Kuka VisionTech 2.1 Manual
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Kuka VisionTech 2.1 Manual

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KUKA Roboter GmbH
KUKA System Technology
KUKA.VisionTech 2.1
For KUKA System Software 8.2
For VW System Software 8.2
Issued: 11.10.2013
Version: KST VisionTech 2.1 V1

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  • Page 1 KUKA Roboter GmbH KUKA System Technology KUKA.VisionTech 2.1 For KUKA System Software 8.2 For VW System Software 8.2 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1...
  • Page 2 Subject to technical alterations without an effect on the function. Translation of the original documentation KIM-PS5-DOC Publication: Pub KST VisionTech 2.1 (PDF) en Book structure: KST VisionTech 2.1 V1.1 Version: KST VisionTech 2.1 V1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 2 / 109...

  • Page 3: Table Of Contents

    Licensing VisionTech ....................8.4.1 Activating the license .................... 8.4.2 Repairing the license .................... 8.4.3 Activating an emergency license ................Start-up and recommissioning ..............Start-up for a stationary camera - overview ............... Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 3 / 109...
  • Page 4 11.2 Subprogram VT_INIT ....................11.3 Subprogram VT_OPENCONNECTION ..............11.4 Subprogram VT_TASKTRIGGER ................11.5 Subprogram VT_TASKTRIGGER_REFBASE ............11.6 Subprogram GET_VTRESULT .................. 11.7 Subprogram GET_VTCORRECTIONFRAME ............11.7.1 Structure of VTRESULT ..................11.8 Subprogram VTRESULT_CHECK ................Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 4 / 109...
  • Page 5 Decommissioning, storage and disposal ..........17.1 Decommissioning ....................... 17.2 Storage ........................17.3 Disposal ........................Appendix ...................... 18.1 Tightening torque ....................... KUKA Service ....................19.1 Requesting support ....................19.2 KUKA Customer Support ................... Index ......................Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 5 / 109...
  • Page 6 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 6 / 109...

  • Page 7: Introduction

    These hints serve to make your work easier or contain references to further Notes information. Tip to make your work easier or reference to further information. Trademarks Windows is a trademark of Microsoft Corporation. VisionPro is a trademark of Cognex Corporation. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 7 / 109...

  • Page 8: Terms Used

    Tool block Image processing task created using WorkVi- sual. Ethernet KRL interface Power over Ethernet Power supply via network KONI KUKA Option Network Interface KUKA Line Interface Connection to Ethernet network Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 8 / 109...

  • Page 9: Purpose

    Intended use KUKA.VisionTech is used to determine and correct the position of a robot rel- ative to the position of a component with the aid of one or more cameras. Up to 3 cameras may be operated simultaneously with the system. Only hardware components approved by KUKA Roboter GmbH may be used.
  • Page 10 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 10 / 109...

  • Page 11: Product Description

    VisionTech is an add-on technology package and consists of an image pro- Functions cessing package and a plug-in for the KUKA smartHMI. The acquisition and processing of images is used to calculate a base correction. The base correc- tion can be used to correct the position of the robot relative to the position of a component.

  • Page 12: Hardware Components

    Only with KR C4 3.2.1 KUKA GigE switch There are 5 RJ45 connections on the KUKA GigE switch. Ports 1 to 4 are PoE- Overview capable. KUKA MXG20 cameras can be connected to ports 1 to 3. Port 5 can be used to connect the KR C4 compact; this port is not PoE-capa- ble.
  • Page 13 DIP switch 2: P2 error message On: Activated Off: Deactivated Changeover switch for DIP switches 1 and 2 on: 100 Mbps port 6 (selection of DIP switches 1 and 2 off: 1000 Mbps SFP speed) Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 13 / 109...
  • Page 14 Gigabit LAN port Yellow: 100 Mbps Gigabit PoE port Green: Port is active Gigabit PoE port Green: PoE is active Fault Yellow: Fault at P1 or P2 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 14 / 109...
  • Page 15 3 Product description Power supply Fig. 3-5: KUKA GigE switch – power supply Power supply connection 12-36 V DC Power supply connection 24 V DC Output, alarm relay Power supply connection 12-36 V DC Housing ground Interfaces Fig. 3-6: KUKA GigE switch – interfaces Issued: 11.10.2013 Version: KST VisionTech 2.1 V1...

