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9 Troubleshooting
9.1 Problems with gripping accuracy
Introduction
There can be many different reasons behind problems with gripping accuracy, for
example problems with the teachin, problems with the calibration, problems with
the robot, problems with leaving details. A number of common fault sources and
remedies are described below.
Gripping with general poor accuracy, without a visible pattern
Product manual - FlexLoader Vision
3HAC051771-001 Revision: B
•
Faults up to +/-1 mm are possible and do not constitute a fault. Similarly,
large faults in systems with large image fields may occur.
•
Faults up to +/-5 mm can occur in 3D camera systems. This depends largely
on form and surface properties of the details that are identified.
•
Poor gripping accuracy could depend on the settings on the Mechanics tab
on the Teachin menu. If the details easily start rolling, the image delay
parameter needs to be increased. The camera belt must be still and the
details must be stationary when the image is taken.
•
Check the gripper fingers. Are they parallel? Does the gripper open and close
smoothly? Is the gripper secured properly? Are the guide pins in position?
•
Check that the teachin for the detail is correct: The light contrast must be
good and the red lines must follow the edges of the detail carefully. Also
check the parameter settings, especially Score, Score target, Speed, Timeout
and Accuracy.
•
Check that the settings for the perspective center and the camera height are
correct.
•
Recalibrate FlexLoader Vision and the robot. Check that the data for the
calibration pattern is correctly specified. To prevent the calibration plate from
moving during calibration it can be taped to the camera belt. Check that the
dot for coordinate 0,0 is visible at the bottom left of the screen. Also check
that the robot calibration has been carried out correctly (see the robot manual
and
Robot integration on page
•
Check that the robot TCP is correctly defined. For more information on this,
see the robot manual.
•
Verify that the motor parameters (calibration offset) are correct and valid.
•
If you load a backup in the robot you have to recalibrate the camera afterwards
if the last calibration was made after the backup file was created.
•
If the camera has been moved, it must be recalibrated.
•
If the camera lens has been adjusted, removed or otherwise changed, the
camera must be recalibrated.
•
Check that the camera, the lens and the fixing brackets are secured properly.
•
The robot and its base must be properly bolted into place. Expander bolts
can creep out of their holes if the floor is bad.
© Copyright 2014-2018 ABB. All rights reserved.
9 Troubleshooting
9.1 Problems with gripping accuracy
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