A photo eye would have been the best solution but basically I set a threshold "100" if the load area is not clear the histogram mean will be lower than that.
The parts are covered with a dusty film. After sometime an outline of the part will build up on the load area and vision will "find" a part there. The histogram determines if it is actually a part or not.
Posts by Racermike123
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There are a couple different ways to handle this;
If you have a locator for the part, use reverse logic to manage the empty box. In other words if the vision fails to find the object the vision is successful and the box can be processed. If it finds a part the box is rejected. Set the score fairly low. I use this type to determine if a conveyor is empty.Or use a histogram. If the box is white and the parts are dark, the histogram can be set to reject boxes that are darker than a specific threshold. I use this type to make sure a load area is clear.
You could use both.
I use both types with great success -
Summary is in RJ3iB also
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Nope! The mastering data is stored in the CPU.
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Check the RP1 cable for damage and that it is connected properly. Check the Internal pulse cable for connection and damage.
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What model robot is it? Can you post a video?
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I think that flange is supposed to be flat!
Are one of the link arms bent? -
I had a specific issue that was addressed by the update. What version do you have now?
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Start a new post this one is too old to get a lot of answers
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unzip it, put it on a usb stick or memory card and install
Press menu, 7 press next then install and select auto update
The controller will do an all files and an image back up then update. it will take about and hour.
You will probably have to update the vision files on your PC if you are using vision. I did the update and the vision tools are better in version 9.10 -
What specifically is the problem!
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I don't see where you are changing the collision sensitivity for the robot.
What is happening between PR3 and P1?
Draconis437 is right, move the positioner separately then move the robot to it. -
What is collision sensitivity set to?
Can you slow down the move from home?
Is the termination Fine or Continuous?
Post a video of the robot moving from Home and the first point and also the program code. -
Instead of using a register, use the robots location.
Use LPOS then break down the location. X, Y, Z. You know how to retreat from each location so when X = this value the robot must not Z up until X is this value. So then you move X to a safe location to move Z then run it home. -
Click on robot on the toolbar and select Robot Properties and re serialize the robot and add the option
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It's on the tag on the controller door.
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RJ3iB does not support USB.
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If the rebuilt robot was mastered, all you have to do after connecting and powering it on is reset the pulse coders, cycle power, set $MASTER_DONE to true and calibrate.
The pulse coder data in the robot is the master reference data, not the reference data in the controller. -
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RJ3 controllers have issues with FSSB alarms.
Fanuc had procedure to help. Power down the robot, disconnect the fiber optic cable from the cpu. Power the robot on and let it boot. Power it down, reconnect the fiber cable and power it back on.
If this doesn't work they suggest you replace the PCB on the backplane.Some times you can get it to go away just by cycling power. In my experience, it always comes back.
I don't have any feedback from any of the customers I replaced the PCB for, so I can only assume it worked.