Conveyor Tracking Base Frame Calibration

dhyan

Dear All

I have done setting for Conveyor Tracking for many times, but today I face a special case which the Conveyor Base Frame (user coordinate) has an angle (re-orientation) relative to the Robot base frame.
Of course, we must do Re-orientation relative to Conveyor Base Frame using Conveyor Base Frame Calibration (4-points methode).

Re-orientation Axis-Z (Rz) relative to the Conveyor Base Frame ==> No Problem
Re-orientation Axis-Y (Ry) relative to the Conveyor Base Frame ==> No Problem
Re-orientation Axis-X (Rx) relative to the Conveyor Base Frame ==> Problem, because we use 4-points methode which on side view (Axis-X side) we will only see 1 point (actualy 4 points).
I need to do Rx because Robot must do "Prick" movement relative to the Axis-Z relative to Conveyor Base Frame (wobjcnv1).

For more detail and clearly explanation, I attach a file "Conveyor Base Frame Calibration Methode" below.

Just my opinion, this is the limitation of Base Frame Calibration 4-points methode : for 3 views (X - Y - Z) there is one view which we will only see 1 point (actualy 4 points).
So for one view (on my case is Rx), the 4-points adjustment/calibration can not work.

There are 2 issues here:
1. Why we can not use "User Frame Calibration" / 3-points methode?
    If we use 3-points methode (X1 - X2 - Y) or some people say (ORG - XX -XY), the area is planar (2D) which it can adopt 3 Re-orientations (Rx - Ry - Rz).
    Whereas if we use CNV Base Frame Calibration 4-points methode, the area is line (1D) which it can only adopt 2 Re-orientation.
    I have tried to use User Frame Calibration 3-points methode, but it can not work because this calibration doesn't tell the conveyor position which encoder has read.

2. Is using "RelTool" the only sulution to solve this problem? 
    By using "RelTool", we can adjust 6 components (X - Y - Z - Rx - Ry - Rz).
    I saw the using "RelTool" instruction on RAPID of Pickmaster-3 and we know that Pickmaster-3 use "Conveyor Tracking" too.

If somebody has an opinion, please share to this forum

Thanks and regards

j_proulx

I would use the 4 point method to create the base frame. Then go into system parameters Motion / Single. This is where the conveyor base frame is stored. Copy the baseframe q1 - q4 into an orient type data. Create a routine using the RAPID function EulerZYX to convert the quaternions to num angles. Add or subtract the conveyor angle to the X axis value. Then use The OrientZYX RAPID function to convert the angle nums back to quaternions. Then put those numbers into the baseframe q1 - q4. WarmStart the robot. See if that works for you.

BR

dhyan

Dear J_Proulx

Thank you very much for your kind explanation.
However, to do your advice It will need an Advanced Skill on programming.
I will do as your advice carefully.

Here I show you what exactly I desire.

Best Regards