KUKA System Technology KUKA Roboter GmbH

KUKA.VisionTech 4.0

For KUKA System Software 8.5

KUKA.Vision-

Tech 4.0

Issued: 11.12.2017

Version: KST VisionTech 4.0 V2

 KUKA.VisionTech 4.0

© Copyright 2017
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of KUKA Roboter GmbH.
Other functions not described in this documentation may be operable in the controller. The user has
no claims to these functions, however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software
described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to
guarantee total conformity. The information in this documentation is checked on a regular basis, how-
ever, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
KIM-PS5-DOC
Translation of the original documentation

Publication: Pub KST VisionTech 4.0 (PDF) en

Book structure: KST VisionTech 4.0 V2.1
Version: KST VisionTech 4.0 V2

2 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 Contents

Contents
1 Introduction .................................................................................................. 11
1.1 Industrial robot documentation ................................................................................... 11
1.2 Representation of warnings and notes ...................................................................... 11
1.3 Trademarks ................................................................................................................ 11
1.4 Licenses ..................................................................................................................... 12
1.5 Terms used ................................................................................................................ 12

2 Purpose ........................................................................................................ 13
2.1 Target group .............................................................................................................. 13
2.2 Intended use .............................................................................................................. 13

3 Product description ..................................................................................... 15

3.1 Overview of VisionTech ............................................................................................. 15
3.2 Hardware components ............................................................................................... 17
3.2.1 KUKA IPC ............................................................................................................. 17
3.2.2 KUKA GigE switch ................................................................................................ 18
3.2.3 KUKA MXG20 camera .......................................................................................... 21
3.2.4 KUKA VCXG-25M camera .................................................................................... 22
3.2.5 KUKA lenses ......................................................................................................... 23
3.2.6 Connecting cables ................................................................................................ 24
3.2.7 Calibration plates .................................................................................................. 24
3.3 Application examples ................................................................................................. 24

4 Technical data .............................................................................................. 27

4.1 KUKA MXG20 camera ............................................................................................... 27
4.2 KUKA VCXG-25M camera ......................................................................................... 28
4.3 KUKA GigE switch ..................................................................................................... 29
4.4 KUKA lenses .............................................................................................................. 30
4.4.1 KUKA Pentax C815B lens .................................................................................... 30
4.4.2 KUKA Ricoh CC1214A-2M lens ........................................................................... 30
4.4.3 KUKA Pentax C1614-M lens ................................................................................ 31
4.4.4 KUKA Pentax C2514-M lens ................................................................................ 31
4.4.5 KUKA Pentax C3516-M lens ................................................................................ 31
4.4.6 KUKA Pentax C5028-M lens ................................................................................ 32
4.4.7 KUKA Pentax C7528-M lens ................................................................................ 32
4.5 Connecting cables ..................................................................................................... 32
4.5.1 Connecting cables, KR C4 .................................................................................... 32
4.5.2 Connecting cables, KR C4 compact ..................................................................... 33
4.5.3 KUKA IPC connecting cables ............................................................................... 33
4.6 Dimensions of the MXG20 camera ............................................................................ 34
4.7 Dimensions of the VCXG-25M camera ...................................................................... 35
4.8 Dimensions of the extension ...................................................................................... 35
4.9 Plates and labels ........................................................................................................ 35

5 Safety ............................................................................................................ 39
5.1 General safety measures ........................................................................................... 39
5.2 Standards and regulations ......................................................................................... 39

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 3 / 435

 KUKA.VisionTech 4.0

6 Planning ........................................................................................................ 41
6.1 Connecting cables and interfaces ............................................................................. 41

7 Transportation ............................................................................................. 49
7.1 Transportation ........................................................................................................... 49

8 Installation and licensing ............................................................................ 51

8.1 System requirements ................................................................................................. 51
8.2 Installation via smartHMI ........................................................................................... 51
8.2.1 Installing VisionTech ............................................................................................. 51
8.2.2 Uninstalling VisionTech ........................................................................................ 52
8.3 Installation via WorkVisual ......................................................................................... 52
8.3.1 Installing or updating VisionTech .......................................................................... 52
8.3.2 Uninstalling VisionTech ........................................................................................ 53
8.4 Executing VisionTech on the KUKA IPC ................................................................... 54
8.4.1 Generating the setup for KUKA IPC ..................................................................... 54
8.4.2 Installing setup on the KUKA IPC ......................................................................... 54
8.5 Licensing VisionTech ................................................................................................. 54
8.5.1 Activating the license ............................................................................................ 55
8.5.2 Repairing the license ............................................................................................ 56
8.5.3 Activating an emergency license .......................................................................... 56
8.5.4 Uninstalling a license ............................................................................................ 57

9 Operation ...................................................................................................... 59
9.1 Menus ........................................................................................................................ 59

10 Start-up ......................................................................................................... 61
10.1 Networking ................................................................................................................. 61
10.1.1 Networking KR C4 with interface X64, stationary ................................................. 61
10.1.2 Networking KR C4 with cable inlet, stationary ...................................................... 61
10.1.3 Networking KR C4 with KUKA IPC and cameras, stationary ............................... 62
10.1.4 Networking KR C4 with interface X64, robot-guided ............................................ 62
10.1.5 Networking KR C4 with cable inlet, robot-guided ................................................. 63
10.1.6 Networking KR C4 with KUKA IPC and cameras, robot-guided ........................... 63
10.1.7 Networking KR C4 compact, stationary ................................................................ 63
10.1.8 Networking KR C4 compact with KUKA IPC and cameras, stationary ................. 64
10.2 Putting cameras into operation – overview ................................................................ 64
10.3 Configuring the KUKA IPC ........................................................................................ 65
10.4 Setting the IP address of the KUKA IPC in WorkVisual ............................................ 65
10.5 Configuring Ethernet KRL .......................................................................................... 66
10.6 Configuring cameras (smartHMI) .............................................................................. 66
10.7 Configuring cameras online (WorkVisual) ................................................................. 68
10.8 Configuring cameras offline (WorkVisual) ................................................................. 69
10.9 Aligning cameras (smartHMI) .................................................................................... 70
10.10 Aligning cameras (WorkVisual) ................................................................................. 70
10.11 Setting the exposure time (smartHMI) ....................................................................... 71
10.12 Setting the exposure time (WorkVisual) .................................................................... 71
10.13 Focusing the lens (smartHMI) ................................................................................... 72
10.14 Focusing the lens (WorkVisual) ................................................................................. 72

4 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 Contents

10.15 Transferring the WorkVisual project ........................................................................... 73

10.16 Calibrating a camera (stationary) ............................................................................... 73
10.16.1 Deleting a calibration plane .................................................................................. 75
10.17 Calibrating cameras (moving) .................................................................................... 75
10.18 Configuring verification of the calibration ................................................................... 76
10.18.1 Configuring the verification task ............................................................................ 77
10.18.2 Determining the reference position ....................................................................... 79

11 Configuration ............................................................................................... 81
11.1 Configuring a measurement task – overview ............................................................. 81
11.2 Creating a task and taking images (stationary) .......................................................... 81
11.2.1 Relative and absolute position data ...................................................................... 82
11.3 Creating a task and taking images (moving) .............................................................. 83
11.4 Acquiring images via WorkVisual ............................................................................... 84
11.5 Setting up an image processing task in WorkVisual .................................................. 84
11.5.1 Creating a tool block file in WorkVisual ................................................................ 85
11.5.2 Loading tool block files from the robot controller or KUKA IPC ............................ 86
11.5.3 Transferring a tool block file to the robot controller or KUKA IPC ......................... 87
11.6 Configuring a 2D task ................................................................................................ 87
11.7 Generating a 2D model .............................................................................................. 90
11.7.1 2D model with a stationary camera ...................................................................... 90
11.7.2 2D model with a moving camera .......................................................................... 90
11.8 Testing a 2D task ....................................................................................................... 91
11.9 Configuring a 3D task ................................................................................................ 92
11.10 Generating a 3D model .............................................................................................. 95
11.11 Testing a 3D task ....................................................................................................... 95

12 Programming with inline forms and templates ......................................... 97

12.1 Inline form “Trigger” .................................................................................................. 97
12.1.1 Option window “Input” ........................................................................................... 98
12.2 Inline form “WaitForResult” ...................................................................................... 98
12.3 Inline form “SetTargetBase” ...................................................................................... 98
12.4 Inline form “LoopResults” ......................................................................................... 99
12.5 Inline form “Direct” ..................................................................................................... 99
12.5.1 Option window “Tool/base for start point” ............................................................. 100
12.5.2 Option window “Tool/base for destination point” ................................................... 101
12.6 Templates for VisionTech robot programs ................................................................. 101
12.6.1 Template VT_2DStationary .................................................................................. 101
12.6.2 Template VT_2DMoving and VT_3DMoving ........................................................ 104
12.6.3 Template VT_2DVerifyStationary ......................................................................... 106

13 Programming with subprograms ............................................................... 109

13.1 Result structures ........................................................................................................ 109
13.1.1 Structure of VTRESULT ....................................................................................... 109
13.1.2 Structure of VTVERIFYRESULT .......................................................................... 110
13.1.3 Structure of VTRESULTATTRIBUTE ................................................................... 111
13.2 Subprogram VT_INIT ................................................................................................. 111
13.3 Subprogram VT_OPENCONNECTION ..................................................................... 111
13.4 Subprogram VT_TASKTRIGGER .............................................................................. 112

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 5 / 435

 KUKA.VisionTech 4.0

13.5 Subprogram VT_TASKTRIGGER_ADRUN ............................................................... 112

13.6 Subprogram VT_TASKTRIGGER_REFBASE ........................................................... 112
13.7 Subprogram VT_GETCORRECTIONFRAME ........................................................... 113
13.8 Subprogram VT_CHECKRESULT ............................................................................ 113
13.9 Subprogram VT_WAITFORRESULT ........................................................................ 114
13.10 Subprogram VT_CLOSECONNECTION ................................................................... 114
13.11 Subprogram VT_CLEAR ........................................................................................... 114
13.12 Subprogram VT_CHECKPOSITION ......................................................................... 115
13.13 Subprogram VT_CHECKPOSE ................................................................................. 116
13.13.1 Defining the points on the robot ........................................................................... 118
13.14 Subprogram VT_GETUSERDATA ............................................................................ 118
13.15 Subprogram VT_GETTASKRESULTS ...................................................................... 119
13.16 Subprogram VT_GETTASKRESULTS_IR ................................................................ 119
13.17 Subprogram VT_DIRECT .......................................................................................... 120
13.18 Subprogram VT_VERIFICATIONTRIGGER .............................................................. 121
13.19 Subprogram VT_GETRESULTS ............................................................................... 121
13.20 Subprogram VT_GETVERIFICATIONRESULT ........................................................ 122
13.21 Subprogram VT_GETVERIFYRESULT_IR ............................................................... 122
13.22 Subprogram VT_CLEARBUFFER ............................................................................. 123
13.23 Subprogram VT_SETEXPOSURE ............................................................................ 123
13.24 Subprograms for processing object attributes ........................................................... 124
13.24.1 Subprogram VT_ContainsAttribute ....................................................................... 124
13.24.2 Subprogram VT_GetIntFromAttrName ................................................................. 124
13.24.3 Subprogram VT_GetRealFromAttrName ............................................................. 125
13.24.4 Subprogram VT_GetCharFromAttrName ............................................................. 125
13.24.5 Subprogram VT_GetBoolFromAttrName .............................................................. 126
13.24.6 Subprogram VT_IsAttributeValSet ....................................................................... 126
13.24.7 Subprogram VT_StringToBool ............................................................................. 127
13.24.8 Subprogram VT_StringToInt ................................................................................. 127
13.24.9 Subprogram VT_StringToReal ............................................................................. 128
13.25 Subprograms for transferring input parameters ......................................................... 128
13.25.1 Subprogram VT_SetInputAsBool ......................................................................... 128
13.25.2 Subprogram VT_SetInputAsInt ............................................................................. 128
13.25.3 Subprogram VT_SetInputAsReal ......................................................................... 129
13.25.4 Subprogram VT_SetInputAsString ....................................................................... 129

14 Example programs ...................................................................................... 131

14.1 Example program: Detecting and gripping a workpiece ............................................ 131
14.2 Example program: Detecting and gripping multiple workpieces ................................ 131

