Oh and when i rotate the block 90 degrees:
What I mean with a completely different direction, the robot will move more then half a meter the other way.
Posts by Jesper
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Seeing as you are not using the conveyor yet you may have the calibration setup incorrectly.Verify you used the correct value for the grid calibration sheet you used for setting up the camera calibration.
Example: Using the 30mm grid with the calibration set at 5mm will result in the robot trying to move at an incorrect distance than needed.
I used a 22 mm grid, and that's also what I used in the setup.
Thanks for your response! -
Just curious, when you did calibration of tracking frame did you put +X direction towards conveyor move?
I'm doing usually next steps:- enable encoder
- set up gripper
- set up robot (create conveyor, fixture/etc)
- go to conveyor tab, set up Tracking Frame (place calibration grid with +X towards the conveyor move, calibrate camera, then move conveyor and create robot frame)
- go to conveyor tab, create upstream and dowanstream beams
- later depends what is your placement (conveyor/tray/etc) do the rest
- when you done with vision tracking camera program, after creating reference don't move part, jog conveyor with par to be in robot pick zone . move robot to pick the part position and do touch-up. Depends what type of tracking you are using you need to select correct program. In my case I go to PK_CV_PICK11, and do touch-up on PR[57: Cv Ref Pos]. It will ask you 'do you want to exclude VR[1], press F5.
I usually run original conveyor tracking program that supplied with conveyor tracking package to check that my conveyor tracking calibration and set up are working in a way that I want.
Since I didn't use the conveyor for the testing purpose, I used a line that was already put in by the (previous) owner of the robot.
The block doesn't move but the robot picks up the block from underneath the camera.
So for that reason I didn't set a tracking frame, up/down streams etc., but used the one that was already set.
My thought was that if the conveyor doesn't move, the encoder won't 'change' and the robot should pick up the part.
For normal calibration, I put the x-direction to the positive x-direction of the robot which is perpendicular to the conveyor 'line'.
Could that be the problem?
And from where did you get all the information you needed? Do you, by any chance, have a proper manual?
Thanks for your response ! -
I have a fanuc M-430iA with a Fanuc R-30iA controller and a sony xc-56.
I'm trying to set up a vision system where the robot picks up wooden blocks (with different letters on it) from a conveyer belt and puts them into a specific order to form a name.
To test some basic things I thought I'd test the process without the belt moving to make sure the camera can find the blocks and that the robot gets the correct locations and can pick them up.I've found a iRvision manual and these are the steps I've done:
• Setup a camera (on internet explorer)
• Setup a line (on internet explorer)
• Performed visual tracking Grid calibration (on internet explorer)
• Attached a pointer to the end gripper and set up a tool frame (on the controller)
• Performed 4 point Grid calibration to setup a user frame (on the controller) --> User frame 6
• Created a vision system and masked one of the letters. --> 'LETTERS', when I press snap&find the block is detected at all times.
• Created a program
• Set a reference point (on internet explorer) and then moved the robot to this posisition for P[2]The program looks like this:
UTOOL_NUM=1
UFRAME_NUM=6
J P[3] 100% FINE <-- random point 'home position'
CALL GRIP_OPEN
LBL[99]
VISION RUN_FIND 'LETTERS'
VISION GET_OFFSET 'LETTERS' VR[2] JMP LBL[99]
J P[1] 30% FINE VOFFSET, VR[2] <-- point above the block
L P[2] 40mm/sec FINE VOFFSET, VR[2] <-- Grip position
CALL GRIP_CLOSEWhat happens is:
When I don't move the wooden block, the robot will run trough the program and perfectly go to the same point and pick up the block.
So the letter is being recognised etc.However, when I rotate the block the robot will go to a completely different position, or can't even reach the position (error).
And sometimes when I move the block linear (for example in the x-direction) the robot will move in the other direction (y-direction) withouth logic.Does anyone have a clue what the problem can be, or that there is a proper manual apart from the iRvision manual?
Thanks in advance!
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I can't remove the post, but the problem is solved.
The batteries are in the base of the robot (unscrew the 8 bolts on the side). -
I have a fanuc M-430iA with a Fanuc R-30iA controller and I need some help with finding the battery box with the 4 D cell batteries.
I've recently replaced the 3V lithium (Memory backup) battery and yesterday I got an alarm saying: SRVO-062 BZAL
The manual says that 'This alarm occurs if battery for Pulsecoder absolute-position backup is empty. A
probable cause is a broken battery cable or no batteries in the robot.'A solution should be:
'Replace the battery in the battery box of the robot base. 'I've been searching for this (black) battery box but I can't seem to find it and the maintenance manual doesn't show it's location either.
Some forum topics state that it should be in the door, but i don't see anything apart from some fans and a heat exchanger.Does anyone know where I could find this battery box?
Thanks in advance,
Jesper -
Checkout this link:
http://Robot_IP/frs/default.stm, where Robot_IP is your Robot's IPThanks for your quick response. I've been trying stuff for days, but this worked perfectly !
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I have a fanuc M-430iA with a Fanuc R-30iA controller.
A sony xc-56 is connected to the main board and the camera is displayed in the controller.I connected my laptop to the main board and followed the R-30iA manual.
After setting the IP-adresses you have to, according to the manual,
type in the controller's IP-adress in your web browser.
This should then show the iRvision homepage from where you can set the camera.
However, it brought me to a customized page of the (previous) owner of the robot.
I can't click anything within this site, and the vision system is now useless.Does anyone know if I can reset this somehow, or that there is a link that will take you to the home page?
Thanks in advance,
Jesper