  • Page 16: Kuka Mxg20 Camera

    KUKA.VisionTech 2.1 3.2.2 KUKA MXG20 camera The KUKA MXG20 camera conforms to the GigE standard and is PoE-capa- Overview ble. The image resolution is 2 megapixels. The camera can be powered via PoE or from an external power supply. A protective lens hood is mounted on the camera.

  • Page 17: Connecting Cables

    5.75 x 4 inch (14.6 x 10.2 cm), size of one square: 3.175 mm  2.875 x 2 inch (7.3 x 5.1 cm), size of one square: 1.5875 mm  Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 17 / 109...
  • Page 18 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 18 / 109...

  • Page 19: Technical Data

    Directive 2004/108/EC of the European Parlia- ment and of the Council of 15 December 2004 on the approximation of the laws of the Member States relating to electromagnetic compatibility and repealing Directive 89/336/EEC Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 19 / 109...

  • Page 20: Kuka Gige Switch

    Member States relating to electromagnetic compatibility and repealing Directive 89/336/EEC EN 55022 Information technology equipment – Radio dis- turbance characteristics – Limits and methods of measurement Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 20 / 109...

  • Page 21: Connecting Cables

    KR C4 – robot 7 m, 15 m, 25 m If a cable inlet on the KR C4 is used instead of interface X64, the following con- nectors are available: Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 21 / 109...

  • Page 22: Connecting Cables, Kr C4 Compact

    1 m, 5 m Switch – camera 5 m, 15 m, 25 m, 35 m For detailed specifications of the connecting cables, see (>>> 9.3.6 "De- scription of the connecting cables" Page 40). Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 22 / 109...

  • Page 23: Dimensions Of The Camera

    4 Technical data Dimensions of the camera Fig. 4-1: Dimensions of the camera (dimensions in mm) Rear view Side view View from below Front view Side view with protective lens hood Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 23 / 109...

  • Page 24: Dimensions Of The Extension

    Interface X64.3 / A13.3 / PoE 3: label B3 (for stationary cameras only)  Fig. 4-3: Plates and labels on the camera Plate no. Designation Camera identification plate Camera label The following plates and labels are attached to the switch. Switch Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 24 / 109...
  • Page 25 4 Technical data Fig. 4-4: Plates and labels on the switch Plate no. Designation Switch identification plate Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 25 / 109...
  • Page 26 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 26 / 109...

  • Page 27: Safety

    Operating and Programming Instructions for End Users. The “Safety” chapter in the operating and programming instructions of the KUKA System Software (KSS) must be observed. Death to per- sons, severe injuries or considerable damage to property may other- wise result.
  • Page 28 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 28 / 109...

  • Page 29: Planning

    Route cables in such a way that they are located outside of the camera’s  field of vision. Observe permissible temperature range (fixed installation) of 243 K (-  30 °C) to 363 K (+90 °C). Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 29 / 109...
  • Page 30 Page 40). Interfaces X64.1 to X64.3 are situated on the connection panel of the KR C4. Interface X64 Fig. 6-1: Interfaces X64.1 to X64.3 Connection X64.1 Connection X64.3 Connection X64.2 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 30 / 109...

  • Page 31: Transportation

    The switch must be packaged for transportation in ESD protection foil. Care Switch must be taken to ensure that the switch does not come into contact with hu- midity. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 31 / 109...
  • Page 32 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 32 / 109...

  • Page 33: Installation And Licensing

     Software on USB stick (unpacked)  Recommendation: Use a KUKA stick. Data may be lost if any other stick is used. At least 1.5 GB of free space must be available on the USB stick. During the installation of the smartPAD, the installation may take up to 1 hour due to the size of the technology package.

  • Page 34: Uninstalling Visiontech

    PC to the license. An encrypted sig- nature for this control PC is saved in the file. 4. Send the generated file to VisionTech@kuka-roboter.de. KUKA Service will use this to create a licensing file and send it to you.

  • Page 35: Repairing The License

    3. Press Create repair request and select a directory. A file is generated in the selected directory. 4. Send the generated file to VisionTech@kuka-roboter.de. KUKA Service will use this to create a new licensing file and send it to you.
  • Page 36 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 36 / 109...