15 Messages ...................................................................................................... 133

15.1 Information about the messages ............................................................................... 133
15.2 System messages from module: VisionTech (VTH) .................................................. 133
15.2.1 VTH35004 ............................................................................................................ 133
15.2.2 VTH35206 ............................................................................................................ 134
15.2.3 VTH35901 ............................................................................................................ 135
15.2.4 VTH35902 ............................................................................................................ 137
15.2.5 VTH35904 ............................................................................................................ 143
15.2.6 VTH35905 ............................................................................................................ 148

6 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 Contents

15.2.7 VTH35907 ............................................................................................................. 151

15.2.8 VTH35912 ............................................................................................................. 151
15.2.9 VTH35913 ............................................................................................................. 156
15.2.10 VTH35918 ............................................................................................................. 160
15.2.11 VTH35920 ............................................................................................................. 160
15.2.12 VTH35923 ............................................................................................................. 165
15.2.13 VTH35935 ............................................................................................................. 171
15.2.14 VTH35936 ............................................................................................................. 172
15.2.15 VTH35937 ............................................................................................................. 173
15.2.16 VTH35940 ............................................................................................................. 174
15.2.17 VTH35941 ............................................................................................................. 175
15.2.18 VTH35942 ............................................................................................................. 176
15.2.19 VTH35943 ............................................................................................................. 177
15.2.20 VTH35944 ............................................................................................................. 178
15.2.21 VTH35945 ............................................................................................................. 179
15.2.22 VTH36001 ............................................................................................................. 179
15.2.23 VTH36002 ............................................................................................................. 180
15.2.24 VTH36003 ............................................................................................................. 181
15.2.25 VTH36004 ............................................................................................................. 183
15.2.26 VTH36005 ............................................................................................................. 185
15.2.27 VTH36006 ............................................................................................................. 186
15.2.28 VTH36007 ............................................................................................................. 188
15.2.29 VTH36010 ............................................................................................................. 191
15.2.30 VTH36012 ............................................................................................................. 192
15.2.31 VTH36014 ............................................................................................................. 193
15.2.32 VTH36016 ............................................................................................................. 195
15.2.33 VTH36019 ............................................................................................................. 201
15.2.34 VTH36020 ............................................................................................................. 201
15.2.35 VTH36022 ............................................................................................................. 202
15.2.36 VTH36023 ............................................................................................................. 208
15.2.37 VTH36024 ............................................................................................................. 214
15.2.38 VTH36027 ............................................................................................................. 214
15.2.39 VTH36031 ............................................................................................................. 215
15.2.40 VTH36033 ............................................................................................................. 216
15.2.41 VTH36037 ............................................................................................................. 217
15.2.42 VTH36038 ............................................................................................................. 218
15.2.43 VTH36039 ............................................................................................................. 219
15.2.44 VTH36040 ............................................................................................................. 221
15.2.45 VTH36041 ............................................................................................................. 223
15.2.46 VTH36042 ............................................................................................................. 224
15.2.47 VTH36044 ............................................................................................................. 230
15.2.48 VTH36045 ............................................................................................................. 231
15.2.49 VTH36046 ............................................................................................................. 232
15.2.50 VTH36047 ............................................................................................................. 234
15.2.51 VTH36048 ............................................................................................................. 234
15.2.52 VTH36051 ............................................................................................................. 236
15.2.53 VTH36053 ............................................................................................................. 239
15.2.54 VTH36055 ............................................................................................................. 240
15.2.55 VTH36056 ............................................................................................................. 244

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 7 / 435

 KUKA.VisionTech 4.0

15.2.56 VTH36058 ............................................................................................................ 246

15.2.57 VTH36059 ............................................................................................................ 247
15.2.58 VTH36060 ............................................................................................................ 249
15.2.59 VTH36061 ............................................................................................................ 251
15.2.60 VTH36062 ............................................................................................................ 254
15.2.61 VTH36063 ............................................................................................................ 256
15.2.62 VTH36064 ............................................................................................................ 258
15.2.63 VTH36065 ............................................................................................................ 261
15.2.64 VTH36066 ............................................................................................................ 262
15.2.65 VTH36069 ............................................................................................................ 262
15.2.66 VTH36077 ............................................................................................................ 266
15.2.67 VTH36078 ............................................................................................................ 270
15.2.68 VTH36079 ............................................................................................................ 271
15.2.69 VTH36080 ............................................................................................................ 278
15.2.70 VTH36081 ............................................................................................................ 278
15.2.71 VTH36082 ............................................................................................................ 284
15.2.72 VTH36083 ............................................................................................................ 290
15.2.73 VTH36084 ............................................................................................................ 295
15.2.74 VTH36085 ............................................................................................................ 295
15.2.75 VTH36086 ............................................................................................................ 296
15.2.76 VTH36087 ............................................................................................................ 297
15.2.77 VTH36088 ............................................................................................................ 298
15.2.78 VTH36089 ............................................................................................................ 302
15.2.79 VTH36091 ............................................................................................................ 306
15.2.80 VTH36094 ............................................................................................................ 308
15.2.81 VTH36095 ............................................................................................................ 311
15.2.82 VTH36096 ............................................................................................................ 315
15.2.83 VTH36097 ............................................................................................................ 316
15.2.84 VTH36098 ............................................................................................................ 317
15.2.85 VTH36099 ............................................................................................................ 319
15.2.86 VTH36100 ............................................................................................................ 324
15.2.87 VTH36101 ............................................................................................................ 327
15.2.88 VTH36102 ............................................................................................................ 329
15.2.89 VTH36103 ............................................................................................................ 331
15.2.90 VTH36104 ............................................................................................................ 332
15.2.91 VTH36105 ............................................................................................................ 333
15.2.92 VTH36107 ............................................................................................................ 334
15.2.93 VTH36108 ............................................................................................................ 335
15.2.94 VTH36114 ............................................................................................................ 336
15.2.95 VTH36115 ............................................................................................................ 337
15.2.96 VTH36117 ............................................................................................................ 338
15.2.97 VTH36118 ............................................................................................................ 339
15.2.98 VTH36119 ............................................................................................................ 339
15.2.99 VTH36121 ............................................................................................................ 339
15.2.100 VTH36138 ............................................................................................................ 340
15.2.101 VTH36140 ............................................................................................................ 346
15.2.102 VTH36141 ............................................................................................................ 347
15.2.103 VTH36144 ............................................................................................................ 347
15.2.104 VTH36145 ............................................................................................................ 348

8 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 Contents

15.2.105 VTH36146 ............................................................................................................. 353

15.2.106 VTH36150 ............................................................................................................. 357
15.2.107 VTH36156 ............................................................................................................. 358
15.2.108 VTH36157 ............................................................................................................. 359
15.2.109 VTH36168 ............................................................................................................. 360
15.2.110 VTH36169 ............................................................................................................. 361
15.2.111 VTH36170 ............................................................................................................. 362
15.2.112 VTH36171 ............................................................................................................. 363
15.2.113 VTH36172 ............................................................................................................. 363
15.2.114 VTH36175 ............................................................................................................. 364
15.2.115 VTH36177 ............................................................................................................. 367
15.2.116 VTH36178 ............................................................................................................. 368
15.2.117 VTH36179 ............................................................................................................. 369
15.2.118 VTH37001 ............................................................................................................. 370
15.2.119 VTH37002 ............................................................................................................. 372
15.2.120 VTH37003 ............................................................................................................. 373
15.2.121 VTH37004 ............................................................................................................. 374

16 Maintenance ................................................................................................. 381

16.1 Maintenance symbols ................................................................................................ 381

17 Repair ........................................................................................................... 383

17.1 Exchanging the switch ............................................................................................... 383
17.2 Exchanging the camera ............................................................................................. 383

18 Troubleshooting .......................................................................................... 385

19 Decommissioning, storage and disposal .................................................. 387
19.1 Decommissioning ....................................................................................................... 387
19.2 Storage ...................................................................................................................... 387
19.3 Disposal ..................................................................................................................... 387

20 Appendix ...................................................................................................... 389

20.1 Tool block templates (KUKA V1) ............................................................................... 389
20.1.1 LocatePartsKnownPosition ................................................................................... 390
20.1.2 LocatePartsOneStage .......................................................................................... 390
20.1.3 Snippets ................................................................................................................ 390
20.1.3.1 LoopLocatedParts ........................................................................................... 391
20.1.3.2 LoopFineLocateParts ....................................................................................... 392
20.1.3.3 LoopPickZoneCheck ........................................................................................ 393
20.1.3.4 LoopPresenceCheck ....................................................................................... 394
20.1.3.5 LocateSingleCircle ........................................................................................... 394
20.1.3.6 LocateSinglePattern ........................................................................................ 395
20.1.3.7 PickZoneCheck ................................................................................................ 395
20.1.4 Utilities (2D) .......................................................................................................... 396
20.1.4.1 PoseCreator ..................................................................................................... 396
20.1.4.2 PoseInspector .................................................................................................. 396
20.1.5 LocatePart3D ........................................................................................................ 397
20.1.6 Features ................................................................................................................ 397
20.1.7 CrspCollector ........................................................................................................ 397
20.1.8 GraphicCollector ................................................................................................... 397

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 9 / 435

 KUKA.VisionTech 4.0

20.1.9 StringCollector ...................................................................................................... 398

20.1.10 ListOperators ........................................................................................................ 398
20.1.10.1 ListCollector ..................................................................................................... 399
20.1.10.2 ListConnector .................................................................................................. 399
20.1.10.3 ListCount ......................................................................................................... 399
20.1.10.4 ListCreator ....................................................................................................... 399
20.1.10.5 ListFilter ........................................................................................................... 400
20.1.10.6 ListItemSelector ............................................................................................... 400
20.1.10.7 StringFromLists ............................................................................................... 401
20.1.11 Logic ..................................................................................................................... 401
20.1.11.1 AND ................................................................................................................. 401
20.1.11.2 OR ................................................................................................................... 402
20.1.11.3 RangeChecker ................................................................................................ 402
20.2 Tool block templates (KUKA V2) ............................................................................... 402
20.2.1 VisionTechResult2D ............................................................................................. 404
20.2.2 2DTopLevel .......................................................................................................... 404
20.2.3 BlobAlign .............................................................................................................. 405
20.2.4 PmAlign ................................................................................................................ 406
20.2.5 LoopFixturedResult .............................................................................................. 407
20.2.6 BarCodeReading .................................................................................................. 407
20.2.7 PickZoneCheck .................................................................................................... 408
20.2.8 FineLocate ............................................................................................................ 409
20.2.9 Measurement ....................................................................................................... 410
20.2.9.1 FeatureDistance .............................................................................................. 410
20.2.9.2 LocateSingle templates ................................................................................... 411
20.2.9.3 PixelToMetricsConverter ................................................................................. 412
20.2.10 PresenceCheck .................................................................................................... 412
20.2.11 AttributeAssembler ............................................................................................... 414
20.2.12 AttributeValueExtractor ......................................................................................... 414
20.2.13 PartSorter ............................................................................................................. 415
20.2.14 ResultCollector ..................................................................................................... 415
20.2.15 ResultCreator ....................................................................................................... 416
20.2.16 Tool block ............................................................................................................. 416
20.2.17 ResultViewer ........................................................................................................ 416
20.2.18 AND ...................................................................................................................... 417
20.2.19 OR ........................................................................................................................ 417
20.2.20 RangeChecker ..................................................................................................... 418
20.3 I/O management of the cameras ............................................................................... 418
20.3.1 Configuring outputs .............................................................................................. 418
20.3.2 Configuring timers ................................................................................................ 419
20.4 Tightening torques ..................................................................................................... 421

21 KUKA Service ............................................................................................... 423

21.1 Requesting support ................................................................................................... 423
21.2 KUKA Customer Support ........................................................................................... 423

Index ............................................................................................................. 431

10 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 1 Introduction

1 Introduction
t

1.1 Industrial robot documentation

t

The industrial robot documentation consists of the following parts:

 Documentation for the manipulator
 Documentation for the robot controller
 Operating and programming instructions for the System Software
 Instructions for options and accessories
 Parts catalog on storage medium
Each of these sets of instructions is a separate document.

1.2 Representation of warnings and notes

Safety These warnings are relevant to safety and must be observed.

These warnings mean that it is certain or highly probable

that death or severe injuries will occur, if no precautions
are taken.

These warnings mean that death or severe injuries may

occur, if no precautions are taken.

These warnings mean that minor injuries may occur, if

no precautions are taken.

These warnings mean that damage to property may oc-

cur, if no precautions are taken.

