Kuka VisionTech 2.1

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30 / 109 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1

KUKA.VisionTech 2.1

For detailed specifications of the connecting cables, see (>>> 9.3.6 "De-

scription of the connecting cables" Page 40).

Interface X64 Interfaces X64.1 to X64.3 are situated on the connection panel of the KR C4.

Fig. 6-1: Interfaces X64.1 to X64.3

1 Connection X64.1 3 Connection X64.3

2 Connection X64.2

Main Page

Default Chapter3
- Table of Contents3
1 Introduction7
- Industrial Robot Documentation7
- Representation of Warnings and Notes7
- Trademarks7
- Terms Used8
2 Purpose9
- Target Group9
- Intended Use9
3 Product Description11
- Overview of Visiontech11
- Hardware Components12
- KUKA Gige Switch12
- KUKA MXG20 Camera16
- Connecting Cables17
- Calibration Plates17
4 Technical Data19
- KUKA MXG20 Camera19
- KUKA Gige Switch20
- Connecting Cables21
- Connecting Cables, KR C421
- Connecting Cables, KR C4 Compact22
- Dimensions of the Camera23
- Dimensions of the Extension24
- Plates and Labels24
5 Safety27
- General Safety Measures27
- Standards and Regulations27
6 Planning29
- Connecting Cables and Interfaces29
7 Transportation31
8 Installation and Licensing33
- System Requirements33
- Installing or Updating Visiontech33
- Uninstalling Visiontech34
- Licensing Visiontech34
- Activating the License34
- Repairing the License35
- Activating an Emergency License35
9 Start-Up and Recommissioning37
- Start-Up for a Stationary Camera - Overview37
- Start-Up for Moving Cameras - Overview37
- Connecting Cameras to the Robot Controller38
- Networking KR C4 with Interface X64, Stationary38
- Networking KR C4 with Cable Inlet, Stationary38
- Networking KR C4 Compact, Stationary39
- Networking KR C4 with Interface X64, Robot-Guided39
- Networking KR C4 with Cable Inlet, Robot-Guided40
- Description of the Connecting Cables40
- Configuring the Ethernet KRL Interface43
- Configuring the Camera Network43
- Configuring Cameras44
- Aligning Camera (Stationary)45
- Aligning Cameras (Moving)45
- Calibrating Camera (Stationary)46
- Deleting a Calibration Plane48
- Calibrating Cameras (Moving)48
10 Configuration51
- Configuring a 2D Measurement Task - Overview51
- Configuring a 3D Measurement Task - Overview51
- Creating a Task and Taking Images (Stationary)51
- Creating a Task and Taking Images (Moving)52
- Setting up an Image Processing Task in Workvisual52
- Installing the Image Processing Environment53
- Licensing the Image Processing Environment in Workvisual53
- 10.5.2.1 Activating the License53
- 10.5.2.2 Repairing the License53
- 10.5.2.3 Activating an Emergency License54
- Creating a Tool Block File in Workvisual54
- 10.5.3.1 Templates55
- Configuring a 2D Task56
- Generating a 2D Model59
- 2D Model with a Stationary Camera59
- Model with a Moving Camera60
- Testing a 2D Task61
- Configuring a 3D Task62
- Generating a 3D Model64
- Testing a 3D Task65
11 Programming67
- Note on Programming67
- Subprogram VT_INIT67
- Subprogram VT_OPENCONNECTION67
- Subprogram VT_TASKTRIGGER67
- Subprogram VT_TASKTRIGGER_REFBASE68
- Subprogram GET_VTRESULT68
- Subprogram GET_VTCORRECTIONFRAME68
- Structure of VTRESULT69
- Subprogram VTRESULT_CHECK69
- Subprogram VT_RESULTCHECK270
- Subprogram VT_WAIT70
- Subprogram VT_CLOSECONNECTION71
- Subprogram VT_CLEAR71
- Subprogram VT_CHECKPOSELIMIT71
- Subprogram VT_CHECKPOSE72
- 11.14.1 Defining the Points on the Robot74
- Subprogram GET_VTUSERDATA75
- Subprogram DO_GETVTRESULT75
- Subprogram DO_GETVTRESULTS76
- Subprogram VT_DIRECT77
12 Example Programs79
- Example Program79
13 Messages83
14 Maintenance89
- Maintenance Symbols89
15 Repair91
- Exchanging the Switch91
- Exchanging the Camera91
- Exchanging the Motherboard91
16 Troubleshooting93
17 Decommissioning, Storage and Disposal95
- Decommissioning95
- Storage95
- Disposal95
18 Appendix97
- Tightening Torque97
19 KUKA Service99
- Requesting Support99
- KUKA Customer Support99
Index107

Kuka VisionTech 2.1

Table of Contents

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