possible with a fixed mounted camera.

Any ideas what I can do? Is there an option I need to buy? Is there any option to do this at all?

Quote from HawkME

When you do the auto grid frame set, you can specify the UT # for the camera and it will set that too.

Thank You! OMG I got it now...

I just didn't find it first, then I was wondering, why it doesn't set it automatically! In "Automatic Grid Frame Set" you need to navigate to the line "Set Tool frame for check" and press "Set" manually after the calibration. So easy^