These warnings contain references to safety-relevant information or

general safety measures.
These warnings do not refer to individual hazards or individual pre-
cautionary measures.

This warning draws attention to procedures which serve to prevent or remedy

emergencies or malfunctions:

The following procedure must be followed exactly!

Procedures marked with this warning must be followed exactly.

Notices These notices serve to make your work easier or contain references to further
information.

Tip to make your work easier or reference to further information.

1.3 Trademarks

Windows is a trademark of Microsoft Corporation.

VisionPro is a trademark of Cognex Corporation.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 11 / 435

 KUKA.VisionTech 4.0

1.4 Licenses

VisionTech uses the following open-source software:

Product License
ImageProcessor 2.3.3 Apache_License_v2.0.txt

Following installation on the robot controller, the corresponding licensing

terms can be found under C:\KRC\TP\VisionTech\Licenses.

1.5 Terms used

Term Description
BLOB Binary Large Object
Contiguous area for which one attribute (e.g.
brightness value) differs from that of the sur-
roundings
Depalletizing Removing components from pallets
Deracking Removing components from racks
EKI Ethernet KRL interface
GenICam Generic Interface for Cameras: generic pro-
gramming interface for cameras used in
industrial image processing.
GigE Gigabit Ethernet
Calibration pose Robot pose during calibration of a robot-
guided camera
KLI KUKA Line Interface
Connection to Ethernet network
KONI KUKA Option Network Interface
KUKA smartHMI User interface of the KUKA System Software
(KUKA smart Human-Machine Interface)
PoE Power over Ethernet
Power supply via network
Reference pose Robot pose for image acquisition
Reference position Position of a reference feature for verification
of the calibration
Tool block Image processing task created using WorkVi-
sual

12 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 2 Purpose

2 Purpose
2

2.1 Target group

s

This documentation is aimed at users with the following knowledge and skills:
 Expert knowledge of KRL programming
 Advanced knowledge of the robot controller system
 Advanced knowledge of network connections
 Knowledge of the VisionPro software from Cognex (training)

For optimal use of our products, we recommend that our customers

take part in a course of training at KUKA College. Information about
the training program can be found at www.kuka.com or can be ob-
tained directly from our subsidiaries.

2.2 Intended use

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. The hardware
components must only be operated under the specified environmental condi-
tions.

Misuse Any use or application deviating from the intended use is deemed to be imper-
missible misuse. This includes e.g.:
 Operation outside the permissible operating parameters
 Use in potentially explosive environments
 Use in the vicinity of welding applications
 Networking the camera network with a company network

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 13 / 435

 KUKA.VisionTech 4.0

14 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 3 Product description

3 Product description

3.1
t
Overview of VisionTech

Functions VisionTech is an add-on option package and consists of an image processing

s

package and a plug-in for the KUKA smartHMI. The acquisition and process-
ing of images is used to calculate a base correction. The base correction can
be used to correct the position of the robot relative to the position of a compo-
nent.
VisionTech can be used with both stationary and moving cameras. A station-
ary camera is fixed in its position, e.g. mounted on a stand or on the ceiling. A
moving camera is mounted on the robot flange.

Restrictions If VisionTech is installed, the start type Hibernate cannot be used.

Areas of appli-  Detecting the position of components

cation  Deracking
 Depalletizing

Communication The robot controller communicates with one or more GigE cameras via the im-
age processing system. The connection between the kernel system and the
image processing system is established via the Ethernet KRL interface.

Fig. 3-1: Communication, KR C4

1 Stationary camera 4 Robot

2 Connecting cable 5 Robot-guided cameras
3 KR C4 6 Service laptop

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 15 / 435

 KUKA.VisionTech 4.0

Fig. 3-2: Communication between KR C4 and KUKA IPC

1 Stationary camera 5 Robot

2 Connecting cable 6 Robot-guided cameras
3 KUKA IPC 7 Service laptop
4 KR C4

Fig. 3-3: Communication, KR C4 compact

1 KR C4 compact 3 Switch
2 Connecting cable 4 Cameras

Fig. 3-4: Communication between KR C4 compact and KUKA IPC

16 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 3 Product description

1 KR C4 compact 3 KUKA IPC

2 Connecting cable 4 Cameras

Image processing An image processing environment is installed during installation of Vision-

software Tech. This software performs the image processing tasks. This software must
also be installed on the service laptop.

3.2 Hardware components

The following hardware components are available in the form of a hardware

package for KUKA.VisionTech:
 KUKA IPC
 KUKA GigE switch
 KUKA MXG20 cameras
 KUKA VCXG-25M cameras
 KUKA lenses
 Calibration plate
 Connecting cables
There are different variants of the hardware package. The variants differ with
regard to the interface, connecting cables and number of cameras:

Type Cameras Position Restriction

2D 1-3 Stationary None
1-3 Robot-guided Only with KR C4
3D 2-3 Robot-guided Only with KR C4

3.2.1 KUKA IPC

Instead of the KUKA IPC, a different industrial PC can also be used.

The functionality of VisionTech is only guaranteed, however, if the
KUKA IPC is used.

Overview There are 6 network cards available in the KUKA IPC:

 4 network cards for PoE devices, such as cameras
 1 network card for the KUKA Line Interface (KLI)
 1 network card for the KUKA System Bus (KSB) and time synchronization
(VLAN10)

Fig. 3-5: KUKA IPC

Item Description
1 Network card for PoE device (connection: CH1)
2 Network card for PoE device (connection: CH2)

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 17 / 435

 KUKA.VisionTech 4.0

Item Description
3 Network card for PoE device (connection: CH3)
4 Network card for PoE device (connection: CH4)
5 Network card for KLI (connection: LAN1)
6 Network card for KSB and VLAN10 (connection: LAN2)
7 Power key
8 Power supply (19 V~24 V DC INPUT)

3.2.2 KUKA GigE switch

Overview There are 5 RJ45 connections on the KUKA GigE switch. Ports 1 to 4 are PoE-
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. The switch must be integrated into a housing with a protection rating of
IP 54 and supplied with a direct voltage of 12-36 V. The switch can be mount-
ed on a TS 35 top-hat rail.
In the KR C4, the switch is installed and connected to the power supply of the
KR C4. Up to 3 cameras can be connected to interfaces X64.1 to X64.3. Alter-
natively, the cameras can be connected directly to the switch in the KR C4 via
a cable inlet.

If a cable inlet is used, ensure that the clamping range is sufficiently

large.

Fig. 3-6: KUKA GigE switch – overview

1 DIP switch for the function “Power Alarm Relay Output”

2 Changeover switch for port 6 (selection of SFP speed)
3 RJ45 PoE port for the robot controller
4 3 RJ45 PoE ports for cameras

18 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 3 Product description

DIP switches
Designation Description
DIP switch for “Power DIP switch 1: P1 error message
Alarm Relay Output”
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)

LEDs

Fig. 3-7: KUKA GigE switch – LEDs

Item LED Description

1 P1 Green: Switch is on (if powered via V1)
2 P2 Green: Switch is on (if powered via V2)
3 Gigabit LAN port Green: GigE port is active, data being
transferred to the connected device
4 Gigabit LAN port Yellow: 100 Mbps
5 Gigabit PoE port Green: Port is active
6 Gigabit PoE port Green: PoE is active
7 Fault Yellow: Fault at P1 or P2

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 19 / 435

 KUKA.VisionTech 4.0

Power supply

Fig. 3-8: KUKA GigE switch – power supply

1 Power supply connection 12-36 V DC

2 Power supply connection 24 V DC
3 Output, alarm relay
4 Power supply connection 12-36 V DC
5 Housing ground

Interfaces

Fig. 3-9: KUKA GigE switch – interfaces

20 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 3 Product description

3.2.3 KUKA MXG20 camera

Overview The KUKA MXG20 camera conforms to the GigE standard and is PoE-capa-
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. C-mount lenses can be used (>>> 3.2.5 "KUKA lenses"
Page 23).
A protective cap is mounted on the connection for the process interface / pow-
er supply. This may only be removed if a cable is connected to the interface.

Fig. 3-10: KUKA MXG20 camera – overview

1 LEDs
2 Process interface / power supply
3 Data/PoE interface

The camera must not be powered simultaneously via

PoE and from an external source, otherwise the camera
may be damaged.

Assignment of
the connections

Fig. 3-11: Contact diagram, data/PoE interface

1 MX3- 5 MX2+ (pos./neg. Vport)

2 MX4+ 6 MX1+ (neg./pos. Vport)
3 MX4- 7 MX3+
4 MX1- (neg./pos. Vport) 8 MX2- (pos./neg. Vport)

Fig. 3-12: Contact diagram, process interface / power supply

1 OUT 3 5 Uext OUT

2 Power VCC+ 6 OUT 1
3 IN1 7 Power GND
4 IO GND 8 OUT 2

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 21 / 435

 KUKA.VisionTech 4.0

LEDs

Fig. 3-13: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

3.2.4 KUKA VCXG-25M camera

Overview The KUKA VCXG-25M camera conforms to the GigE standard and is PoE-ca-
pable. The image resolution is 2.3 megapixels. The camera can be powered
via PoE or from an external power supply. C-mount lenses can be used
(>>> 3.2.5 "KUKA lenses" Page 23).

The KUKA VCXG-25M camera must not be used for the robot-guided
application.

Fig. 3-14: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Ground faults of the GPIOs can destroy the device.

The camera must not be powered simultaneously via
PoE and from an external source, otherwise the camera may be damaged.

22 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 3 Product description

Assignment of
the connections

Fig. 3-15: Contact diagram, data/PoE interface

1 MX1+ 5 MX3-
2 MX1- 6 MX2-
3 MX2+ 7 MX4+
4 MX3+ 8 MX4-

Fig. 3-16: Contact diagram, process interface / power supply

1 GPIO (Line 2) 5 Power VCC OUT1

2 Power VCC 6 OUT 1 (Line 3)
3 IN1 (Line 0) 7 GND (Power, GPIO)
4 GND IN1 8 GPIO (Line 1)

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

3.2.5 KUKA lenses

Lenses in various sizes and of various focal lengths are available for the cam-
eras. The lens required depends on the size of the component and the dis-
tance between the camera and the component.
The following must also be ensured when selecting the lens:
 The lens fits on the camera
 The lens matches the sensor
 Only for the KUKA MXG20 camera: The lens fits into the protective lens
hood (depth: 35 mm, can be enlarged using extension rings – 12 mm
each)

Name Focal length Extension

Pentax C815B (KP) 8.5 mm 1x
Ricoh CC1214A-2M 12 mm 1x
Pentax C1614-M (KP) 16 mm -
Pentax C2514-M (KP) 25 mm -
Pentax C3516-M (KP) 35 mm 1x
Pentax C5028-M (KP) 50 mm -
Pentax C7528-M (KP) 75 mm 3x

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 23 / 435

 KUKA.VisionTech 4.0

The locking screws supplied for the iris and focus settings (2 Phillips
screws) must be used. Otherwise, the settings might change, leading
to errors in image processing.

Fig. 3-17: KUKA lens (example)

1 Locking screw

3.2.6 Connecting cables

Different connecting cables are required for the operation of one or more cam-
eras. The connecting cables used conform to the CAT6 standard for network
cables. The network cables have different connectors depending on the inter-
face. The cables are available in various lengths.

3.2.7 Calibration plates

A calibration plate is required for the calibration of a camera. Calibration plates

are available in the following sizes:
 24 x 24 inch (60.9 x 60.9 cm), size of one square: 20 mm
 12 x 12 inch (30.5 x 30.5 cm), size of one square: 10 mm
 11.5 x 8 inch (29.2 x 20.3 cm), size of one square: 6.35 mm
 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

3.3 Application examples

KUKA.VisionTech contains a collection of application examples for common

applications. These contain a configured tool block, a KRL program, sample
images and documentation in English.
Following installation of VisionTech on the service laptop, the application ex-
amples can be found in the program folder under KUKA\VisionTech 3.1\Vi-
sionSamples.

