Kuka VisionTech 2.1 User Manual

72 / 109 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1
KUKA.VisionTech 2.1
Syntax RET = VT_CHECKPOSELIMIT("Robot pose", "Frame", "Offset")
Explanation of
the syntax
11.14 Subprogram VT_CHECKPOSE
Description The subprogram VT_CHECKPOSE checks whether points on the robot de-
fined by the user lie within an area defined by the user. The points on the robot
defined by the user are defined relative to the robot flange. Up to 10 points can
be defined.
(>>> 11.14.1 "Defining the points on the robot" Page 74)
It must be possible for all defined points to be addressed by the robot in the
NULLFRAME base and with the NULLFRAME tool. If a point is located outside
of the robot’s workspace, the robot stops.
Fig. 11-1: Base correction with VT_CHECKPOSELIMIT
1 Base correction
2 Offset of point P1 due to the base correction
3 Radius (limit value)
Element Description
RET Return value
Type: BOOL
 TRUE: The target robot pose lies within the defined
limit range.
 FALSE: The limit value is exceeded.
Robot pose
The robot pose to be checked
Type: FRAME (IN)
Frame
Frame returned by the function
GET_VTCORRECTIONFRAME
Type: FRAME (IN)
Offset
Maximum offset between the original robot pose and
the robot pose in the new workpiece base in mm
Type: REAL (IN)

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.