Hi,
Thanks gpunkt your suggestion works very good for my multiple parts that I have to pick.
Hi,
Thanks gpunkt your suggestion works very good for my multiple parts that I have to pick.
Hi,
I'm using Fanuc CRX-10iA/L.
I tried to duplicate values of the VR[1] in which the image is stored, by simply writing VR[2]=VR[1] and then running the second VISION GET_OFFSET process from VR[2], but this of course does not work.
How to properly save the image from the vision system, duplicate it and use it in my program.
Hi,
I have a situation, where I need to move the robot several times to the parts after the 2D IRvision had found them. I was wondering is it possible to use the same data from the first vision scan to retrack found parts again, without making new VISION RUN_FIND process.
The rough program is:
VISION RUN_FIND
LBL(1)
VISION GET_OFFSET
go to part
JMP LBL(1)
Until tool has been to all parts.
Then I need to repeat the same process just without the VISION RUN_FIND.
At the moment when I try to run it, I get that the robot moves just to the last part, and then finishes process. How I can reset the GET_OFFSET process that it would go to all parts from first to last one again?
Hi,
the parts are moved to a second fixed position in a linear way (similar to conveyer). Their position change is always the same.
Now I'm trying just to add constant (x,y,z) values to the PR of the found part by vision. Hope this will work.
Hi,
I have a setup with a fixed camera and a fanuc cobot with a pick tool.
I have already done program to pick parts from the area under the camera view, everything works fine.
Now I need to go a step higher and pick parts which are first photographed (their location memorized in registers), then the parts move to other fixed location, just next to the camera view.
I need to pick parts from the new location.
I tried simple way, just to teach the new part position as a pick position (cobot). The robot goes to the approximate location, but the accuracy is lost and robot misses the part by 1 to 5 cm.
Maybe someone can advise how to do a better offset procedure to correctly pick the parts.
Hi all,
maybe someone will want to know how I solved the problem. Also I should mention, that Fanuc support could not help me with this problem, it's good that I found one person who already did similar project before.
So the solution that works good enough (not perfect) - was to create a bunch of GPM locator tools. Teach all of them with the part rotated with different angle (rotated by 25 degrees in my case). So when the part is rotated one of the GPM locator tools detects it. When picking, robot still rotates, but the rotation is minimal. I can live with that.
PR[?,4] = PR[?,4]-VR[?,4]
Could you please specify where should I place this line for a total beginner. Is it Vision part? Detection part? Picking part? Anywhere in the code? The question mark in the code stands for register that I use to write object position or something else? Number 4 means rotation?
My problem is most probably related to position registers, but I still cannot figure out how to use them.
In other words from Vision part I need to transfer to Pick and Place just the x and y coordinates, but not the rotation.
My code in Flickr:
Visual:
In the DOF section, you can un-check the box named Orientation, as shown below. This is from a robot that was picking up circular objects, and as such had no need to rotate to follow the part.
I just tried this, but it does not work for me. Because this is for feature recognition, not for the picking part. The feature that IRvision needs to recognize in my case is a triangle and picking place is below it. So I need the orientation to be recognized and picking place located. What I do not need - that the robot would turn according to rotation of the part.
That most probably will be related to position registers, but I still cannot figure out how to use them.
In other words from vision part I need to transfer to pick and place just the x and y coordinates, but not the rotation.
Hi,
the program is very simple, just recognize the part, pick and then place it. The feature recognized is a triangle on the part, specifically made for this purpose.
I'm a beginner and wrote the program with GUI of the CRX tablet. Maybe you could specify where in GPM locator tool (or Blob) I could disable the rotation? Or where could I read more about that? Because now when I search I can find only that people want the rotation to work properly, but not to disable it.
Thanks
Hi,
I'm working with the 2D IRvision pick and place program.
After some tinkering it started to work and I can pick my parts. The parts that I'm picking are not symmetrical and when rotated the robot tries to rotate to pick them. Which is normal behavior. However, I use the suction cup and the rotation is not needed for me, further more the space is very tight so the rotation just knocks stuff around. Maybe you could advice me how to turn off the rotation function on the robot? In other words, I need that the robot would ignore the rotation of the part and just would approach it with linear motion without rotating according to parts rotation.
Thanks for suggestions.