I ended up going back through all of those configurations and re-doing it all to make sure it was accurate - everything works now! Thank you both for your help!
Posts by edimmy
-
-
Hi everyone,
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.
-
Thank you so much for all your help, I have everything working now!
-
It could also be that you have a strange configuration in the PR that you use for your tool offset.
I tried setting the approach point as a Joint Movement and the pick position worked! I think you're right in saying my tool offset PR has a strange configuration, any advice on what to do to fix it? I would like to be able to approach above the pieces I'll be picking up so that I don't knock them over.
-
Thank you for your quick replies!
I just tried redoing my part reference position and teaching the pick position in the teach pendant program but am still running into errors. I used your advice and taught the movement outside of my program loop and then added the vision offset, but kept running into a MOTN - 063 error saying that I had to reteach the destination so the configuration string matches the start position's configuration string.
This was without the approach offset, when I added that as well I got the error I was receiving before saying that the position was not reachable.
Any advice? Thank you again, your help is appreciated!
-
I've been teaching the point by touching up the first linear movement (line 10) after running the vision process (lines 1-8). Is there another step that I'm missing? I've been choosing 'No' for the popups asking if I want to subtract VR[1] or the tool offset data.
I have a feeling that my 'Approach Point' (I've been using it as the 'Tool Offset') may be throwing things off a little bit - I have it set as a PR at a point above the table I'm picking from.
Here is my code if it helps:
Code
Display More1. LBL [1] 2. UFRAME_NUM = 6 3. UTOOL_NUM = 2 4. 5. J @PR[9: START_POS] 100% FINE 6. 7. VISION RUN_FIND 'CAL_11' 8. VISION GET_OFFSET 'CAL_11' VR [1] JMP LBL[10] 9. 10. L P[2] 100mm/sec FINE Tool_Offset, PR[10: APPRCH] VOFFSET, VR[1] 11. L P[2] 100mm/sec FINE VOFFSET, VR[1] 12. L P[2] 100mm/sec FINE Tool_Offset, PR[10: APPRCH] VOFFSET, VR[1] 13. 14. LBL [10] 15. J @PR[9: START_POS] 100% FINE 16. JMP LBL [1]
I'm still very new to FANUC so I would appreciate everything being dumbed down a little for me, thanks.
-
Hi everyone,
I'm having some trouble picking up a part using iRVision and I'm hoping it's an easy fix that I just haven't learned yet. I am using an SR-6iA with an R-30iB controller.
I've set up my iRVision by following along with the 'How to' YouTube video; so I've set up my User Frame and used that frame when calibrating the camera and creating vision data. However, when I go to pick up a part, the location seems to be based off of the origin of where the first vision data was created and the robot is saying that it can't move there (from my understanding, it is because the location is too small, x:-17mm y: 17mm z: -19mm w: -179deg p: 0deg r: 134deg, and the robot thinks that this location is inside of itself).
If someone lets me know how to post pictures I can attach a screenshot of the program/error, as well as the location of the part that I am trying to pickup after I touchup the point (sorry I can't figure it out myself).
As always, any help is greatly appreciated.
-
Wanted to throw the solution out there to anyone that runs into this issue as I could not find it anywhere online (lost the password to the original post account and had to make a new one).
Check if you have the vision package by navigating through Menu -> Status -> Version ID -> Config. The 2D iRVision package is R685. If you purchased it and do not have it uploaded to the controller, you should be able to follow the directions that came with a provided USB with the software on it.
Hope this helps.
-
Hi everyone, new FANUC user here.
I just uploaded new software to the SR-6iA that I'm working on and am getting some alarms that I don't know how to fix. I am using hardware between the controller and teach pendant to plug into; when I chose auto mode and turned the teach pendant off (and reset from the hardware) I got SYST-011 and SYST-005 (UOP is the master device) errors. When I turn the teach pendant on and T1 is selected, I get a SYST-351 error.
When uploading the new software I followed all the directions to to apply changes to DCS, which included entering the default DCS number to apply changes. Is it possible that I was supposed to reload DCS software with a supplied code number?
I also followed steps to ensure that the "Hand broken" option under System Config has been disabled and the "Enable UI signals" option is false.
Does anyone have any ideas on what I can do to fix this?
-
Thank you everyone for the help, I was trying to practice using the robot positions to communicate as needed but I ended up hard coding lines to wait for inputs from the other robot.
-
Thanks for the suggestion. I'm looking into it now, and correct me if I'm wrong but this looks like a method to set up the 'unsafe zone'; would I be able to use this to get one robot to stop while the other is in this zone and then resume working once the robot has left?
-
Hello, I am fairly new to fanuc and would appreciate some help on a hold issue I'm facing.
I have two SR-6iA robots working near each other and am setting up an 'unsafe zone' so that while one robot is in that zone the other will not enter.
Currently, I have this program running with my movement program:
LBL[1]
IF (DI [3: LISTEN RB2 POS] = OFF AND R [11: YPOS] >= R [4: EXTRA_SAFE]), $MCR_GRP[1].$HOLD = (ON)
// if robot 2 is in the unsafe position and robot 1 is past the 'extra safe' position, then hold is turned on for robot 1
IF (DI [3: LISTEN RB2 POS] = ON, $MCR_GRP[1].$HOLD = (OFF)
// if robot 2 is in a safe position, the hold for robot 1 is turned off
WAIT .10 (sec)
JMP LBL [1]
However, when the hold is turned on it will not turn back off even though the input is going from off to on. Is there any way to fix this or to achieve the same function with a different method?