Name Description
FindingOnePart Simple detection of a workpiece
PickZoneCheck Check that a zone is collision-free
PresenceCheck Check whether an object exists
FineLocate Fine search for a specific feature
Measurement Measurement of values (in a metric unit) on the input
image
UserInputs Use of input parameters

24 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 3 Product description

Name Description
CodeReading Reading of barcodes and data matrix codes
MultipleParts Detection of multiple workpieces

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 25 / 435

 KUKA.VisionTech 4.0

26 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 4 Technical data

4 Technical data
4

4.1 KUKA MXG20 camera

Basic data
t Power supply (exter- Control voltage: 12 … 24 V DC ± 10%
nal)
Rated current: 176 … 252 mA
Power supply (PoE) Control voltage: 36 … 57 V DC
Rated current: 88 mA (with 48 V DC)
Energy consumption approx. 4.2 W
Digital input Voltage (min.): 0 … 4.5 V DC
Voltage (max.): 11 … 30 V DC
Rated current: 6.0 … 10 mA
Pulse length: min. 2.0 µs
Trigger delay outside of treadout: 1 µs
Trigger delay during treadout: 14 µs
Digital output Voltage: 5 … 30 V DC
Rated current: max. 50 mA
MTBF 335774 h @ 45°C
Sensor size 1
/1.8"
Protection rating IP 67
Weight 185 g
Conformity CE

Ambient condi- Storage and transpor- -25 °C to +70 °C (248 K to 343 K)

tions tation
Operation +5 °C to +50 °C (278 K to 323 K)
Device temperature max. +50 °C (323 K) at the measurement point
Air humidity 5 … 95% (no condensation)

Connections Data/PoE interface Transmission speed:

 100 Mbit/s (Fast Ethernet)
 1000 Mbit/s (Gigabit Ethernet)
Connection: M12 male connector, 8-contact, A
standard
Process interface / Connection: M12 female connector, 8-contact, A
power supply standard

Standards and
Name Definition
guidelines
2004/108/EC EMC Directive:
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: 11.12.2017 Version: KST VisionTech 4.0 V2 27 / 435

 KUKA.VisionTech 4.0

Name Definition
EN 61000-6-2 Electromagnetic compatibility (EMC) - Part 6-2:
Generic standards – Immunity for industrial envi-
ronments
EN 61000-6-4 Electromagnetic compatibility (EMC) - Part 6-4:
Generic standards – Emission standard for
industrial environments

4.2 KUKA VCXG-25M camera

Basic data Power supply (exter- Control voltage: 12 … 24 V DC ± 20%

nal)
Rated current: 120 … 242 mA
Power supply (PoE) Control voltage: 36 … 57 V DC
Rated current: 72 mA (with 48 V DC)
Energy consumption approx. 3.5 W
Digital input Voltage (min.): 0 … 4.5 V DC
Voltage (max.): 11 … 30 V DC
Rated current: 3.0 … 10 mA
Pulse length: min. 2.0 µs
Digital output Voltage: 5 … 30 V DC
Rated current: max. 50 mA
Sensor size 2
/ 3"
Protection rating IP 40
Weight 120 g
Conformity CE, RoHS, REACH, KC

Ambient condi- Storage -10 °C to +70 °C (263 K to 343 K)

tions Operation +5 °C to +65 °C (278 K to 338 K) at the mea-
surement point
+5 °C to +75 °C (278 K to 348 K) at the internal
temperature sensor
Heat dissipation measures are required in ambi-
ent temperatures exceeding 30 °C.
Air humidity 10 … 90% (no condensation)

Connections Data/PoE interface Transmission speed:

 100 Mbit/s (Fast Ethernet)
 1000 Mbit/s (Gigabit Ethernet)
Connection: RJ45 connector
Process interface / Connection: M8 female connector, 8-contact
power supply

28 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 4 Technical data

Standards and
Name Definition
guidelines
2004/108/EC EMC Directive:
Directive 2004/108/EC of the European Parlia-
ment and of the Council dated 15 December
2004 on the approximation of the laws of the
Member States relating to electromagnetic com-
patibility and repealing Directive 89/336/EEC
EN 61000-6-2 Electromagnetic compatibility (EMC) – Part 6-2:
Generic standards – Immunity for industrial envi-
ronments
EN 61000-6-4 Electromagnetic compatibility (EMC) – Part 6-4:
Generic standards – Emission standard for
industrial environments

4.3 KUKA GigE switch

Basic data Housing Metal

Protection classifica- IP 30
tion
Dimensions 41 x 99.9 x 144.3 mm
Weight 580 g
Control voltage 12 … 36 V DC
Energy consumption approx. 7.5 W
MTBF > 450000 h @ 45°
Conformity CE, FCC Part 15, RoHS

Ethernet interface Interface 1000base-T, 100base-TX, 10base-T

Standard IEEE 802.3 for 10base-T
IEEE 802.3u for 100base-TX and 100base-X
IEEE 802.3z for 1000base-X
IEEE 802.3ab for 1000base-T
IEEE 802.3x for flow control
IEEE 802.3at PoE specification (up to 30 watts
per port for PoE)
Ports 4x with PoE, 1x SFP, 1x without PoE
Packet size Up to 9 kB, supports jumbo frames
Auto-functions Auto-negotiation, auto-crossover
PoE Conforms to IEEE 802.3at
Protective function Against overload current
Power infeed Up to 30 watts per port

Ambient condi- Storage -40 °C to +85 °C (233 K to 358 K)

tions Operation -40 °C to +60 °C (233 K to 333 K)
Air humidity 5 … 95% (no condensation)

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 29 / 435

 KUKA.VisionTech 4.0

Standards and
Name Definition
guidelines
2004/108/EC EMC Directive:
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
EN 55022 Information technology equipment – Radio dis-
turbance characteristics – Limits and methods of
measurement
EN 55024 Information technology equipment – Immunity
characteristics – Limits and methods of mea-
surement
EN 61000-3-2 Electromagnetic compatibility (EMC) - Part 3-2:
Limits – Limits for harmonic current emissions
EN 61000-3-3 Electromagnetic compatibility (EMC) - Part 3-3:
Limits – Limitation of voltage changes, voltage
fluctuations and flicker in public low-voltage sup-
ply systems, for equipment with rated current

4.4 KUKA lenses

4.4.1 KUKA Pentax C815B lens

Basic data Format 2

/ 3"
Mount C-mount
Focal length 8.5 mm
Iris range F1.5 - C
Iris control Manual
Focus control Manual
Horizontal angle of view 56.5°
MOD (minimum object distance) 0.2 m
Filter size 40.5 x 0.5 mm
Dimensions 42 x 40 mm
Weight 120 g
Temperature range -20 °C to +50 °C

4.4.2 KUKA Ricoh CC1214A-2M lens

Basic data Format 2

/ 3"
Mount C-mount
Maximum relative aperture 1 : 1.4
Focal length 12 mm
Iris range F1.4 - 16
Horizontal angle of view 39.4°
MOD (minimum object distance) 0.1 m
Back focus 10.7 mm
Dimensions 29.5 x 45.7 mm
Weight 72 g

30 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 4 Technical data

4.4.3 KUKA Pentax C1614-M lens

Basic data Format 2/ "

3
Mount C-mount
Focal length 16 mm
Iris range F1.4 - 16
Iris control Manual
Focus control Manual
Horizontal angle of view 31.0°
MOD (minimum object distance) 0.25 m
Filter size 27 x 0.5 mm
Dimensions 29.5 x 33.2 mm
Weight 63 g
Temperature range -20 °C to +50 °C

4.4.4 KUKA Pentax C2514-M lens

Basic data Format 2/ "

3
Mount C-mount
Focal length 25 mm
Iris range F1.4 - 16
Iris control Manual
Focus control Manual
Horizontal angle of view 20.0°
MOD (minimum object distance) 0.25 m
Filter size 27 x 0.5 mm
Dimensions 29.5 x 32.0 mm
Weight 55 g
Temperature range -20 °C to +50 °C

4.4.5 KUKA Pentax C3516-M lens

Basic data Format 2

/3"
Mount C-mount
Focal length 35 mm
Iris range F1.6 - 16
Iris control Manual
Focus control Manual
Horizontal angle of view 14.8°
MOD (minimum object distance) 0.40 m
Filter size 27 x 0.5 mm
Dimensions 29.5 x 35.4 mm
Weight 64 g
Temperature range -20 °C to +50 °C

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 31 / 435

 KUKA.VisionTech 4.0

4.4.6 KUKA Pentax C5028-M lens

Basic data Format 2/

3"
Mount C-mount
Focal length 50 mm
Iris range F2.8 - 22
Iris control Manual
Focus control Manual
Horizontal angle of view 10.1°
MOD (minimum object distance) 0.90 m
Filter size 27 x 0.5 mm
Dimensions 29.5 x 34.0 mm
Weight 55 g
Temperature range -20 °C to +50 °C

4.4.7 KUKA Pentax C7528-M lens

Basic data Format 2/

3"
Mount C-mount
Focal length 75 mm
Iris range F2.8 - 32
Iris control Manual
Focus control Manual
Horizontal angle of view 6.9°
MOD (minimum object distance) 0.70 m
Filter size 30.5 x 0.5 mm
Dimensions 34 x 59.6 mm
Weight 125 g
Temperature range -20 °C to +50 °C

4.5 Connecting cables

4.5.1 Connecting cables, KR C4

Basic data Configuration 4x CAT6 elements acc. to DIN EN 50288-5-2

Conductors Bare copper strand 4x2xAWG26
Outside diameter 8.3 ± 0.2 mm
Operating voltage ≤ 60 V
Transmission charac- in accordance with DIN EN 50288-5-2
teristics, CAT6 ele-
ment
Transmission range 50 m (nominal)
Bending radius (one- ≥ 3x cable diameter
time)
Bending radius (mov- ≥ 10x cable diameter
ing)
Certification UL AWM Style 20963 80 °C 30 V

32 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 4 Technical data

For further information about the connecting cables, see (>>> 6.1 "Con-
necting cables and interfaces" Page 41).

4.5.2 Connecting cables, KR C4 compact

Basic data Configuration 4x CAT6 elements

Conductors Bare copper AWG 26
Outside diameter 6.2 ± 0.15 mm
Operating voltage 30 V
Transmission charac- according to ISO/IEC 11801
teristics, CAT6 ele-
ment
Transmission range 50 m
Bending radius 4x cable diameter
Certification UL 94 V0

For further information about the connecting cables, see (>>> 6.1 "Con-
necting cables and interfaces" Page 41).

4.5.3 KUKA IPC connecting cables

Basic data Configuration 4x CAT6 elements

Conductors Bare copper AWG 26
Outside diameter 6.2 ± 0.15 mm
Operating voltage 30 V
Transmission charac- according to ISO/IEC 11801
teristics, CAT6 ele-
ment
Transmission range 50 m
Bending radius 4x cable diameter
Certification UL 94 V0

For further information about the connecting cables, see (>>> 6.1 "Con-
necting cables and interfaces" Page 41).

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 33 / 435

 KUKA.VisionTech 4.0

4.6 Dimensions of the MXG20 camera

Fig. 4-1: Dimensions of the MXG20 camera (dimensions in mm)

1 Rear view
2 Side view
3 View from below
4 Front view
5 Side view with protective lens hood

34 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 4 Technical data

4.7 Dimensions of the VCXG-25M camera

Fig. 4-2: Dimensions of the VCXG-25M camera (dimensions in mm)

4.8 Dimensions of the extension

Fig. 4-3: Dimensions of the extension (dimensions in mm)

1 Front view
2 Side view

4.9 Plates and labels

Camera The identification plate is already affixed to the MXG20 camera. The camera
MXG20 label must be selected and attached by the user; this depends on the interface
to which the camera is connected:

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 35 / 435

 KUKA.VisionTech 4.0

 Interface X64.1 / A13.1 / PoE 1: label B1

 Interface X64.2 / A13.2 / PoE 2: label B2
 Interface X64.3 / A13.3 / PoE 3: label B3 (for stationary cameras only)

Fig. 4-4: Plates and labels on the MXG20 camera

Plate no. Designation

1 Camera identification plate
2 Camera label

Camera The following plates and labels are attached to the VCXG 25-M camera:
VCXG 25-M

Fig. 4-5: Plates and labels on VCXG 25-M camera

Plate no. Designation

1 Camera identification plate

36 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 4 Technical data

Switch The following plates and labels are attached to the switch:

Fig. 4-6: Plates and labels on the switch

Plate no. Designation

1 Switch identification plate

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 37 / 435

 KUKA.VisionTech 4.0

38 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 5 Safety

5 Safety
f

y This documentation contains safety instructions which refer specifically to the

software and hardware described here.
The fundamental safety information for the industrial robot can be found in the
“Safety” chapter of the Operating and Programming Instructions for System In-
tegrators or the 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.

