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

Summary

Technical Specifications

KUKA MXG20 Camera Technical Data

KUKA GigE Switch Technical Data

Safety Guidelines and Standards

General Safety Measures for VisionTech

Outlines general safety precautions and personnel requirements for operating the system.

Planning for VisionTech Setup

Connecting Cables and Interface Planning

Installation and Licensing Procedures

VisionTech System Requirements

Lists the necessary hardware and software for installing VisionTech.

Installing or Updating VisionTech

Step-by-step guide for installing or updating the VisionTech software.

VisionTech Software Licensing

Covers the process of licensing the VisionTech software.

Activating the VisionTech License

Instructions for activating the software license.

Start-up and Recommissioning

Stationary Camera Start-up Overview

Overview of the start-up procedure for stationary cameras.

Moving Camera Start-up Overview

Overview of the start-up procedure for moving cameras.

Connecting Cameras to Robot Controller

Networking KR C4 (X64, Stationary)

Networking KR C4 (Cable Inlet, Stationary)

Networking KR C4 Compact (Stationary)

Networking KR C4 (X64, Robot-Guided)

Networking KR C4 (Cable Inlet, Robot-Guided)

Configuring VisionTech Tasks

2D Measurement Task Configuration Overview

Overview of steps to configure a 2D measurement task.

3D Measurement Task Configuration Overview

Overview of steps to configure a 3D measurement task.

Creating and Taking Images (Stationary)

Steps for creating a task and capturing images for stationary cameras.

Creating and Taking Images (Moving)

Steps for creating a task and capturing images for moving cameras.

Setting Up Image Processing in WorkVisual

Installing Image Processing Environment

Licensing Image Processing in WorkVisual

Guide to activating the software license within WorkVisual.

Activating VisionTech License in WorkVisual

Detailed steps for activating the software license.

Creating Tool Block Files in WorkVisual

Configuring a 2D Task

Details on configuring a 2D task by assigning a tool block.

Generating a 2D Model (Stationary Camera)

Steps for generating a 2D model using a stationary camera.

Generating a 2D Model (Moving Camera)

Steps for generating a 2D model with a moving camera.

Testing a 2D Task

Procedure for testing a configured 2D task.

Configuring a 3D Task

Details on configuring a 3D task by assigning a tool block.

Generating a 3D Model

Steps for generating a 3D model using cameras.

Testing a 3D Task

Procedure for testing a configured 3D task.

Error Messages and Remedies

VisionTech Error Messages and Troubleshooting

Lists common error messages, their causes, and remedies.

Repair Procedures

Exchanging the KUKA GigE Switch

Provides instructions for replacing the GigE switch.

Exchanging the KUKA Camera

Provides instructions for replacing a camera.

Troubleshooting Common Issues

VisionTech Troubleshooting Guide

Lists common faults and their recommended remedies.