Kuka VisionTech 2.1 User Manual

68 / 109 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1
KUKA.VisionTech 2.1
Example
11.5 Subprogram VT_TASKTRIGGER_REFBASE
Description The subprogram VT_TASKTRIGGER_REFBASE requests acquisition and
processing of the images. The configuration file and the name of the image
processing task are transferred.
Any base can be used for the execution of the subprogram. However, the
same tool files must be used as for model generation. The result of the image
processing is calculated relative to the reference base.
VT_TASKTRIGGER_REFBASE triggers an advance run stop.
Syntax VT_TASKTRIGGER_REFBASE("
Configuration file", "Image processing task", Refe-
rence base
)
Explanation of
the syntax
Example
11.6 Subprogram GET_VTRESULT
Description The return value of GET_VTRESULT is the result of the previously executed
image processing task in the form of a VTRESULT structure. The configura-
tion file is transferred. The subprogram is executed in the advance run.
Syntax RET = GET_VTRESULT("
Configuration file")
Explanation of
the syntax
Example
11.7 Subprogram GET_VTCORRECTIONFRAME
Description The return value of GET_VTCORRECTIONFRAME is the correction frame ex-
tracted from the image processing result. The image processing result is trans-
ferred. GET_VTCORRECTIONFRAME is executed in the advance run.
Syntax RET = GET_VTCORRECTIONFRAME(
Image processing result)
VT_TASKTRIGGER("VisionTechConfig", "TestTask")
Element Description
Configuration file
Name of the configuration file
Type: CHAR (IN)
Image processing
task
Name of the image processing task to be executed
Type: CHAR (IN)
Reference base
Base frame relative to which the result (= deviation in
this base) is to be output
Type: FRAME (IN)
VT_TASKTRIGGER_REFBASE("VisionTechConfig", "TestTask",
referenceFrame)
Element Description
RET Data structure containing the result of an image pro-
cessing task
Type: VTRESULT
Configuration file
Name of the configuration file
Type: CHAR (IN)
DECL VTRESULT RESULT
RESULT = GET_VTRESULT("VisionTechConfig")

Kuka VisionTech 2.1 Specifications

General

Brand	Kuka
Model	VisionTech 2.1
Category	Robotics
Language	English