  • Page 37: Start-Up And Recommissioning

    (>>> 9.4 "Configuring the Ethernet KRL interface" Page 43) Configure the camera network. (>>> 9.5 "Configuring the camera network" Page 43) Configure the cameras. (>>> 9.6 "Configuring cameras" Page 44) Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 37 / 109...

  • Page 38: Connecting Cameras To The Robot Controller

    Fig. 9-1: Networking KR C4 with interface X64, stationary (maximum number of cameras) KR C4 KUKA MXG20 camera 9.3.2 Networking KR C4 with cable inlet, stationary Carry out networking as illustrated below: Procedure  Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 38 / 109...

  • Page 39: Networking Kr C4 Compact, Stationary

    Networking KR C4 with interface X64, robot-guided Carry out networking as illustrated below: Procedure  Fig. 9-4: Networking KR C4 with interface X64, robot-guided KUKA MXG20 camera Linear unit (optional) Robot KR C4 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 39 / 109...

  • Page 40: Networking Kr C4 With Cable Inlet, Robot-Guided

    PushPull V4 connector at both ends X64.2 – X74.2 KR C4 – camera X64.1 – B1 PushPull V4 connector – M12 male connector, 8- X64.2 – B2 contact X64.3 – B3 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 40 / 109...
  • Page 41 Fig. 9-7: Connecting cable, linear unit – robot Fig. 9-8: Connecting cable, KR C4 – robot Fig. 9-9: Connecting cable, KR C4 – camera The following connecting cables are for a KR C4 with a cable inlet: Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 41 / 109...
  • Page 42 PoE 1 – B1 RJ45 connector – M12 male connector, 8-contact PoE 2 – B2 PoE 3 – B3 Connecting cables, KR C4 compact Fig. 9-13: Connecting cable, KR C4 compact – switch Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 42 / 109...

  • Page 43: Configuring The Ethernet Krl Interface

    KLI or the Windows network. This can cause severe errors in the robot controller. Example Device IP address Subnet mask address range 1st GigE camera 192.169.2.101 255.255.0.0 2nd GigE camera 192.169.2.102 255.255.0.0 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 43 / 109...

  • Page 44: Configuring Cameras

    4. Optionally: Enter the name, e.g. “Camera on robot”, in the Description box. 5. Press Save. 6. Repeat steps 2 and 3 for the other cameras. Description Fig. 9-15: Sensor overview Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 44 / 109...

  • Page 45: Aligning Camera (Stationary)

    4. Press on the live image of one camera. The live image is displayed in en- larged form. 5. Enter the default exposure time or set it using the plus/minus keys or the slider control. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 45 / 109...

  • Page 46: Calibrating Camera (Stationary)

    If the camera is not calibrated, the freeze-frame image has a red frame. 6. Select the calibration plate used as the calibration body. All calibration plates from KUKA are available for selection. Each calibra- tion plate has a different size which is marked on the plate. The calibration plate used can be determined on the basis of size.
  • Page 47 3-point method. If an existing calibration plane is selected, the result is overwritten. The base used must be calibrated to the calibration plate (>>> Fig. 9- 16 ). Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 47 / 109...

  • Page 48: Deleting A Calibration Plane

    In the case of cameras that have not yet been calibrated, the freeze-frame images have a red frame. 2. Select the cameras that are to be calibrated by pressing the freeze-frame images. 3. Press Calibration Wizard. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 48 / 109...
  • Page 49 6. Select the calibration plate used as the calibration body. All calibration plates from KUKA are available for selection. Each calibra- tion plate has a different size which is marked on the plate. The calibration plate used can be determined on the basis of size.
  • Page 50 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 50 / 109...

  • Page 51: Configuration

    1. In the main menu, select VisionTech > Task configuration. Procedure 2. Press New and select the 2D fixed type. A new 2D task is created. The name of the task can be changed. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 51 / 109...

  • Page 52: Creating A Task And Taking Images (Moving)

    Transfer the tool block file to the controller on a USB stick or via the network. Information about installing and managing option packages can be found in the WorkVisual documentation. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 52 / 109...

  • Page 53: Installing The Image Processing Environment

    An encrypted signature for this computer is saved in the file. 5. Send the generated file to VisionTech@kuka-roboter.de. KUKA Service will use this to create a licensing file and send it to you.

  • Page 54: 10.5.2.3 Activating An Emergency License

    KUKA.VisionTech 2.1 5. Send the generated file to VisionTech@kuka-roboter.de. KUKA Service will use this to create a new licensing file and send it to you. 6. Click ..., select the received licensing file and confirm with OK. 7. Restart WorkVisual.

