Kuka VisionTech 2.1 User Manual

76 / 109 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1
KUKA.VisionTech 2.1
Explanation of
the syntax
Example
11.17 Subprogram DO_GETVTRESULTS
Description The subprogram DO_GETVTRESULTS is used for the detection of multiple
components.
DO_GETVTRESULTS generates a result structure for all object instances
found. This is written to the transfer parameter RESULTS. Once the subpro-
gram has been executed, the parameter PARTCOUNTER contains the num-
ber of components that have been found by the image processing system. 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 Syntax: DO_GETVTRESULTS("
Configuration file", RESULTS[], PART-
COUNTER, "
Flag True", "Flag False")
Explanation of
the syntax
Example
Element Description
Configuration file
Name of the configuration file
Type: CHAR (IN)
RESULT Result of image processing
Type: VTRESULT (OUT)
Flag True
Number of the flag to be set to TRUE once the result
has been read
Type: INT (IN)
Flag False
Number of the flag to be set to FALSE once the result
has been read
Type: INT (IN)
DECL VTRESULT RESULT
DO_GETVTRESULT("VisionTechConfig", RESULT, 1, 998)
Element Description
Configuration file
Name of the configuration file
Type: CHAR (IN)
RESULTS Results of image processing
Type: VTRESULT (OUT)
PART-
COUNTER
Contains the number of object instances found after
execution of the subprogram
Type: INT (OUT)
Flag True
Number of the flag to be set to TRUE once the result
has been read
Type: INT (IN)
Flag False
Number of the flag to be set to FALSE once the result
has been read
Type: INT (IN)
DECL VTRESULT[100] RESULTS
DECL INT PARTCOUNTER = 0
DO_GETVTRESULTS("VisionTechConfig", RESULTS, PARTCOUNTER, 1, 998)

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.