5.1 General safety measures

If the position of the component is not correctly detected,

this may result in a collision. Before operation, check the
result of the base correction using the subprogram VT_CHECKPOSE.

The Status and Turn of a target pose may be altered due

to the base correction, thereby causing a collision. To
avoid this, use the subprogram VT_DIRECT. (>>> 13.17 "Subprogram
VT_DIRECT" Page 120)

The protective lens hood must be mounted on the

MXG20 camera during operation. Otherwise, the lens
can become loose and cause material damage.

If the robot collides with a camera, the camera must be recalibrated.

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

When fastening the cameras, the tightening torques must be ob-

served; see (>>> 20.4 "Tightening torques" Page 421).

Personnel The operator must meet the following preconditions:

 The operator must be trained for the work to be carried out.
 Start-up work may only be carried out by qualified personnel. These are
people who, due to their specialist training, knowledge and experience,
and their familiarization with the relevant standards, are able to assess the
work to be carried out and detect any potential hazards.

5.2 Standards and regulations

Name/Edition Definition

EN 60204- Safety of machinery:

1:2006/A1:2009
Electrical equipment of machines - Part 1: General requirements

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 39 / 435

 KUKA.VisionTech 4.0

40 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 6 Planning

6 Planning

6.1 Connecting cables and interfaces

Overview The connecting cables comprise all the cables for transferring power and sig-
nals between the robot controller, KUKA IPC and cameras. The following con-
necting cables are available:
 For the KR C4 with interface X64:
 Connecting cable, KR C4 – linear unit
 Connecting cable, linear unit – robot
 Connecting cable, KR C4 – robot
 Connecting cable, KR C4 – camera (MXG20)
 For the KR C4 with cable inlet to interface A13 on the switch:
 Connecting cable, switch – linear unit
 Connecting cable, linear unit – robot
 Connecting cable, switch – robot
 Connecting cable, switch – camera (MXG20 or VCXG-25M)
 For the KR C4 compact:
 Connecting cable, KR C4 compact – switch
 Connecting cable, switch – camera (MXG20 or VCXG-25M)
 For the KUKA IPC:
 Connecting cable, KUKA IPC – KR C4
 Connecting cable, KUKA IPC – KR C4 compact
 Connecting cable, KUKA IPC – camera (MXG20 or VCXG-25M)
Information about the energy supply system for axes 1 to 3 and axes 3 to 6
can be found in separate documentation.
Depending on the specific system configuration, connecting cables are re-
quired in different lengths. The following cable lengths are available:

Connecting cable Cable lengths

KR C4 – camera 5 m, 15 m, 25 m, 35 m
KR C4 – linear unit 7 m, 15 m, 25 m
Linear unit – robot 5m
KR C4 – robot 7 m, 15 m, 25 m
KR C4 compact – switch 1 m, 5 m
Switch – camera 5 m, 15 m, 25 m, 35 m
KUKA IPC – KR C4 2 m, 5 m, 15 m
KUKA IPC – KR C4 compact 2 m, 5 m, 15 m
KUKA IPC – camera 5 m, 15 m, 25 m, 35 m

The maximum length of the connecting cables must not exceed 45 m with
moving (robot-guided) cameras and 35 m with stationary cameras. Thus if the
robot is operated on a linear unit which has its own energy supply chain these
cables must also be taken into account.
The following points must be observed when planning and routing the con-
necting cables:
 Protect cables against exposure to mechanical stress.
 Route the cables without mechanical stress – no tensile forces on the con-
nectors
 Cables are only to be installed indoors.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 41 / 435

 KUKA.VisionTech 4.0

 Route cables in such a way that they cannot be damaged by sharp edges,
tools or other materials.
 Route cables in such a way that they are located outside of the camera’s
field of vision.
 Observe the permissible temperature range (fixed installation) of 243 K (-
30 °C) to 363 K (+90 °C).

Interfaces, KR C4 For connection of the connecting cables between the KR C4, linear unit, robot
and cameras, the following connectors are available at the interfaces:

Connector des-
Connecting cable Connections
ignation
KR C4 – linear unit X64.1 – X74.1.1 PushPull V4 connector at
both ends
X64.2 – X74.2.1
Linear unit – robot X74.1.1 – X74.1 PushPull V4 coupling –
PushPull V4 connector
X74.2.1 – X74.2
KR C4 – robot X64.1 – X74.1 PushPull V4 connector at
both ends
X64.2 – X74.2
KR C4 – MXG20 camera X64.1 – B1 PushPull V4 connector –
M12 male connector, 8-
X64.2 – B2
contact
X64.3 – B3

If a cable inlet on the KR C4 is used instead of interface X64, the following con-
nectors are available:

Connector des-
Connecting cable Connections
ignation
Switch – linear unit A13.1 – X74.1.1 RJ45 connector – Push-
Pull V4 connector
A13.2 – X74.2.1
Switch – robot A13.1 – X74.1 RJ45 connector – Push-
Pull V4 connector
A13.2 – X74.2
Switch – MXG20 camera A13.1 – B1 RJ45 connector – M12
male connector, 8-contact
A13.2 – B2
A13.3 – B3
Switch – VCXG-25M A13.1 – B1 RJ45 connector at both
camera ends
A13.2 – B2
A13.3 – B3

The RJ45 connectors that are connected to interfaces A13.1 to A13.3 have
protection rating IP 20.

Interface X64 Interfaces X64.1 to X64.3 are situated on the connection panel of the KR C4.

42 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 6 Planning

Fig. 6-1: Interfaces X64.1 to X64.3

1 Connection X64.1 3 Connection X64.3

2 Connection X64.2

Connecting The following connecting cables are available for a KR C4 with interface X64:
cables, KR C4

Fig. 6-2: Connecting cable, KR C4 – linear unit (suitable for use on ro-
bots)

Fig. 6-3: Connecting cable, linear unit – robot (suitable for use on robots)

Fig. 6-4: Connecting cable, KR C4 – robot (suitable for use on robots)

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 43 / 435

 KUKA.VisionTech 4.0

Fig. 6-5: Connecting cable, KR C4 – MXG20 camera (suitable for use on

robots)

The following connecting cables are available for a KR C4 with a cable inlet:

Fig. 6-6: Connecting cable, switch – linear unit (suitable for use on ro-
bots)

Fig. 6-7: Connecting cable, switch – robot (suitable for use on robots)

Fig. 6-8: Connecting cable, switch – MXG20 camera (suitable for use on
robots)

44 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 6 Planning

Fig. 6-9: Connecting cable, switch – VCXG-25M camera (not suitable for
use on robots)

Interfaces, KR C4 For connection of the connecting cables between the KR C4 compact, switch
compact and cameras, the following connectors are available at the interfaces:

Connector des-
Connecting cable Connections
ignation
KR C4 compact – switch KONI – No RJ45 connector at both
PoE5 ends
Switch – MXG20 camera PoE 1 – B1 RJ45 connector – M12
male connector, 8-contact
PoE 2 – B2
PoE 3 – B3
Switch – VCXG-25M PoE 1 – B1 RJ45 connector at both
camera ends
PoE 2 – B2
PoE 3 – B3

The RJ45 connectors that are connected to interfaces PoE 1 to PoE 3 have
protection rating IP 20.

Connecting
cables, KR C4
compact

Fig. 6-10: Connecting cable, KR C4 compact – switch (not suitable for

use on robots)

Fig. 6-11: Connecting cable, switch – MXG20 camera (not suitable for
use on robots)

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 45 / 435

 KUKA.VisionTech 4.0

Fig. 6-12: Connecting cable, switch – VCXG-25M camera (not suitable for
use on robots)

KUKA IPC inter- For connection of the connecting cables between the KUKA IPC and the cam-
faces eras, the following connectors are available at the interfaces:

Connector des-
Connecting cable Connections
ignation
KUKA IPC – KR C4 LAN1 – KLI RJ45 connector at both
ends
KUKA IPC – KR C4 com- LAN1 – KONI RJ45 connector at both
pact ends
KUKA IPC – MXG20 CH1 – B1 RJ45 connector – M12
cameras male connector, 8-contact
CH2 – B2
CH3 – B3
CH4 – B4
KUKA IPC – VCXG-25M CH1 – B1 RJ45 connector at both
cameras ends
CH2 – B2
CH3 – B3
CH4 – B4

KUKA IPC
connecting
cables

Fig. 6-13: Connecting cable, KUKA IPC – KR C4 (not suitable for use on
robots)

Fig. 6-14: Connecting cable, KUKA IPC – KR C4 compact (not suitable for
use on robots)

46 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 6 Planning

Fig. 6-15: Connecting cable, MXG20 camera – KUKA IPC (not suitable for
use on robots)

Fig. 6-16: Connecting cable, VCXG-25M camera – KUKA IPC (not suit-
able for use on robots)

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 47 / 435

 KUKA.VisionTech 4.0

48 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 7 Transportation

7
T
Transportation
s

7.1 Transportation
t

Cameras Before transportation, the cameras must be removed. A protective cap must
t

be mounted on the lens connection (C-mount). The cameras must be pack-

aged for transportation in ESD protection foil. Care must be taken to ensure
that the cameras do not come into contact with humidity.

Switch The switch must be packaged for transportation in ESD protection foil. Care
must be taken to ensure that the switch does not come into contact with hu-
midity.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 49 / 435

 KUKA.VisionTech 4.0

50 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 8 Installation and licensing

8 Installation and licensing

s

The option package can either be installed on the robot controller via the sm-
t
artHMI or via WorkVisual.

In the case of an update of the KUKA System Software, all images in

the “Snapshots” folder are deleted. If these images are to remain
available, they must be archived manually. The images are located in
the directory C:\KRC\TP\VisionTech\Snapshots.

8.1 System requirements

Robot controller Hardware:

 KR C4
 Or KR C4 smallsize
 Or KR C4 compact
Software:
 KUKA System Software 8.5

Laptop/PC Software:
 WorkVisual 5.0
The requirements for installation of WorkVisual are contained in the
WorkVisual documentation.
 Option package KUKA.Ethernet KRL 3.0 (installed in WorkVisual)

8.2 Installation via smartHMI

8.2.1 Installing VisionTech

Updating of VisionTech is supported exclusively by WorkVisual.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 USB stick with the option package (KOP file)

We recommend using a KUKA USB stick. Data may be

lost if a stick from a different manufacturer is used.

Procedure 1. Connect the USB stick to the robot controller or smartPAD.

2. In the main menu, select Start-up > Additional software.
3. Press New software: The entry VisionTech must be displayed in the
Name column and drive E:\ or K:\ in the Path column.
If not, press Refresh.
4. If the specified entries are now displayed, continue with step 5.
Otherwise, the path from which the software is to be installed must be con-
figured first:
a. Press the Configure button.
b. Select a line in the Installation paths for options area.
Note: If the line already contains a path, this path will be overwritten.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 51 / 435

 KUKA.VisionTech 4.0

c. Press Path selection. The available drives are displayed.

d. If the stick is connected to the robot controller: Select E:\.
If the stick is connected to the smartPAD: K:\ instead of E:\
e. Press Save. The Installation paths for options area is displayed
again. It now contains the new path.
f. Mark the line with the new path and press Save again.
5. Set the check mark next to VisionTech and press Install. Confirm the in-
stallation query with OK.
6. The request for confirmation Do you want to activate the project […]? is dis-
played. The active project is overwritten during activation. If no relevant
project will be overwritten: Answer the query with Yes.
7. An overview of the changes and a request for confirmation are displayed.
Answer this with Yes. The option package is installed and the robot con-
troller carries out a reboot.
8. Remove the stick.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

8.2.2 Uninstalling VisionTech

It is advisable to archive all relevant data before uninstalling a soft-

ware package.

Precondition  User group "Expert".

 Operating mode T1 or T2.

Procedure 1. In the main menu, select Start-up > Additional software.

2. Set the check mark next to VisionTech and press Uninstall. Answer the
request for confirmation with Yes.
3. Answer the request for confirmation Do you want to activate the project […]?
with Yes.
4. An overview of the changes and a request for confirmation are displayed.
Answer this with Yes. The option package is uninstalled and the robot con-
troller carries out a reboot.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

8.3 Installation via WorkVisual

8.3.1 Installing or updating VisionTech

Description The option package is installed in WorkVisual and added to the project. During
project deployment, the option package is automatically installed on the robot
controller.
In the case of an update, the previous version of the option package in WorkVi-
sual must first be uninstalled.

It is advisable to archive all relevant data before updating a software

package.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.