  • Page 55: 10.5.3.1 Templates

    With this template, a number of parts are searched for in the field of view. The rough position of these parts must be known, however. The search area is limited to the known rough position. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 55 / 109...

  • Page 56: Configuring A 2D Task

    PoseCollector Collects the individual poses from various tools and generates a list which is returned to the PartResults output. This list is expected at this output by the KUKA interface for 2D tasks. 10.6 Configuring a 2D task During configuration of a 2D task, a tool block is assigned to the camera. A tool block contains image processing tasks and has the file extension VPP.
  • Page 57 7. In the line for the camera in the Toolblocks column, select the imported tool block file. 8. Press the camera icon. A window for setting the exposure time is dis- played and the selection of calibration planes is displayed. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 57 / 109...
  • Page 58 Deactivated: The task cannot be tested. No model has yet  been generated, or the task is not configured. Settings icon Select the number of parts  Take images from all cameras  Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 58 / 109...

  • Page 59: Generating A 2D Model

    The result is the position of the component in the calibration base. Areas detected by the cameras are indicated in green in the images. Areas that have not been detected are marked in red. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 59 / 109...

  • Page 60: Model With A Moving Camera

    The result is the position of the component in the workpiece base. Areas detected by the cameras are indicated in green in the images. Areas that have not been detected are marked in red. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 60 / 109...

  • Page 61: Testing A 2D Task

    The value of Score is between 0.0 and 1.0. The better the match between the trained pattern and the pattern in the current search image, the higher the val- ue of Score. Fig. 10-5: Result of a 2D task test (example) Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 61 / 109...

  • Page 62: Configuring A 3D Task

    It is advisable to enter the number of components that one expects to find. 4. Press Import tool block. 5. Select the directory in which the tool block file is located. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 62 / 109...
  • Page 63 Green: Task has been successfully configured.  Red: Task is not configured.  Generate model Green frame: Model has been successfully generated.  Red frame: No model has yet been generated.  Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 63 / 109...

  • Page 64: Generating A 3D Model

    Once the model has been generated, a result window with images and a table Description is displayed. Areas detected by the cameras are indicated in green in the im- ages. Areas that have not been detected are marked in red. All configured Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 64 / 109...

  • Page 65: Testing A 3D Task

    The differences between the reference position and the calculated position are displayed in the table. If mul- tiple components have been detected, the tables are displayed on tabs. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 65 / 109...
  • Page 66 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) Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 66 / 109...

  • Page 67: Programming

    Explanation of Element Description the syntax Name of the configuration file Configuration file Type: CHAR (IN) Name of the image processing task to be executed Image processing task Type: CHAR (IN) Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 67 / 109...

  • Page 68: Subprogram Vt_Tasktrigger_Refbase

    The return value of GET_VTCORRECTIONFRAME is the correction frame ex- Description tracted from the image processing result. The image processing result is trans- ferred. GET_VTCORRECTIONFRAME is executed in the advance run. RET = GET_VTCORRECTIONFRAME( Syntax Image processing result Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 68 / 109...

  • Page 69: Structure Of Vtresult

    11.8 Subprogram VTRESULT_CHECK The subprogram VTRESULT_CHECK checks the result of an image process- Description ing task. If the result is faulty, a message is displayed. The result of the image Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 69 / 109...

  • Page 70: Subprogram Vt_Resultcheck2

    TRUE in the subprograms DO_GETVTRESULT and DO_GETVTRESULTS. ") VT_WAIT(" Syntax Flag Explanation of Element Description the syntax Number of the flag for which the program is to wait Flag Type: INT (IN) Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 70 / 109...

  • Page 71: Subprogram Vt_Closeconnection

    If e.g. a limit value of 100 mm is specified, the target robot pose must lie within a radius of 100 mm about the original robot pose. VT_CHECKPOSELIMIT is executed in the advance run. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 71 / 109...

  • Page 72: Subprogram Vt_Checkpose

    It must be possible for all defined points to be addressed by the robot in the NULLFRAME base and with the NULLFRAME tool. If a point is located outside of the robot’s workspace, the robot stops. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 72 / 109...
  • Page 73 RET = VT_CHECKPOSE(" Syntax Base of the area Limit value X Limit value Y Limit ", " ", " ", " ") value Z Base of the gripping point Gripping point Tool Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 73 / 109...

