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Issues with FANUC robot having cognex camera

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Howard Coleman

Hi all, it's me Howard again.

I am currently using a FANUC robot having an on-board cognex camera on its gripper for taking products on its pallet. The position of the products can be varied too, therefore the camera is offering correction in all x, y, and z coordinates along with an angle for taking each product.

Now, i am forced for taking 2 images for taking up products. 1st image is taken for correcting the angle and 2nd image is taken for correcting the x and y coordinates.

But when i am correctly all at single picture then angle comes good but x and y coordinates are shifted in right direction and its values are not good. I think, it must be calculation to do however i am not able to find it. 

Is there someone in you who could help me getting out of this problem? I shall be thankful

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    Sarwat Anjum
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    Hi There,

    As far as I have understood your situation. 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.

    Let me know if this resolve issue?

     

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    Frankie Ellis
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    Hi, A lot of people encounter this problem. Any robot that you may be using, the problem is that whenever you are not using same frame or user coordinate system while image position and acquisition correction. In case if you have made them coincide, then you are not required to do any math. In case if both are different then you have to go through transformations including concepts such as initial frame offsets etc.

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    Laurence Price
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    Let me tell you my point of view.

    Taking images is all included in one process and correcting the position of through image is next process. It sounds like either of your image processing software is not up to date and is not updating the position accurately or the program is not using the updated position from the first program.

    In the FANUC programming, i am always encouraging users to learn following things.

    1. Learn performing backup functions on regular basis.
    2. Learn restoring backups.

    There is a possibility of printing programs on SD cards. Therefore, you should print off both programs and then verify each and every line. Add pauses where needed and then execute.

    I hope this would help you.

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