Visual Tracking

[flatcurve]

I'm trying to set up a visual tracking cell in ROBOGUIDE and it's just not working. I've never done line tracking with a FANUC before, and there aren't any training classes on the schedule so I'm trying to learn from the manual (my first mistake.) I really like these robots, but in my experience there is nothing intuitive about them and the manuals seem to be written for people who already know everything. So it's entirely likely that even though I'm following the manual closely in my pursuit, there's just something here that I don't know I need to do because the author of the manual assumed that I already knew how to do it.

So far:

- The hardware is set up
- The encoder is set up under Setup > Encoders
- I've configured the line and work area in iRVision and set up the tracking frame
- I've got the single view visual tracking process set up with a reference position
- I've set up a DIST sensor task to snap every 60 mm (20mm/sec belt speed)
- My TP program is practically a verbatim copy of what's in the manual

But it just doesn't work. When I run the program, it seems to hang when it calls the VSTKGETQ karel program, on line 168.

Any ideas? I know that this is probably one of those FANUC things where when I finally figure out how to do it the first time, it will only take me a few minutes the next time around.

[fanuc_insider]

what manual version do you have?

Can you post a copy of your program so we can see what parameters you are passing to VSTKGETQ karel program.

This line tracking is very easy to setup because every step of the way you are given instructions on what to do.

[flatcurve]

The manual version is MCROC75VN10091E Rev A

I don't have the workcell on my laptop so I can't copy the program, but the VSTKGETQ call command looks like this:

CALL VSTKGETQ('infeed_wa', 1, 0, 20, 1)

[fanuc_insider]

I just realized you were doing this in roboguide. I does roboguide obtain your image from Call vstkgetq ? I don't see how this would work because you asking roboguide to get an image.

[flatcurve]

well, I know that roboguide is taking pictures because I can see that happening on the runtime screen. I've used roboguide before to set up simple 2D iRVision cells and it behaves the same as its real world counterpart. The irvision simulation is actually pretty decent. The only thing it lacks is perspective distortion and realistic lighting. But for offline programming purposes, it's great. I don't know if vstkgetq works in roboguide though, because this is my first attempt at this.

[fanuc_insider]

I don't think I can help you with this because I don't use roboguide very much. But a more up to date manual might help.

I believe rev E is the lastest and greatest. 

Yes the vision simulation I actually use when trying to help people over the internet or phone. 

[flatcurve]

Well, now I'm trying to set this thing up in real life. Still can't get it to work. I've got everything set up as it should be, but the robot picks from the wrong place. Not only that, but the program hangs after exiting the tracking program. No errors or anything. It just sits there at the retreat position without moving to the next line of code.