Kuka VisionTech 2.1 User Manual

75 / 109Issued: 11.10.2013 Version: KST VisionTech 2.1 V1
11 Programming
Procedure 1. In the main menu, select Variable > Overview > Display.
2. Mark a variable in the UserCheckPoints tab and press Edit.
3. Enter the X, Y and Z values and save with OK.
4. Repeat steps 2 to 3 for the further points used. Enter the points in an un-
interrupted sequence from 1 to 10. If, for example, 5 points are desired,
enter the values into the variables UserCheckPoint[1] to UserCheck-
Point[5].
11.15 Subprogram GET_VTUSERDATA
Description The subprogram GET_VTUSERDATA calls up optional user data from all con-
figured tool blocks and makes them available to the KRL.
GET_VTUSERDATA is executed in the advance run.
Syntax GET_VTUSERDATA("
Configuration file", User data)
Explanation of
the syntax
Example
11.16 Subprogram DO_GETVTRESULT
Description The subprogram DO_GETVTRESULT is used for the detection of a compo-
nent.
DO_GETVTRESULT reads in the result of the image processing and creates
a result structure. The result is written to the transfer parameter RESULT. The
flags are then set to TRUE and FALSE. The subprogram is executed in the ad-
vance run.
DO_GETVTRESULT can also be used as an interrupt program. This is called
after the image processing task has been executed. In this case, the subpro-
gram is executed in the main run.
Syntax DO_GETVTRESULT("
Configuration file", RESULT, "Flag True", "Flag False")
VT_CHECKPOSE ignores all variables in which all values are 0.
For the execution of the subprogram, 1 entry with user data from the
tool block is created for each camera.
Element Description
Configuration file
Name of the configuration file
Type: CHAR (IN)
User data
2-dimensional array into which user data are written.
The first dimension corresponds to the camera index,
the second dimension contains the user data as a char-
acter string.
Type: CHAR (OUT)
DECL CHAR USERDATA[2, 100]
GET_VTUSERDATA("VisionTechConfig" USERDATA[ , ])
The flag that is to be set to TRUE is the same flag that is used in the
subprogram VT_WAIT. The flag that is to be set to FALSE is defined
in the configuration file.

Kuka VisionTech 2.1 Specifications

General

Brand	Kuka
Model	VisionTech 2.1
Category	Robotics
Language	English