Name: Kuka VisionTech 2.1
Brand: Kuka
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66 / 109 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1

KUKA.VisionTech 2.1

The value of Score is the mean square residual error after calculation of the

object position relative to the nominal position. If the position of the object can-

not be calculated, Score has the value -1.

Fig. 10-8: Result of a 3D task test (example)

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 User Manual

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Brand	Kuka
Model	VisionTech 2.1
Category	Robotics
Language	English