Kuka VisionTech 2.1, Manual

Page: 62 / 109

62 / 109
Issued: 11.10.2013 Version: KST VisionTech 2.1 V1
KUKA.VisionTech 2.1
10.9 Configuring a 3D task
During configuration of a 3D task, a tool block is assigned to the cameras. A
tool block contains image processing tasks and has the file extension VPP.
For 3D tasks, at least 2 cameras are required.
Precondition 
A 3D task has been created.

The following inputs and outputs are preconfigured in the tool block:

The following outputs can optionally be preconfigured:
Procedure
1. In the main menu, select
VisionTech
>
Task configuration
.
2. Select the desired 3D task.
3. Press the Settings icon and select the number of components to be found.
4. Press
Import tool block
.
5. Select the directory in which the tool block file is located.
Input Type Description
InputImage ICogImage Input image on which the image
processing task is carried out
NumberOf-
Parts INT Number of components to be
detected by means of the image
processing
Output Type Description
Graphic CogGraphicCollec-
tion Graphic showing the results of the
image processing task
Features List<Cog3DCrsp2D
3D> List of features found by means of
the image processing
Output Type Description
Error Exception Exceptions or errors that occur dur-
ing execution of the image process-
ing task
UserData Object User-specific data forwarded to
KRL by VisionTech. Any type can
be used that is derived from Object
and overwrites the ToString()
method.
Note
: Do not make strings with a
semicolon since this is used as an
internal separator.
If the tool block is created with WorkVisual, the required inputs and
outputs already exist.
The directory INTERNAT\KRCSETUP\KRC\TP\VisionTech\Tem-
plate on the VisionTech CD contains sample tool blocks which meet
the following requirements:

Tool block for 2D tasks with a stationary camera

Tool block for 2D tasks with a moving camera

Tool block for 3D tasks
If the selected is too low, this may lead to inconsistencies, e.g. if each
camera detects different objects. It is advisable to enter the number
of components that one expects to find.