iRPickTool - Circular Tracking

In this video, we’ll go over the fundamentals of circular tracking and how it builds upon the principles of line tracking. If you’ve worked with line tracking before, circular tracking will feel familiar, but with a key difference: instead of a straight conveyor path, the motion follows a circular trajectory. This opens up new possibilities for robotic applications like part picking, placement, dispensing, and vision-based inspection.

We’ll explore how circular tracking works with any size robot and conveyor system, including setups with multiple robots operating on the same circular path. Everything is handled within the standard line tracking option and is fully compatible with iRVision and iRPickTool.

What you’ll need:

• FANUC robot with line tracking enabled
• Circular conveyor system
• Optional: iRPickTool for enhanced functionality

What we’ll go over:

• Tracking Frame Setup
  • How to define the origin and orientation of the circular tracking frame
  • Understanding rotation around the Z-axis and how it affects direction
  • Adjusting for clockwise or counterclockwise rotation based on Z-axis orientation
• Boundary and Rotation Angles
  • How to identify upstream and downstream boundaries
  • Measuring rotation angles relative to the zero axis
• Teaching a Circular Tracking Frame
  • Using three points to define the frame and compute the center of rotation
  • Teaching points in the correct order to match conveyor movement
  • Calculating encoder scale and frame orientation
• Vision System Considerations
  • Ensuring the application frame is perpendicular to the axis of rotation
  • Limitations of 2D vision when tracking parts on curved surfaces

This session is ideal for automation engineers and integrators looking to expand their robot’s capabilities with circular motion tracking. By the end of the video, you’ll have a clear understanding of how to set up and optimize circular tracking for your application.