Kuka VisionTech 2.1 User Manual

74 / 109 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1
KUKA.VisionTech 2.1
Explanation of
the syntax
Example
All points (relative to the robot flange) in base 16 that lie within the following
values are valid:
 X value: max. 700 mm
 Y value: max. 950 mm
 Z value: max. 900 mm
The gripping point is in base 11 and taught with tool 1.
11.14.1 Defining the points on the robot
Preparation 1. Open the file ConfigMon.ini in the directory D:\KUKA_OPT\VisionTech\IN-
TERNAT\KRCSETUP\UTIL.
2. Copy sections [Group1] and [Group2].
3. Open the file ConfigMon.ini in the directory C:\KRC\USER.
4. Insert the copied sections under the existing group sections.
5. Adapt the index numbers. If, for example, the sections [Group1] to
[Group3] already exist, rename the new sections as [Group4] and
[Group5].
6. Save and close the file.
Element Description
RET Return value
Type: BOOL
 TRUE: All points defined by the user lie within the
defined limit values.
 FALSE: The limit value of at least one point has
been exceeded.
Base of the area
Number of the base within which the point to be
checked must lie
Type: INT (IN)
Limit value X
Maximum limit value of the base in X direction
Type: INT (IN)
Limit value Y
Maximum limit value of the base in Y direction
Type: INT (IN)
Limit value Z
Maximum limit value of the base in Z direction
Type: INT (IN)
Base of the grip-
ping point
Number of the base in which the component must be
gripped
Type: INT (IN)
Gripping point
Point at which the component is gripped
Type: FRAME (IN)
Tool
Number of the tool with which the component must be
gripped
Type: INT (IN)
RET = VT_CHECKPOSE(16,700,950,900,11,XGrippingPos,1)
Preparation only needs to be carried out once after installation.

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.