I actually do have a dwell time before the snaps and my motions are set to FINE. I'll try dwelling a little longer and/or removing IRVBKLSH and seeing what kind of results I get- (maybe I'm introducing something I don't need).
Posts by koonjulcapriol
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Hi all, I am trying to figure out the right order/where to put IRVBKLSH in my vision program. I'm using 3DL vision for a pick application where the robot will do great but occasionally it will miss a pick by about 5mm. I've been playing around with when and where I do IRVBKLSH and it seems like it's affecting the result.
Specifically, I am doing the following workflow:
Move to Vision Position
Run 2D Find
Move to Vision Position with 2D Offset
IRVBKLSH
Run 3D Find
Move to Pick position with 3D Vision Offset
My final pick position sometimes misses and I feel like it happens when the IRVBKLSH "looks" like it corrected significantly. I've tried adding a dwell time and moving the IRVBKLSH before/after the pick/vision/2dvision etc but I can't figure out the correct order of operations. My calibration is really good otherwise.
Thanks,
K
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Mech Unit Time
This item indicates the time during which the system is running motion (servo ON and Brakes released). It is persistent and survives full software load, image restore, INIT start and MD: restore.
Running Time
This time indicates program execution time. The halt period is not included.
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I know this is old, but I wanted to contribute since I had the same issue...
For your number 4, I believe this has to do with the system variable $OFFSET_CART.
In the vision manual it says:
PR[a] = VR[b].OFFSET
The position register format after assignment differs depending on the value of $OFFSET_CART which allows you to select behavior of the OFFSET command. If the value is TRUE, the XYZWPR format is used.