9 SOFTWARE CONFIGURATION
address and port, and the number of connected clients. If a specific IP address is to be used, it can be
entered in the field below.
9.2.5 Camera Interface
The camera interface enables the use of object recognition and video cameras. Object recognition
cameras detect the position and class of objects and transmit these to the controller, optionally with a
video image. From the object positions of the camera, the controller calculates positions in the robot
coordinate system. Video cameras only provide images and can therefore only be used to observe the
work area, but not for object recognition.
Currently, the robot controller supports the following camera types:
• ifm O2D object detection cameras and cameras that can emulate their TCP/IP protocol.
• USB video cameras (e.g. webcams and industrial cameras supporting USB video class (UVC))
The cameras can be added to the robot controller via the "Cameras" section of the interface configu-
ration. There, a distinction is made between cameras on the PC and the integrated controller. If the
robot is controlled by an integrated controller, then the cameras must be configured there.
The following sections describe the configuration of both camera types.
Not every integrated controller supports USB video cameras. The section below ex-
plains compatibility.
Camera Interface for Object Recognition
For object recognition only the ifm O2D200 series cameras are currently supported as well as cameras
that can emulate their TCP/IP protocol (as described here:
https://wiki.cpr-robots.com/inde
x.php/Remote_Variable_Access#Protocol
To use a camera it must be configured in the configuration area (File
→
Configure Interfaces
→
Cam-
eras). If the camera is to be configured on a robot with integrated controller, iRC must be connected
to it.
Select the type of camera ("IFM O2D") and click "Add Camera" to add a camera. The "General" area
contains the following parameters:
Parameter
Meaning
Enabled
Enables or disables the camera. In the deactivated state, the values from the
simulation area are used (only iRC)
Image enabled
If this field is activated, the robot controller regularly requests the current
camera image if the camera does not send it automatically. Supported are
images in the format "Windows Bitmap".
Name
Name of the camera in the robot program
Description
Optional description
IP address
IP address of the camera
Port
Port number of the camera
The entries in the geometry area control the processing of the positions provided by the camera (pixel
position of the camera image) to positions relative to the robot (see fig. 28):
Parameter
Meaning
Scaling
Scales the pixel position
Origin
Position of the camera in the robot coordinate system
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