Hello! I'm currently working with a Fanuc robot equipped with a Cognex camera for a vision-guided robotic application. In my spreadsheet, I have the following parameters: Set X, Found X, Set Y, Found Y, Set R, and Found R. My question is: how do I calculate the offsets for X, Y, and R? Additionally, is it feasible to achieve precise offset calculations using infrared (IR) Vision?
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Tarik1978, I reviewed that note regarding the camera setup. The note mentions a camera that is directly linked to the robot. However, in our scenario, the camera is actually connected to a PLC (Programmable Logic Controller). The PLC performs the necessary calculations for the offset and subsequently transmits the data to the robot through the Group Input.
It seems that you didn’t clarify that the robot needs to take group inputs and incorporate them into a Position Register (PR), using that PR to create an offset for positioning. This process is similar to how a Virtual Reality (VR) system is utilized for positional adjustments. Are you acquainted with the components of a Position Register? For example, it could look something like this (please note that the syntax might not be entirely accurate): ``` PR[13] = PR[1] - PR[1] /* Reset PR[13] PR[13].1 = GI[1] /* Set X coordinate PR[13].2 = GI[2] /* Set Y coordinate PR[13].6 = GI[3] /* Set rotation around the Z axis ``` At this point, PR[13] serves as an offset that can be applied to a base position, optimizing the robot's operational efficiency.
Thank you for your prompt response. In my system, the GI[1], GI[2], and GI[3] PLCs will provide the Offset values. However, the camera is only transmitting the Object Found coordinates: X, Y, and R. My inquiry is about how to accurately calculate the Offset X, Offset Y, and Offset R values that I need to send to GI[1], GI[2], and GI[3]. How can I perform these calculations effectively?
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Answer: - X Offset = Found X - Set X - Y Offset = Found Y - Set Y - R Offset = Found R - Set R These offsets can then be used to adjust the robot's position to align with the vision system's findings.
Answer: - Calibration errors: Accurate calibration of both the camera
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