  • Page 74: 11.14.1 Defining The Points On The Robot

    4. Insert the copied sections under the existing group sections. 5. Adapt the index numbers. If, for example, the sections [Group1] to [Group3] already exist, rename the new sections as [Group4] and [Group5]. 6. Save and close the file. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 74 / 109...

  • Page 75: Subprogram Get_Vtuserdata

    VT_WAIT. The flag that is to be set to FALSE is defined in the configuration file. ", RESULT, " ", " ") DO_GETVTRESULT(" Syntax Configuration file Flag True Flag False Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 75 / 109...

  • Page 76: Subprogram Do_Getvtresults

    Number of the flag to be set to FALSE once the result Flag False has been read Type: INT (IN) Example DECL VTRESULT[100] RESULTS DECL INT PARTCOUNTER = 0 DO_GETVTRESULTS("VisionTechConfig", RESULTS, PARTCOUNTER, 1, 998) Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 76 / 109...

  • Page 77: Subprogram Vt_Direct

    Number of the tool of the end point Tool of the end point Type: FRAME (IN) Example PTP VorPunkt Vel=100 % PDAT21 Tool[1]:Measuring Tip Base[1]:kalib VT_DIRECT(XVorPunkt,XGreifpunkt,base_data[1],base_data[11], tool_data[1],tool_data[10]) PTP Greifpunkt Vel=10 % PDAT12 Tool[10]:Measuring Tip Base[11]:greif Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 77 / 109...
  • Page 78 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 78 / 109...

  • Page 79: Example Programs

    ENDIF PTP ProGrippingPos Vel=100 % PDAT2 Tool[1] Base[11] VT_DIRECT(XProGrippingPos,XGrippingPos,base_data[11], base_data[11],tool_data[1],tool_data[1]) PTP GrippingPos Vel=100 % PDAT3 Tool[1] Base[11] VT_DIRECT(XGrippingPos,XPostGrippingPos,base_data[11], base_data[11],tool_data[1],tool_data[1]) PTP PostGrippingPos Vel=100 % PDAT4 Tool[1] Base[11] ENDIF ENDFOR VT_Closeconnection("VisionTechConfig") VT_Clear("VisionTechConfig") Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 79 / 109...
  • Page 80 Checks whether points defined by the user lie within the area defined by the user. In this example, relative to base 12. Note: The program also functions without this call. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 80 / 109...
  • Page 81 The point is addressed in the corrected component base. Note: The program also functions without lines 43, 47 and 50. Terminates all existing connections to the server. Terminates the EKI channel. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 81 / 109...
  • Page 82 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 82 / 109...

  • Page 83: Messages

    An error occurred while saving the file system. rights. the general sensor settings: {Error message} The existing camera settings Contact the person who saved are write-protected. the existing camera settings. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 83 / 109...
  • Page 84 No object could be detected Align the cameras so that the because the object was not in object is in the field of vision. the field of vision of the cam- eras. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 84 / 109...
  • Page 85 The task has not been config- Configure the task completely No toolblocks are set for the ured completely. and generate a model. specified task. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 85 / 109...
  • Page 86 Check and restore the con- Image acquisition with one of has been interrupted. nection. the sensors failed The camera is performing a Terminate the process and different process. restart the controller. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 86 / 109...
  • Page 87 Another program or user is Exit the other programs. The task {Task name} cannot accessing the task. be deleted: {Error message} The task no longer exists. Update the task list. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 87 / 109...
  • Page 88 The image processing module Contact KUKA Service. The following error occurred is not correctly installed. while creating the repair request file: {Error message} Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 88 / 109...

  • Page 89: Maintenance

    1 year at Check the screw fastenings of the camera, the lens the latest and the protective lens hood. Locking varnish can be used to secure the screw fastenings. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 89 / 109...
  • Page 90 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 90 / 109...

  • Page 91: Repair

    6. Calibrate the new camera. 7. Assign the new camera to the tasks. 15.3 Exchanging the motherboard Information about exchanging the motherboard is contained in the ro- bot controller documentation. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 91 / 109...
  • Page 92 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 92 / 109...

