Posts by Nick1324

This is on an R30-IA controller (About 2013), I noticed the missing User Frame selection in the vision process as well. We have the newer R30-IB and R30-IB+ controllers as well that both show that option.

When I took the picture of the grid it was on a spacer bringing the Z height to that of a part in the fixture.

I am also going to try and 3D print a different EOAT/Calibration Grid holder that can get me in the area I need to do an automatic grid frame set. This is how I've always calibrated cameras and never had issues.

It is a fixed mounted camera and calibrated to a single plane. Normally I calibrate using a automatic grid frame set, however I could not fit the robot/calibration grid into the required area of the cell. See attached vision process, calibration, and TP images.

I am working on an application where the TCP picks a part from the nominal center, however the offset information is provided based off iRVision locating a feature (Green Box). Since the locating feature differs from the pick point in both the X and Y direction, any rotational changes of the part significantly throw off the X and Y of the pick point.

The EOAT is a simple suction cup with the Tool frame only containing the Z element.

I will always know the theoretical X and Y distance between the locating feature and pick point. Is there an easy way to rotate about the axis of the locating feature while maintaining accuracy of the pick point orientation in all directions?

I have tried several things and gotten close, however it needs to be much more accurate.