Kuka VisionTech 2.1 User Manual

56 / 109 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1
KUKA.VisionTech 2.1
10.6 Configuring a 2D task
During configuration of a 2D task, a tool block is assigned to the camera. A tool
block contains image processing tasks and has the file extension VPP.
For 2D tasks, only 1 camera is needed; the calibration is carried out at the
workpiece level.
Precondition
 A 2D task has been created.
 The following inputs and outputs are preconfigured in the tool block:
LocatePart3D Type: 3D
With this template, the search procedure is subdivided into 2 steps
(analogous to LocatePartTwoStages):
 Coarse search
The position of the parts in the picture is determined.
 Fine search
Individual features are located which are required for 3D position de-
termination of the part. The features are identified by a consecutive
index. The index is positioned at the start of the name of the feature
tool block. The numbering starts at zero and must be consecutive.
Numbering is largely automatic, however. The fine search is run once
for each instance found in the coarse search.
Templates for features:
 PointFeaturePM
Point feature which is located with a PatMax tool.
 LineSegFeature
Straight line feature; normally represents points on a straight edge of
the part that is to be located. Has a start point and end point, which
are defined by the search area of the FindLine tool.
 LineFeature
Line feature, without a start and end point.
 CircleFeature
Feature which describes a circle in 3D.
Note: The PatMax tool and the FindLine tool must not be renamed. The
features must be evenly distributed over the component.
CrspCollector Collects the data from the FeatureCrsp outputs of 3D feature tool blocks
and makes these available at the output as a list of Crsps. In addition,
the result images of the Crsps are collected and forwarded in the
Graphic output.
StringCollector Collects the values at its inputs and returns these values as a string,
separated by a vertical bar, at the UserData output. The inputs accept
the data types INT32, DOUBLE, BOOL and STRING. These inputs must
be created as required.
PoseCreator Can be used if a 2D pose is not to be generated by a PatMax tool. The
values from which the pose is to be created are provided by the inputs.
PoseCollector Collects the individual poses from various tools and generates a list
which is returned to the PartResults output. This list is expected at this
output by the KUKA interface for 2D tasks.
Template Description

Kuka VisionTech 2.1 Specifications

General

Brand	Kuka
Model	VisionTech 2.1
Category	Robotics
Language	English