Kuka VisionTech 2.1 User Manual

71 / 109Issued: 11.10.2013 Version: KST VisionTech 2.1 V1
11 Programming
11.11 Subprogram VT_CLOSECONNECTION
Description The subprogram VT_CLOSECONNECTION closes all existing connections to
the server. The configuration file is transferred. VT_CLOSECONNECTION is
executed in the advance run.
Syntax VT_CLOSECONNECTION("
Configuration file")
Explanation of
the syntax
Example
11.12 Subprogram VT_CLEAR
Description The subprogram VT_CLEAR ends the EKI channel. The configuration file is
transferred. VT_CLEAR is executed in the advance run.
Syntax VT_CLEAR("
Configuration file")
Explanation of
the syntax
Example
11.13 Subprogram VT_CHECKPOSELIMIT
Description The subprogram VT_CHECKPOSELIMIT determines whether the target robot
pose (here: P1') lies within the defined limit range. The defined limit value
specifies a range about the original robot pose (here: P1). The range is repre-
sented here by a circle. The defined limit value specifies the radius of the circle
in which the target robot pose must lie.
If e.g. a limit value of 100 mm is specified, the target robot pose must lie within
a radius of 100 mm about the original robot pose.
VT_CHECKPOSELIMIT is executed in the advance run.
Element Description
Configuration file
Name of the configuration file
Type: CHAR (IN)
VT_CLOSECONNECTION("VisionTechConfig")
Ensure that no data are called by a connection that has already been
terminated by VT_CLEAR.
Element Description
Configuration file
Name of the configuration file
Type: CHAR (IN)
VT_CLEAR("VisionTechConfig")
This subprogram only remains supported for reasons of compatibility.
It is recommended to use the subprogram VT_CHECKPOSE instead.

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.