Posts by Fabian Munoz

Alejo

Search the forum for "explicit message" or messaging

Alejo45

Display the digital outputs (for example) Menu,I/O, DO

Once you see the outputs display, look for a F button "Config", click it , then you'll see the outputs, racks, etc

The only way i know to find those numbers is to put lets say 100 parts in the belt, then look and the run time , the runtime is going to tell you parts found and parts picked. The you do the math

Hi, because if it wasn't irpicktool I wouldn't have any idea how the tracking is controlled

Anyway, how long if your FOV (along the conveyor). Can you see or figure how many times you see the part ? Use runtime to view it. Maybe you are overshooting like every 1msec and you are taking 100 pictures of the same parts. You can see that the part is detected by the robot two or more times. The software will take care of the same picture in difference positions because on the encoder counts. For example , the job that we are putting together now , i see the part 3 times and is running fine

So, in irpicktool check the trigger time.

Are you using irpicktool ? how's the conveyor tracking attached to the pictures ?

Bill

Just a recommendation for the IF....JMP.

I do not how complex your program is but try this:

use LBL1 and jump to LBL 11,12...........19

use LBL 2 and jump to LBL 21,22,...........29

when you are in LBL11, jump to LBL 111,112,113......119

When you are in LBL24, jump to LB 241,242......249

and similar with LBL 174, jump to LBL 1741 or 1742 or..... 1749

because it will become a nightmare. Even with the Flags or Registers, group them

jpeterman

Welcome to the robot forum

The people that wrote on this thread they have been off for a while. I recommend you open a new thread, explaining your problem and post pictures

oh, ok seems to me that's going to be low current. So, yes, I would use internal 24

It all depends what you have for outputs .

Hi

The grid calibration ( i use 9 also) is (obvious) the frame where the software find the offset on the part it seeing right now against the one you taught. That's why you specified what grid you are using (5mm, 15mm,.....) and the lens.

The application frame is where you go after pick up the part and do something. You can use 9, there is nothing wrong with it. I like to define my own (Usually 1) so If I have to reteach the grid (9) my points in the application do not change

Now, offset frame (unless I'm having a blank moment in my brain) I don't know what it is. I will say it is result of the vision, basically the values of VR but for me that is just and offset at frame 9

fanuc difference between crma58-59 and crma15-16?

Sorry I cant help you. I'm familiar with Irpicktool so I don't know what the software you have offers you

HI

Few weeks ago somebody ask a related question.

Two challenges here

The challenge 1 is the Fanuc connections. Have you followed the harness from the EE inside the cabinet ? Are you willing to troubleshoot those wires, find out which ones are inputs/outputs/voltage, the cut them and redirect them.

The challenge 2, even if you can do anything with the hardware, the robot software is designed for 8 RO, there is no RO 9

The only solution that I see here is to use the Honda CRMA58 if yo have one

Hi

Are you using irpicktool ? Many answers will depend on that.

Is there a PLC involved in the project ?

Hi

From a bin ? Are the stack on top on each other ? Are they laying down randomly ? Are they in any conceivable position ?

Hi David_

Welcome to the robot forum

Try MENU, Utilities, Mirror image shift

I would try it first with a simple program

Hi jcarlon

Welcome to the robot forum

Do a search under Explicit messaging

If you have access to manuals, look

Ehernet/ip setup and operations manual MAROU91EN2171E Rev C

Looking at the picture I see the camera is not right above your FOV. That makes the fisheye effect even worse. For setup purposes , I would just put one of those cylinder in the middle of your FOV and move the camera until you see a black circle. That will be my first thing.

monred

I dont think your problem is the TP program. On top of that, you do not have any nomenclature

I guess you have a FIXTURE defined and a PART attached to it

Take a screen shot of that setup