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Hi Sadoth, thank you for your comment. If you are referring to iRPickTool, I would suggest doing everything from scratch physically on the robots. An accurate reading from the encoders is the key element since everything else, tracking schedule, infeed and outfeed tracking frame and vision tracking frame depend on the encoder reading. On the next video, iRPickTool Setup Part 5, I am explaining the vision calibration and vision process for visual tracking, this is not much different from my previous iRVision videos. I do not have experience working with a color camera, but I can imagine that the main difference is that you will have to add color filters to enhance the particular colors you want to pick up with the camera, and potentially creating model ID's if you want to select objects with different colors. I can look into more details about that if the subject deserves a video.

@EduardoSuarez-Automation Thank you very much for your answer Eduardo, in other robots this project can be downloaded directly to the controllers in the physical robot only the calibration of shrinking etc. That is why my question. From what I understand in Fanuc is to do everything directly in the physical robot?

@@SadothEduardoLopezLopez If you are not familiar with FANUC, in Roboguide you can download the project to the robot and also upload from the robot to Roboguide, this last step is very useful for offline troubleshooting and validation. My previous answer is that, particularly for iRPickTool, there could be very little value in dowloading from Roboguide since everything depends pretty much on the encoders. My objectives with these videos is to show you how you would do the iRPickTool setup in a real robot. If you want to do simulations to validate the system, you would use iRPickPRO that I explained on part 1.

You can call a Karel program but you cannot use Karel instructions inside a TP program. If you have noticed, you need to create a Karel source file .kl and then build it to get a .pc file that can be executed.

I hope that answers your question.

Thank you for your suggestion, I will add it to my list.

You can find two examples on my previous videos, "KAREL Programming Guess The Number" and "KAREL Programming Routines". Look at ROUTINE Clr_scr. The instructions are documented on the KAREL manual.

Hola Andy, I have some examples of arrays, watch my videos KAREL Programming Data Types Part 1 (starting at 24:00) and Part 2, also KAREL Programming Palletizer Part 2. You will need to use User-Defined Data Types. I do not have any examples for variable-sized arrays, would be interesting to know how it works.

@@EduardoSuarez-Automation Thanks a lot! I will check out those videos!

Hi Jessus, start by watching my KAREL Programming series videos, is a good starting point. I highly recommend you to read the KAREL manuals, complemented with my videos it makes much more sense. I will post more KAREL videos as time permits.

Thank you for your suggestion. Are you talking about iRPickTool? I am working on that, is a big topic, is going to take me some time before I can make a video.

Thank you for your comment. I haven't got to iRVision 3D yet.

You can find me in LinkedIn as Eduardo Suarez

I set it as public. github.com/EduardoSuarezAutomation/iRVision-2D-2-D-Single-View-Vision-Process-Multiple-Parts

Thank you. There are many things that can be done with iRVision 2D, I cannot cover all of them, but I am working on the next one.

Hi Luciano, correct, first you do the manual master with the witness marks and then the vision mastering is intended to improve the accuracy and reduce the human error introduced by manual mastering. You are going to see at the end of the video on Update Master CT, the compensation angle is the difference between what the robot found using the vision mastering and the manual mastering, normally these values can be in the order from 1 degree to 5 degrees, and then it will update the master counts. Vision mastering will update only J2 through J5.

Thank you for your comment. I've seen only one socket messaging application. We were trying to connect a Cognex camera to an old robot that didn't support iRVision. The communication was so slow that we couldn't make cycle time. Finally, we decided to go in another direction. I will cover more KAREL topics as the time permits.

@@EduardoSuarez-Automation Thank you Eduardo! I really appreciate your response. Will keep an eye on your videos! :)

Please note that I made a mistake in the video. When I mention CVS I am referring to CSV (comma- separated values). Create an Excel file and save it as CSV UTF-8 (Comma delimited). The file will automatically recognize the comma as a delimiter and put the text in different cells. If that still doesn't work, change the instruction to WRITE CVS_File('test1','test2','test3',CR).

Thank you, I will do my best to cover more KAREL topics.

Sorry, I don't have experience on welding.

​@@EduardoSuarez-AutomationJust to create a positioner as an external axis, do you know how to create it? thanks for the videos

Let me look into that.@@tecnologiaeprogresso3451