slhermite

Fanuc robot with Cognex camera

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Hello I use a robot with an onboard fanuc cognex camera on the robot gripper to take products on a pallet. The position of the products can varied, so the camera gives me a correction in x, y and angle for taking each product. I am forced to make two images to take products. First image to correct the angle and when the angle is correct, I made a 2nd image that corrects me the x and y. When I corrected all at the same time with a single shot, the angle is good but the x and y are shifted in the right direction but the values are not good. there must be a calculation to do but I can not find, is that someone has already experience this problem Thank you Best regards. FANUC M-710iC/70 - R30iB COGNEX IS5403 Ethernet Communication with socket messaging

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i did not use Fanuc in a long time, but this is still same thing... on any robot... problem is that you are not using same frame (user coordinate system) during image acquisition and position correction. if you make them coincide, you don't have to do any math. if they are different, you need to use transforms that will include initial frame offsets when you teach model.

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Panic is correct...taking the image is part of the process, then correcting the position from the image is the next part of the process. It does sound like one of your image processing programs is not updating the position properly (or the 2nd program is not using the updated position from the 1st program). With all Fanuc programs, I encourage users to (if they desire to support their own programs)...(a) learn how to perform regular backup functions, (b) learn how to restore backups (for when you implement a change that does not work properly), © document programs with as much detail. It is possible to print the programs to an SD ram card (this creates a flat file on the SD ram card that you can open on your PC and print). Print off the 2 programs and go through each line, line by line. You can also add pauses in the programs to pause the execution (excellent tool for back-figuring what a program is actually doing).

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