52 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 8 Installation and licensing

 Network connection between PC and robot controller

 The option package is available as a KOP file.
 For installation of the option package in WorkVisual: Local administrator
rights

It is advisable to restart WorkVisual before installing the option pack-

age.

Procedure 1. Only for an update: Uninstall the previous version of the VisionTech op-
tion package in WorkVisual.
2. Install the VisionTech option package in WorkVisual.
3. Load the project from the robot controller.
4. Insert the VisionTech option package into the project.
5. Deploy the project from WorkVisual to the robot controller and activate it.
6. The request for confirmation Do you want to activate the project […]? is dis-
played on the smartHMI. The active project is overwritten during activa-
tion. If no relevant project will be overwritten: Answer the query with Yes.
7. An overview with the changes and a request for confirmation are displayed
on the smartHMI. Answer this with Yes. The option package is installed
and the robot controller carries out a reboot.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

8.3.2 Uninstalling VisionTech

It is advisable to archive all relevant data before uninstalling a soft-

ware package.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller

Procedure 1. Load the project from the robot controller.

2. Remove cameras from the project.
3. Remove the VisionTech option package from the project. A window with
modifications is displayed. Confirm this with OK.
4. Deploy the project from WorkVisual to the robot controller and activate it.
5. Answer the request for confirmation Do you want to activate the project […]?
on the smartHMI with Yes.
6. An overview with the changes and a request for confirmation are displayed
on the smartHMI. Answer this with Yes. The option package is uninstalled
and the robot controller carries out a reboot.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 53 / 435

 KUKA.VisionTech 4.0

8.4 Executing VisionTech on the KUKA IPC

VisionTech can be configured in such a way that image processing tasks are
executed on the KUKA IPC. The following steps are required for this:

Step Description
1 Generate setup for the KUKA IPC.
(>>> 8.4.1 "Generating the setup for KUKA IPC" Page 54)
2 Install setup on the KUKA IPC.
(>>> 8.4.2 "Installing setup on the KUKA IPC" Page 54)

8.4.1 Generating the setup for KUKA IPC

It is advisable to generate the setup on a USB stick. The setup can

then be run directly from this USB stick.

Precondition  The option package is installed in WorkVisual and has been added to the
project.

Procedure 1. Open the project in WorkVisual.

2. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
3. Under the Options node, right-click on the option package.
4. Select Generate deployment package in the context menu. A window
opens.
5. Select a directory and confirm with OK. The files for the setup are gener-
ated in the selected directory.

8.4.2 Installing setup on the KUKA IPC

Procedure 1. Double-click on the file ServiceHostSetup.exe on the KUKA IPC. A win-

dow opens.
2. Click on Install and follow the instructions of the installation wizard. Vision-
Tech is installed on the KUKA IPC.

8.5 Licensing VisionTech

VisionTech can be licensed either directly on the robot controller or via

WorkVisual. The image processing environment and the KUKA IPC are li-
censed exclusively via WorkVisual.

Status The licensing status is indicated as follows:

WorkVisual smartHMI Description

Green LED The installed license is valid.

Orange LED No images can be acquired with the

installed license.
Note: This status is only displayed if the
license for the service laptop is activated on
the robot controller or on the KUKA IPC.

54 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 8 Installation and licensing

WorkVisual smartHMI Description

Red LED No license is installed.

Gray LED The system is not accessible.

8.5.1 Activating the license

Precondition  The option package is installed in WorkVisual.

 Only if licensing the KUKA IPC: The IP address of the KUKA IPC is set in
WorkVisual.

Procedure for 1. In the main menu, select VisionTech > Licensing.

smartHMI 2. Enter the license key in the License key box. The license key is either on
a sticker in the robot controller or is enclosed with the software.
3. Press Create footprint and select a directory. A file is generated in the se-
lected directory which links the control PC to the license. An encrypted sig-
nature for this control PC is saved in the file.
4. Send the generated file to [email protected]. KUKA
Service will use this to create a licensing file and send it to you.
5. Press ..., select the licensing file received and confirm with OK.

Procedure for 1. Open the licensing overview:

WorkVisual  Select the menu sequence Editors > Options packages > Vision-
Tech > Licensing overview.

 Alternatively: Click on the button.

The Vision licensing overview window opens. The service laptop is dis-
played under Engineering licenses and the robot controller and KUKA
IPC are displayed under Runtime licenses.
2. Click on Open licensing management in the box corresponding to the
computer for which the license is to be activated.
3. Click on Install license.
4. Enter the license key in the License key box. The license key is enclosed
with the software.

Fig. 8-1: Extract from the enclosed printout (example)

1 License key for the robot controller

2 License key for the service laptop

It is not possible to acquire images with the license for the service lap-
top.

5. Click on Create footprint and select a directory. A file is generated in the

selected directory which links the image processing computer to the li-
cense. An encrypted signature for this computer is saved in the file.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 55 / 435

 KUKA.VisionTech 4.0

6. Send the generated file to [email protected]. KUKA

Service will use this to create a licensing file and send it to you.
7. Click on ..., select the licensing file received and confirm with Open.
8. Restart WorkVisual.

8.5.2 Repairing the license

Description If hardware components are modified, added or exchanged, this may invali-
date the license. A license becomes invalid if the current signature of the com-
puter differs too greatly from the saved signature. In this case, the license can
be repaired.

Procedure for 1. In the main menu, select VisionTech > Licensing.

smartHMI 2. In the list of currently installed licenses, select the license to be repaired.
3. Press Create repair request and select a directory. A file is generated in
the selected directory.
4. Send the generated file to [email protected]. KUKA
Service will use this to create a new licensing file and send it to you.
5. Press ..., select the licensing file received and confirm with OK.
6. Reboot the robot controller.

Procedure for 1. Open the licensing overview:

WorkVisual  Select the menu sequence Editors > Options packages > Vision-
Tech > Licensing overview.

 Alternatively: Click on the button.

The Vision licensing overview window opens. The service laptop is dis-
played under Engineering licenses and the robot controller and KUKA
IPC are displayed under Runtime licenses.
2. Click on Open licensing management in the box corresponding to the
computer for which the license is to be repaired.
3. Click on Repair license.
4. In the list of installed licenses, select the license to be repaired.
5. Click on Create repair request and select a directory. A file is generated
in the selected directory.
6. Send the generated file to [email protected]. KUKA
Service will use this to create a new licensing file and send it to you.
7. Click on ..., select the licensing file received and confirm with Open.
8. Restart WorkVisual.

8.5.3 Activating an emergency license

Description It is possible to activate an emergency license. A total of 5 emergency licenses

are available. An emergency license is valid for 3 days. On expiry, emergency
licenses cannot be reactivated. For this reason, they should only be used in
an actual emergency.

Procedure for 1. In the main menu, select VisionTech > Licensing.

smartHMI 2. Select the Activate emergency license tab.
3. Press Activate next emergency license.

Procedure for 1. Open the licensing overview:

WorkVisual  Select the menu sequence Editors > Options packages > Vision-
Tech > Licensing overview.

56 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 8 Installation and licensing

 Alternatively: Click on the button.

The Vision licensing overview window opens. The service laptop is dis-
played under Engineering licenses and the robot controller and KUKA
IPC are displayed under Runtime licenses.
2. Click on Open licensing management in the box corresponding to the
computer for which an emergency license is to be activated.
3. Click on Install emergency license.
4. Click on Activate emergency license.
5. Restart WorkVisual.

8.5.4 Uninstalling a license

Description If the license is to be transferred from one system to another, it must be unin-
stalled and then reactivated on the other system. Following uninstallation, the
image processing functions activated by the license are no longer available.
Emergency licenses cannot be uninstalled. Uninstallation of a license is only
possible via WorkVisual.

Precondition  If the license on the robot controller or KUKA IPC is to be uninstalled: The
connection to the robot controller or KUKA IPC has been established.

Procedure 1. Open the licensing overview:

 Select the menu sequence Editors > Options packages > Vision-
Tech > Licensing overview.

 Alternatively: Click on the button.

The Vision licensing overview window opens. The service laptop is dis-
played under Engineering licenses and the robot controller and KUKA
IPC are displayed under Runtime licenses.
2. Click on Open licensing management in the box corresponding to the
computer for which the license is to be uninstalled.
3. Click on Uninstall license.
4. In the list of installed licenses, select the license to be uninstalled.
5. Click on Create uninstall request and select a directory. A file is gener-
ated in the selected directory.
6. Send the generated file to [email protected]. KUKA
Service will use this to create a response file and send it to you.
7. Click on ..., select the response file received and confirm with Open.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 57 / 435

 KUKA.VisionTech 4.0

58 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 9 Operation

9 Operation

9.1 Menus
t

The following menus and commands are specific to this option package:
Main menu:
 VisionTech
 Sensor overview
 Task configuration
 Live picture
 Calibration
 Calibration management
 Calibration verification
 Licensing
 Production screen
 Settings
Menu sequence:
 Commands > VisionTech
 Trigger
 WaitForResult
 LoopResults
 SetTargetBase
 Direct

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 59 / 435

 KUKA.VisionTech 4.0

60 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 10 Start-up

10 Start-up
t

10.1 Networking
t

Description Networking is carried out via Ethernet; the following variants are available:

Variant Description
KR C4 with interface X64, (>>> 10.1.1 "Networking KR C4 with inter-
stationary cameras face X64, stationary" Page 61)
KR C4 with cable inlet, sta- (>>> 10.1.2 "Networking KR C4 with cable
tionary cameras inlet, stationary" Page 61)
KR C4 with KUKA IPC, sta- (>>> 10.1.3 "Networking KR C4 with
tionary cameras KUKA IPC and cameras, stationary"
Page 62)
KR C4 with interface X64, (>>> 10.1.4 "Networking KR C4 with inter-
robot-guided cameras face X64, robot-guided" Page 62)
KR C4 with cable inlet, (>>> 10.1.5 "Networking KR C4 with cable
robot-guided cameras inlet, robot-guided" Page 63)
KR C4 with KUKA IPC, (>>> 10.1.6 "Networking KR C4 with
robot-guided cameras KUKA IPC and cameras, robot-guided"
Page 63)
KR C4 compact, stationary (>>> 10.1.7 "Networking KR C4 compact,
cameras stationary" Page 63)
KR C4 compact with KUKA (>>> 10.1.8 "Networking KR C4 compact
IPC, stationary cameras with KUKA IPC and cameras, stationary"
Page 64)

10.1.1 Networking KR C4 with interface X64, stationary

Procedure  Carry out networking as illustrated below:

Fig. 10-1: Networking KR C4 with interface X64, stationary (maximum

number of cameras)

1 KR C4 2 KUKA MXG20 camera

10.1.2 Networking KR C4 with cable inlet, stationary

Procedure  Carry out networking as illustrated below:

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 61 / 435

 KUKA.VisionTech 4.0

Fig. 10-2: Networking KR C4 with cable inlet, stationary (maximum num-

ber of cameras)

1 KR C4 2 KUKA camera (MXG20 or

VCXG-25M)

10.1.3 Networking KR C4 with KUKA IPC and cameras, stationary

Procedure  Carry out networking as illustrated below:

Fig. 10-3: Networking KR C4 with KUKA IPC and cameras, stationary

(maximum number of cameras)

1 KR C4
2 KUKA IPC
3 KUKA camera (MXG20 or VCXG-25M)

10.1.4 Networking KR C4 with interface X64, robot-guided

Procedure  Carry out networking as illustrated below:

Fig. 10-4: Networking KR C4 with interface X64, robot-guided

62 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 10 Start-up

1 KUKA MXG20 camera 3 Linear unit (optional)

2 Robot 4 KR C4

10.1.5 Networking KR C4 with cable inlet, robot-guided

Procedure  Carry out networking as illustrated below:

Fig. 10-5: Networking KR C4 with cable inlet, robot-guided

1 KUKA MXG20 camera 3 Linear unit (optional)

2 Robot 4 KR C4

10.1.6 Networking KR C4 with KUKA IPC and cameras, robot-guided

Procedure  Carry out networking as illustrated below:

Fig. 10-6: Networking KR C4 with KUKA IPC and cameras, robot-guided

1 KUKA MXG20 camera 4 KUKA IPC

2 Robot 5 KR C4
3 Linear unit (optional)

10.1.7 Networking KR C4 compact, stationary

Procedure  Carry out networking as illustrated below:

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 63 / 435

 KUKA.VisionTech 4.0

Fig. 10-7: Networking KR C4 compact, stationary (maximum number of

cameras)

