Epson Robot Software Download
Irmgard Rossie
Precision Automation Specialists
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Looking for help with an Epson robot with Cognex vision. I have the system calibrated and communicating through a PLC. I am wondering if anyone has wrote an offset function and an inverse function. This posiition math functionality is probably available if the system has Epson vision but without it there does not seem to be anything in the system to do positional math. I am working on it currently using trig functions to do translate/rotate transforms.
This is what the basic math would be on a Fanuc Karel system. The : is a positional offset operator and the INV is function that inverts a position. If anyone has done a similiar system on an Epson and used a different approach I would appreciate hearing from you as well.
Any thoughts/code would be much appreciated.
I will try to do the standard procedure, teach the grid with cognex and teach a frame of that grid with the robot. Once you have a common origin and x and y direction (on both) just offset the robot the distance the camera is telling you
I attached a pointer to the robot taught a tool. Made that tool active. Placed a grid under the camera, calibrated the camera. Taught a frame /local to the grid. Robot is getting world x,y,r values back from the camera. So that is all working.
I actually want to snap the camera before I pick it the first time and then jog the robot to where I want to pick that initial gold part. Teach the pick location. Then as I snap and find at run time I want to use the orig vision golden location and taught robot pick location to take the current run vision location and return/calculate a run robot pick location.
Epson says they provide that sort of functionality internal to their system but it is not a part of the spel system. I have not seen an Epson vision manual so I do nto know what is actually available.
HI
Fabian do you teach a tool and move to the points returned by the vision system?
Yes, because the grid made the correspondence. Let say, Cognex sees the part 5 mm on the x, then you add 5 mm to your x on the obot. To make it clear the origin in cognex is obviously 0,0, but in your robot maybe it is 73,4, 29.3. So, on my example your pick point is at 78.4, 29.3. Same with the angle
How does that work if you want a custom pick location do you just move the point of interest in the vision system?
I dont exactly understand what a custom pick up is.
maybe this is the answer. Put a part, take a picture, write the coord. Jog the robot until your pick point, write coord. Compare the coord, then you will find out the correct offset
I have had limited success with the code I posted that method will not work for high accuracy it does roughly track the part XY and some small rotation. I feel I have to return to finishing the Offset function I was initially trying to roll out. I need to calculate the difference between the original part location and the runtime part location and add that difference to the local. was trying to add the calculated difference to the taught part pos which did not work. What I am trying to accomplish is the following.
Eureka - I got this to work today I have been battling it for multiple weeks. Epson does not easily support positional robot math. To get this to work I had to do 3 translate rotate matrix equations and then calculate a new frame/local dynamically per pick and I also have copy the original taught taught position into a new position so it has the new local number. This was to do a Fixed Camera part pick - What I would call Vision with Frame Offset. In my method I calculate a new frame per pick and always go to the same position I went to when the part was initially part.
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Epson has a 30-year heritage and there are more than 30,000 Epson robots installed in manufacturing industries around the world.Epson uses a standardized PC-based controller for 6-axis robots, SCARA, and Linear Module needs. A move that simplifies support and reduces learning time.[1]
Epson offers four different lines of SCARA robots including the T-Series, G-Series, RS-Series, and LS-Series [2]. The performance and features offered for each series of robot is determined by the intended purpose and needs of the robot. The T- Series robot is a high performance alternative to slide robots for pick-and-place operations.[3] The G-Series offers a wide variety of robots in regards to the size, arm design, payload application, and more.[4] The RS-Series offers two SCARA robots that are mounted from above and have the ability to move the second axis under the first axis. The LS-Series features several low cost and high performance robots that come in a variety of sizes.
Built to perform with industrial-rated safety features, the GX-B Series takes SCARA robot performance to the next level. The GX-B Series delivers ultra-high performance and flexibility in a compact footprint. Engineered to meet unique automation needs, this series of SCARA robots offers payloads from four to 20 kg, reach up to one meter, multiple arm configurations and mounting types, integrated SafeSense technology, and high throughput with high payloads to accomplish the most demanding tasks with leading-edge precision. A breakthrough in productivity, this series uses advanced GYROPLUS vibration reduction technology to provide fast production speeds, smooth motion control and fast settling times.
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