Kuka VisionTech 2.1 User Manual

67 / 109Issued: 11.10.2013 Version: KST VisionTech 2.1 V1
11 Programming
11 Programming
11.1 Note on programming
11.2 Subprogram VT_INIT
Description The subprogram VT_INIT initializes the EKI channel. The configuration file is
transferred. VT_INIT is executed in the advance run.
Syntax VT_INIT("
Name of the configuration file")
Explanation of
the syntax
Example
11.3 Subprogram VT_OPENCONNECTION
Description The subprogram VT_OPENCONNECTION opens an EKI connection to the
server. The configuration file is transferred. VT_OPENCONNECTION is exe-
cuted in the advance run.
Syntax VT_OPENCONNECTION("
Configuration file")
Explanation of
the syntax
Example
11.4 Subprogram VT_TASKTRIGGER
Description The subprogram VT_TASKTRIGGER requests acquisition and processing of
the images. The configuration file and the name of the image processing task
are transferred. VT_TASKTRIGGER triggers an advance run stop.
Syntax VT_TASKTRIGGER("
Configuration file", "Image processing task")
Explanation of
the syntax
VisionTech is programmed using not KRL commands, but subpro-
grams.
The default configuration file has the name “VisionTechConfig”.
Element Description
Configuration file
Name of the configuration file
Type: CHAR (IN)
VT_INIT("VisionTechConfig")
Element Description
Configuration file
Name of the configuration file
Type: CHAR (IN)
VT_OPENCONNECTION("VisionTechConfig")
For this subprogram, the same base and the same tool files must be
used as for model generation. The result is calculated relative to the
base for model generation.
Element Description
Configuration file
Name of the configuration file
Type: CHAR (IN)
Image processing
task
Name of the image processing task to be executed
Type: CHAR (IN)

Kuka VisionTech 2.1 Specifications

General

Brand	Kuka
Model	VisionTech 2.1
Category	Robotics
Language	English