Picking from wrong place. [PickMaster 3]

PickMaster
1

Hi,

We have a problem with an S4C+ and Pickmaster system. We have an IRB 6600 robot. It is used in a press shop as a centering robot.It is working for approximately 2 years. My problem is pickmaster robot doesnt get the part from the right place.So it puts the part to wrong place.This is a random error.For example it is ok for 20-30 parts but then robot makes a wrong pick and when i restart the production, generally i need to readjust the grip location and it is generally ok until next production restart.

I ve checked all connections.They seems ok and my configuration is below.

Have you got any idea about my problem?

Note : On startup of the pickmaster robot(2 years ago) i had problem with errors coded 4317-4318.
I solved it by putting an auto retry code.So even there is a timeout robot retrys and gets the part.

My configuration is :

-IRB 6650/3.2-125 type B

Service Info System

Calib. Pendelum RAPID

Advanced Functions

LoadId and ColDetect

Multitasking

IO Plus

Developer Functions

PickWare

Advanced Motion

FactoryWare Communication

-Pickmaster 3.13 and robware 3HAC6811-2.25

-Cognex 8100D CDC200

-A clean PC with sufficient features(Untouched by IT dep.). Only pickmaster and windows XP(sp2)with one Ethernet card and a short Ethernet cable.Firewall is off.There is no switch or hub.Robot is directly connected to the pc.

  • Ethernet connection is 100 mbps auto detect(full duplex mode). I ve tried 10 mbps mode but it became worse.
  • Rapid code seems Ok. I ve two more presslines work with the same program.(except the Controller is Irc5 )

-Pickrate is normally 8 pick per minute or lower .(Not so fast)

-Trig/strobe cable is shielded.

-Patmax models are big and very easy to catch models.(Big blank parts)

2

Hi,

It sounds like a problem with the vision models. You say that it has been working for two years, and that the error is random. Maybe the lighting has changed during this time - this could affect the performance.
How large is the error?
Are you picking from a stack of metal sheets? Or is it only one part at a time under the camera?

My advice is that you record images using the “detailed vision info” window. When you get a bad pick, you can go back to the corresponding picture to see if the pick position seems to be off by some distance. If this is the case you can analyze further to find out what goes wrong:

-Save the image as bitmap
-open the model configuration window in the position source of the camera.
-Import your image
-Click the option “Save match info”
-Click search
-Click “Show match info”
-Now you can see how the model was matched in the actual scene.

BR

Fredrik