  • Page 93: Troubleshooting

    Both switches must be in the “ON” position. LED “Gigabit PoE Port” The connected device does not support does not light up on the PoE. switch Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 93 / 109...
  • Page 94 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 94 / 109...

  • Page 95: Decommissioning, Storage And Disposal

    Cover the cameras and switch with ESD protection foil and seal it against Procedure  dust. 17.3 Disposal When the cameras and switch reach the end of their useful life, dispose of them as electrical scrap without disassembling. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 95 / 109...
  • Page 96 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 96 / 109...

  • Page 97: Appendix

    305.0 Nm 370.0 Nm 500.0 Nm 600.0 Nm 640.0 Nm 860.0 Nm 1030.0 Nm 1330.0 Nm 1700.0 Nm 2000.0 Nm Tighten M5 domed cap nuts with a torque of 4.2 Nm. Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 97 / 109...
  • Page 98 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 98 / 109...

  • Page 99: Kuka Service

    Optional software or modifications  Diagnostic package KrcDiag:  Additionally for KUKA Sunrise: Existing projects including applications For versions of KUKA System Software older than V8: Archive of the soft- ware (KrcDiag is not yet available here.) Application used  External axes used ...
  • Page 100 201612 Shanghai China Tel. +86 21 6787-1888 Fax +86 21 6787-1803 www.kuka-robotics.cn KUKA Roboter GmbH Germany Zugspitzstr. 140 86165 Augsburg Germany Tel. +49 821 797-4000 Fax +49 821 797-1616 info@kuka-roboter.de www.kuka-roboter.de Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 100 / 109...
  • Page 101 Fax +81 45 744 7696 info@kuka.co.jp KUKA Robotics Canada Ltd. Canada 6710 Maritz Drive - Unit 4 Mississauga L5W 0A1 Ontario Canada Tel. +1 905 670-8600 Fax +1 905 670-8604 info@kukarobotics.com www.kuka-robotics.com/canada Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 101 / 109...
  • Page 102 47100 Puchong Selangor Malaysia Tel. +60 3 8061-0613 or -0614 Fax +60 3 8061-7386 info@kuka.com.my KUKA de México S. de R.L. de C.V. Mexico Progreso #8 Col. Centro Industrial Puente de Vigas Tlalnepantla de Baz 54020 Estado de México Mexico Tel.
  • Page 103 Sweden Tel. +46 31 7266-200 Fax +46 31 7266-201 info@kuka.se KUKA Roboter Schweiz AG Switzerland Industriestr. 9 5432 Neuenhof Switzerland Tel. +41 44 74490-90 Fax +41 44 74490-91 info@kuka-roboter.ch www.kuka-roboter.ch Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 103 / 109...
  • Page 104 Czech Republic Organisation Tschechien und Slowakei Sezemická 2757/2 193 00 Praha Horní Počernice Czech Republic Tel. +420 22 62 12 27 2 Fax +420 22 62 12 27 0 support@kuka.cz Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 104 / 109...
  • Page 105 48315-1787 Michigan Tel. +1 866 873-5852 Fax +1 866 329-5852 info@kukarobotics.com www.kukarobotics.com KUKA Automation + Robotics Hereward Rise Halesowen B62 8AN Tel. +44 121 585-0800 Fax +44 121 585-0900 sales@kuka.co.uk Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 105 / 109...
  • Page 106 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 106 / 109...

  • Page 107: Index

    General safety measures 27 Reference pose 8 GenICam 8 Regulations 27 GET_VTCORRECTIONFRAME (subprogram) GET_VTRESULT (subprogram) 68 Safety 27 GET_VTUSERDATA (subprogram) 75 Safety instructions 7 GigE 8 Service, KUKA Roboter 99 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 107 / 109...
  • Page 108 VT_CLOSECONNECTION (subprogram) 71 VT_DIRECT (subprogram) 77 VT_INIT (subprogram) 67 VT_OPENCONNECTION (subprogram) 67 VT_RESULTCHECK2 (subprogram) 70 VT_TASKTRIGGER (subprogram) 67 VT_TASKTRIGGER_REFBASE (subprogram) VT_WAIT (subprogram) 70 VTRESULT_CHECK (subprogram) 69 VTRESULT, structure 69 Warnings 7 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 108 / 109...
  • Page 109 KUKA.VisionTech 2.1 Issued: 11.10.2013 Version: KST VisionTech 2.1 V1 109 / 109...

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