1 KR C4 compact 3 KUKA camera (MXG20 or

VCXG-25M)
2 KUKA GigE switch

10.1.8 Networking KR C4 compact with KUKA IPC and cameras, stationary

Procedure  Carry out networking as illustrated below:

Fig. 10-8: Networking KR C4 compact with KUKA IPC and cameras, sta-
tionary

1 KR C4 compact
2 KUKA IPC
3 KUKA camera (MXG20 or VCXG-25M)

10.2 Putting cameras into operation – overview

Step Description
1 Only if using the KUKA IPC: Configure the KUKA IPC.
(>>> 10.3 "Configuring the KUKA IPC" Page 65)
2 Only if using the KUKA IPC: Set the IP address of the KUKA IPC in WorkVisual.
(>>> 10.4 "Setting the IP address of the KUKA IPC in WorkVisual" Page 65)
3 Configure Ethernet KRL interface.
(>>> 10.5 "Configuring Ethernet KRL" Page 66)

64 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 10 Start-up

Step Description
4 Steps 5 to 8 can be carried out either on the KUKA smartHMI or in WorkVisual. If the
steps are to be carried out in WorkVisual, the WorkVisual project must first be loaded
from the robot controller.
Note: More information is contained in the WorkVisual documentation.
5 Configure the cameras.
On the KUKA smartHMI: (>>> 10.6 "Configuring cameras (smartHMI)" Page 66)
In WorkVisual:
 (>>> 10.7 "Configuring cameras online (WorkVisual)" Page 68)
 Or: (>>> 10.8 "Configuring cameras offline (WorkVisual)" Page 69)
6 Align the cameras.
On the KUKA smartHMI: (>>> 10.9 "Aligning cameras (smartHMI)" Page 70)
In WorkVisual: (>>> 10.10 "Aligning cameras (WorkVisual)" Page 70)
7 Set the exposure time.
On the KUKA smartHMI: (>>> 10.11 "Setting the exposure time (smartHMI)"
Page 71)
In WorkVisual: (>>> 10.12 "Setting the exposure time (WorkVisual)" Page 71)
8 Focus the lens.
On the KUKA smartHMI: (>>> 10.13 "Focusing the lens (smartHMI)" Page 72)
In WorkVisual: (>>> 10.14 "Focusing the lens (WorkVisual)" Page 72)
9 Only if the preceding steps have been carried out in WorkVisual: Transfer the
WorkVisual project.
(>>> 10.15 "Transferring the WorkVisual project" Page 73)
10 Calibrate the cameras.
(>>> 10.16 "Calibrating a camera (stationary)" Page 73)
(>>> 10.17 "Calibrating cameras (moving)" Page 75)
11 Configure verification of the calibration.
(>>> 10.18 "Configuring verification of the calibration" Page 76)

10.3 Configuring the KUKA IPC

Procedure 1. Assign a fixed IP address to the KUKA IPC in the Windows network set-
tings.
2. Configure interfaces CH1 to CH4 in the Windows network settings as fol-
lows:
a. Assign fixed IP addresses to the interfaces. These addresses must be
in the same address range as the IP addresses of the cameras.
b. Activate the check boxes for the following settings:
 eBus Universal Pro Driver
 Internet Protocol Version 4 (TCP/IPv4)
c. Deactivate the check boxes for all other settings.
3. Set the Jumbo Packet setting to 9014 bytes in the driver settings of inter-
faces CH1 to CH4.
4. Deactivate the Windows firewall for interfaces CH1 to CH4.

10.4 Setting the IP address of the KUKA IPC in WorkVisual

Precondition  Project is open in WorkVisual.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 65 / 435

 KUKA.VisionTech 4.0

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Under the Options node, right-click on the option package.
3. Select Vision server settings in the context menu. A window opens.
4. Select the option Vision server running on external system (IPC) under
Connection settings.
5. Enter the IP address of the KUKA IPC in the IP address or computer
name box.
6. Save the project to apply the settings.

If the KUKA IPC is not accessible, it may be necessary to enable port

49016 in the Windows firewall. The KUKA IPC is not accessible if the
Connection state LED is red.

10.5 Configuring Ethernet KRL

Description In order to establish a connection between the kernel system and the image
processing system, the Ethernet KRL option must be configured. The number
of the flag that is to trigger execution of the interrupt program must be entered
here. The interrupt program monitors the result of the image processing. It is
triggered once the calculation of the image processing is completed.

Procedure 1. In the main menu, select VisionTech > Settings.

2. In the Result interrupt box, enter the number of the interrupt that is to be
used.
3. In the Wait flag result box, enter the number of the flag that is set as soon
as the task is processed by an inline form and all image processing results
have been transferred to KRL.
4. In the Result flag box, enter the number of the flag that is set as soon as
the image processing results are available. This flag triggers the interrupt
in the Result interrupt box.
5. In the No success flag box, enter the number of the flag that is set after
the task has been processed and an error has occurred.

This flag can be used to call an error treatment subprogram via an in-
terrupt.

6. In the EKI alive flag box, enter the number of the flag that is set as soon
as an EKI connection exists. The flag is reset if the connection is discon-
nected or interrupted.
7. Press Save and close the window.

10.6 Configuring cameras (smartHMI)

The camera network must not be connected to another network.

During productive operation, the network configuration must not be
changed.

Following installation of VisionTech, the network card is configured as follows:

 IP address: 192.169.2.100
 Subnet mask: 255.255.0.0

Precondition  The cameras are connected to the GigE switch.

 A free address range is available for the camera network.

66 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 10 Start-up

The address range of the camera network must not be in

the address range of the 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
3rd GigE camera 192.169.2.103 255.255.0.0
GigE network card in the robot 192.169.2.100 255.255.0.0
controller

Procedure 1. In the main menu, select VisionTech > Sensor overview.

2. Press Refresh sensors. If the connected cameras have been detected,
they are now displayed here.
3. Select the camera that is to be configured.
4. On the General tab, select the mounting type for the camera.
5. Optional: Enter a name, e.g. “Camera on robot”, in the Description box.
6. Press Save.
7. On the Network tab, enter the IP address of the camera and the subnet
mask for the address range of the camera network.
8. Save the settings.
9. Repeat steps 3 to 8 for further cameras.

Description

Fig. 10-9: Sensor overview

Box Description
Serial number Serial number of the cameras

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 67 / 435

 KUKA.VisionTech 4.0

Box Description
Description Description of the cameras
Status  Green: The camera is ready for operation.
 Red: The camera is not ready for operation
and can thus not be used.

10.7 Configuring cameras online (WorkVisual)

If the configuration is carried out online, it is possible to search for the cameras
in the network with WorkVisual and to insert them into the project. The camer-
as can then be configured.

Only if the cameras are connected to the KUKA IPC: The Windows
firewall must be deactivated for the network connections to which
cameras are connected.

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
3rd GigE camera 192.169.2.103 255.255.0.0

Precondition  Cameras are connected.

 A project is open.
 The option package is installed in WorkVisual and has been added to the
project.
 Additionally, if the KUKA IPC is being used:
 The option package is installed on the KUKA IPC.
 The IP address of the KUKA IPC is set in WorkVisual.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Open the Options node and right-click on the option package.
3. Select Search for vision cameras in the context menu. A window opens.
4. Click on Search for cameras at the top right. The search is started. If cam-
eras are found, they are listed under Cameras found.
5. Only if the cameras are connected to the KUKA IPC: If not all cameras
have been found, e.g. because they were connected during the runtime,
the service for image recognition on the KUKA IPC can be restarted:
a. Right-click on the option package and select Vision server settings.
A window opens.
b. Click on Reload camera hosts at the top right.
c. Confirm the request for confirmation with Yes.

The restart of the service for image recognition may cause a running
production system to stop.

After the restart, a search is carried out for network cards to which a cam-
era is connected. The network cards are displayed under Camera hosts.
Settings that can have a detrimental effect on the system are highlighted
in red.
6. Click on Add to project (all) at the top right of the Search for cameras
window. All cameras in the list are added to the project.

68 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 10 Start-up

7. Under Cameras found, click on the wrench icon next to the camera that
is to be configured. The camera settings window opens.
8. Optional: Modify the IP addresses of the cameras.
a. In the Device information area, click on Change IP configuration. A
window opens.
b. In the IP address and Subnet mask boxes, enter the IP address of
the camera and the subnet mask.
c. Click on Apply. The changes are saved on the camera.
9. Optional: Modify the settings in the General settings and I/O manage-
ment areas.

The serial number of the camera is preset and cannot be changed.

Further information about I/O management of the cameras can be

found in the “Appendix” (>>> 20.3 "I/O management of the cameras"
Page 418).

10. Save the project to apply the changes to the project.

11. Only if the KUKA IPC is being used: Click on Apply settings. The settings
that are not saved on the camera (General settings) are transferred to the
KUKA IPC.

Transfer is only possible if the camera is in the same subnet as the

KUKA IPC.

Description

Fig. 10-10: Cameras found

Item Description
1 Camera found
2 Opens the live image display of the camera
3 Opens the camera settings

10.8 Configuring cameras offline (WorkVisual)

Precondition  The option package is installed in WorkVisual.

 A project is open.

Procedure 1. Select the Hardware tab in the Project structure window.

2. Right-click on the robot controller and select Add…. A window opens.
3. Under the option package in the Options catalog, select the camera used
(MXG20 or VCXG25M).

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 69 / 435

 KUKA.VisionTech 4.0

Do not use the camera Generic in this step. This catalog element is
used for cameras that are not supplied by KUKA. These cameras are
automatically added to the project when the KUKA System Software
is started or the cameras are updated in the sensor overview. When the proj-
ect is transferred from the robot controller to WorkVisual, advanced settings
can be made for these cameras.

4. Click on Add. The camera is added to the project.

5. Optional: Rename the camera. To do this, enter a new name in the Prop-
erties window.
6. Right-click on the camera in the tree structure and select Camera settings
from the context menu. A window opens.
7. In the Device information area, enter the serial number of the camera.

To display the IP address and subnet mask of the camera here, the
project must be transferred to the robot controller, activated and then
transferred back to WorkVisual.

8. In the General settings area, select the mounting type for the camera.
9. Optional: Enter a name in the Description: box.
10. Optional: Carry out the desired settings in the I/O management area.

Further information about I/O management of the cameras can be

found in the “Appendix” (>>> 20.3 "I/O management of the cameras"
Page 418).

11. Save the project to accept the changes.

10.9 Aligning cameras (smartHMI)

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

10.10 Aligning cameras (WorkVisual)

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

70 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 10 Start-up

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

10.11 Setting the exposure time (smartHMI)

Precondition  The object to be measured (e.g. component or calibration plate) is located

in the field of vision of the camera.
 Cameras are connected and configured.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press on the live image of one camera. The live image is displayed in en-
larged form.
3. Enter the exposure time or set it using the slider control or the plus/minus
keys.
4. To save the standard exposure time, press Set default exposure. To
save the calibration exposure time, press Set calibration exposure.

10.12 Setting the exposure time (WorkVisual)

Precondition  The object to be measured (e.g. component or calibration plate) is located

in the field of vision of the camera.
 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 71 / 435

 KUKA.VisionTech 4.0

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Click on the live image. The live image is displayed in enlarged form.
4. Enter the exposure time or set it using the plus/minus keys.
5. To save the exposure time, click on Set default exposure. The exposure
time is saved in the project and transferred to the robot controller or
KUKA IPC.

10.13 Focusing the lens (smartHMI)

Precondition  The object to be measured (e.g. component or calibration plate) is located

in the field of vision of the camera.
 Cameras are connected and configured.
 The exposure time is set.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press on the live image of one camera. The live image is displayed in en-
larged form.
3. Enlarge the image section using the slider control or by tapping the image.
Move the image section using either the arrows at the edge of the screen
or a finger or stylus. The feature of the measurement object that is to be
sharply in focus must be in this image section.
4. Only if using the KUKA MXG20 camera: Unscrew the protective lens hood.
5. Loosen the fastening screws of the camera in order to be able to turn the
aperture and lens.
6. Select the f-number, exposure time and lens setting so that the measure-
ment object is sharply in focus in the image section.
7. Re-tighten the fastening screws.
8. Only if using the KUKA MXG20 camera: Screw the protective lens hood
back on.

10.14 Focusing the lens (WorkVisual)

Precondition  The object to be measured (e.g. component or calibration plate) is located

in the field of vision of the camera.
 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 The exposure time is set.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

72 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 10 Start-up

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Click on the live image. The live image is displayed in enlarged form.
4. Select the desired calibration plane. All subsequent images are perspec-
tive-controlled. If no calibration plane is selected, the images are not per-
spective-controlled.
5. Enlarge the image section using the slider control, by scrolling or by click-
ing on the image.
6. Move the image section using either the arrows at the edge of the screen
or drag&drop. The feature of the measurement object that is to be sharply
in focus must be in this image section.
7. Only if using the KUKA MXG20 camera: Unscrew the protective lens hood.
8. Loosen the fastening screws of the camera in order to be able to turn the
aperture and lens.
9. Select the f-number, exposure time and lens setting so that the measure-
ment object is sharply in focus in the image section.
10. Re-tighten the fastening screws.
11. Only if using the KUKA MXG20 camera: Screw the protective lens hood
back on.

10.15 Transferring the WorkVisual project

Description If the KUKA IPC is not being used, the project only needs to be transferred to
the robot controller. The procedure is the same as that described in the
WorkVisual documentation. If the KUKA IPC is being used, all settings must
additionally be transferred to the KUKA IPC.

Procedure 1. Click on the Deploy... button in the menu bar. The WorkVisual Project
Deployment window is opened. The virtual robot controller from the proj-
ect and the virtual KUKA IPC are displayed on the left-hand side. The real
robot controller and the real KUKA IPC are displayed on the right-hand
side.
2. Activate the corresponding check boxes on the left-hand side for both the
robot controller and the KUKA IPC.
3. Perform all other steps as described in the WorkVisual documentation.

10.16 Calibrating a camera (stationary)

During calibration, the IP address of camera must not be changed.

Precondition  Camera is mounted in a fixed position.

 Camera is connected and configured.
 Camera is aligned.
 Calibration exposure time is set.
 Calibration plate is attached. This is in the workpiece plane and in the field
of vision of the camera.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 73 / 435

 KUKA.VisionTech 4.0

Procedure 1. In the main menu, select VisionTech > Calibration.

A freeze-frame image from the camera is displayed on the fixed sensors
tab. If the camera is calibrated, the freeze-frame image has a green frame.
If the camera is not calibrated, the freeze-frame image has a red frame.
2. 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.
3. Select the camera by tapping on the freeze-frame image.
4. Press Calibration Wizard.
5. Press Take picture. The fiducial mark (cross at the center of the calibra-
tion plate) must be visible.

Fig. 10-11: Calibration plate with fiducial mark

1 Fiducial mark 2 Origin

Recommendations:
The camera should be directly above the calibration plate.
The calibration plate should fill as much of the image of the camera
as possible.

6. Press Calibration.
7. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
8. Select an existing calibration plane in the Calibration plane box or choose
Create new calibration plane... to create a new calibration plane:
a. Enter a name for the calibration plane in the Name box.
b. Optional: Enter a description of the calibration plane in the Descrip-
tion box.

Recommendation: The description of the calibration plane should

contain the number of the base used.

c. Select an existing base in the Base ID box or choose Measure new

base... to calibrate a new base. The base can, for example, be cali-
brated using the 3-point method.

74 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 10 Start-up

If an existing calibration plane is selected, the result is overwritten.

The base used must be calibrated to the calibration plate
(>>> Fig. 10-11 ).

Fig. 10-12: Base for a stationary camera

1 Stationary camera 2 Calibration plate

9. Press Save. The settings are saved.

10. Press Exit. The window closes.

10.16.1 Deleting a calibration plane

If a calibration plane used in a task is deleted, the task can no longer

be executed.

Procedure 1. In the main menu, select VisionTech > Calibration management.

2. In the Serial number box, select the camera used to create the calibration
plane.
3. In the Calibration result box, select the plane to be deleted.
4. Press Delete. The calibration plane is deleted.

10.17 Calibrating cameras (moving)

If a palletizing robot is used, it is not possible to calibrate moving (ro-

bot-guided) cameras.

During calibration, the IP addresses of cameras must not be

changed.

Precondition  Cameras are mounted on the robot flange.

 Cameras are connected and configured.
 Cameras are aligned.
 Calibration plate is mounted and is located in the field of vision of the cam-
eras.
 NULLFRAME tool is selected.

Procedure 1. In the main menu, select VisionTech > Calibration.

Freeze-frame images from the cameras are displayed on the moving sen-
sors tab. The freeze-frame images of the cameras that have already been
calibrated have a green frame. In the case of cameras that have not yet
been calibrated, the freeze-frame images have a red frame.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 75 / 435

 KUKA.VisionTech 4.0

2. Select the cameras that are to be calibrated by tapping the freeze-frame

images.
3. Press Calibration Wizard.
4. Move the robot to the first calibration pose and press Take picture. The
fiducial mark (cross at the center of the calibration plate) must be visible in
every pose. It is not possible to take 2 images in the same pose.

Recommendation: For the first pose, the cameras should be posi-

tioned directly above the calibration plate. In every pose, the cameras
should be at a different angle relative to the calibration plate; for this,
the robot must be moved.

5. Repeat step 4 for every pose. Record at least 6 poses. A maximum of 9

poses are possible.
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.
7. Press Calibration. The calibration process takes approx. 5 to 10 minutes.
8. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
9. Press Save. The result is saved.
10. Press Exit. The window closes.

The calibration coordinate system is defined on the basis of the fidu-

cial mark (>>> Fig. 15-1 ) and not visible to the user as a robot base.

10.18 Configuring verification of the calibration

During verification of the calibration, a measurement is used to detect whether

the position of a reference feature has changed relative to a reference position
that must be created once. This offset is compared with limit values defined by
the user. If the offset is greater than the defined limit values, this may indicate
a deterioration of the calibration. A deterioration of the calibration also results
in a deterioration of the image processing results.

The image processing results are heavily influenced by environmen-

tal factors, e.g. vibrations or stray light. These should be minimized in
order to maximize the stability and accuracy of the verification.

An example reference feature is provided with the software. After the software
has been installed on the service laptop, this example can be found in the Start
menu. We recommend using this reference feature. Any feature can be used
as the reference feature, however.

There must be only 1 reference feature in the field of vision of the

camera, as there may otherwise be errors in the verification.

Step Description
1 Install reference feature.
Note: The reference feature must be installed, if possible, in
the calibration plane that is to be verified. It must also be
located in the field of vision of the camera.

76 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 10 Start-up

Step Description
2 Configure the verification task.
(>>> 10.18.1 "Configuring the verification task" Page 77)
3 Determine the reference position.
(>>> 10.18.2 "Determining the reference position" Page 79)

10.18.1 Configuring the verification task

During configuration of a verification task, a tool block is assigned to the cam-

era. A tool block contains image processing tasks and has the file extension
VPP. Tool block files can be created in WorkVisual . Only 1 camera is required
for the verification task, as the verification is performed individually for each
camera.

Procedure 1. In the main menu, select VisionTech > Calibration verification. All cre-
ated verification tasks are displayed in an overview.
2. Press New and select the 2D verification type. A new verification task is
created.
3. Press Import tool block.
4. Select the directory in which the tool block file is located.
5. Select the tool block file and confirm with OK. The file is imported into Vi-
sionTech and can then be used for all verification tasks.
6. Press the button in the box of the desired verification task.
7. Optional: Change the name of the verification task in the Name box.
8. Select the desired camera in the Available sensors box and press the
button.
9. In the Tool block: box, select the tool block file that was imported for the
camera selected in the Available sensors box.

All tool block files imported in VisionTech are available. These can
also include tool block files that are not suitable for verification tasks,
e.g. because they were imported for the configuration of 3D tasks.

10. Next to the Tool block: box, press the button. A window opens with
the live image display.
11. In the Calibration plane box, select the calibration plane that is to be ver-
ified. If possible, the reference feature should be in this plane.
12. Optional: Enter the exposure time or set it using the plus/minus keys or the
slider control.
13. Press Apply. The settings are saved.
Configuration of the verification task has been successfully completed
when the button is black and the button is active.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 77 / 435

 KUKA.VisionTech 4.0

Description

Fig. 10-13: Configuring a verification task

Item Description
1 Back to Overview
2 Name of the verification task
The name is freely selectable.
3 List of all available cameras that can be used for this task
4 List of all imported tool block files
5 Switches to the live image display in which the following settings
are possible:
 Set exposure time
 0 … 200 ms
 Select calibration plane
 Take images from this camera
6 Deletes the selected camera from this task
7 Adds the selected camera to this task
8 Status of the verification task
 Green: Reference position has been determined successfully.
 Red: No reference position has yet been determined.
9 Perform verification task and determine reference position
 Active: The reference position can be determined.
 Inactive: The reference position cannot be determined. The
verification task is not configured.

The following buttons are available:

78 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 10 Start-up

Button Description
Save picture Acquires an image with the selected camera and
saves it
Save Saves the task configuration
Cancel Aborts the task configuration without saving

10.18.2 Determining the reference position

Precondition  The verification task has been configured.

 The reference feature is located in the field of vision of the camera.
 Disruptive influences, such as vibrations and stray light, have been mini-
mized.

Procedure 1. In the main menu, select VisionTech > Calibration verification.

2. Press the button in the box of the desired verification task. A window
opens.
3. Press Start. The reference position is determined using 50 image shots.
The results are displayed in the table under the image.
4. Optional: Click on the image once. The image is now displayed in its orig-
inal size. The image can be enlarged further by touching it. The image can
be increased or decreased in size using the slide controller. It is possible
to navigate within the image using the arrow keys or by dragging a finger
or stylus over the image.
5. Enter the desired limit values and press Save. Determination of the refer-
ence position has been successfully completed when the state of the ver-
ification task is green.
The position of the reference feature is now known; all deviations are rel-
ative to this position.

Description Once the reference position has been determined, the number of successful
cycles is displayed above the table. The image processing task is executed
once per cycle. Unsuccessful cycles indicate disruptive influences or unstable
setup of the image processing system. To ensure sufficient accuracy and sta-
bility, 50 successful cycles are strongly recommended.
The limit value defines the maximum permissible offset in the positive and
negative directions. If this limit value is exceeded, the verification fails. The
minimum limit value determined from the standard deviation (sigma) of the
corresponding component serves as an orientation value. The limit value
should be selected in such a way that a failure only occurs if the calibration
really has deteriorated.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 79 / 435

 KUKA.VisionTech 4.0

Fig. 10-14: Determined reference position (example)

Column Description
Mean value Mean value of the position (X, Y and A) of the reference
feature relative to the calibration coordinate system over 50
cycles
Sigma Standard deviation or variance of the measured values
from 50 cycles about the mean values of X, Y and A
Note: Large values can result in very large minimum limit
values that are not suitable for verification. In this case,
check the image processing and minimize disruptive influ-
ences as far as possible.
Min. limit Minimum possible limit value of the corresponding compo-
value +/- nent
Limit value Limit value for modification of the position of the reference
+/- feature in the positive and negative directions

Calculation The minimum limit value is calculated based on a type 1 study of a measure-
ment systems analysis using the following formula:
 Minimum limit value = (2 * s * Cg) / 0.2

Variable Description
s Variance of the 50 current measurements
Cg Measuring system analysis index
In this application, the measuring system analysis index
always has the value of 1.33.

80 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 11 Configuration

11 Configuration
f

11.1 Configuring a measurement task – overview

t

Step Description
1 Teach reference pose above the workpiece.
2 Create task and take images.
Only for 2D measurement tasks: (>>> 11.2 "Creating a task
and taking images (stationary)" Page 81)
For 2D and 3D measurement tasks: (>>> 11.3 "Creating a
task and taking images (moving)" Page 83)
The acquisition of images is alternatively possible with
WorkVisual: (>>> 11.4 "Acquiring images via WorkVisual"
Page 84)
3 Set up an image processing task in WorkVisual.
(>>> 11.5 "Setting up an image processing task in WorkVi-
sual" Page 84)
4 Configure task.
(>>> 11.6 "Configuring a 2D task" Page 87)
(>>> 11.9 "Configuring a 3D task" Page 92)
5 Generate model.
(>>> 11.7 "Generating a 2D model" Page 90)
(>>> 11.10 "Generating a 3D model" Page 95)
6 Test task.
(>>> 11.8 "Testing a 2D task" Page 91)
(>>> 11.11 "Testing a 3D task" Page 95)
7 Create KRL program.

11.2 Creating a task and taking images (stationary)

Precondition  The camera is networked and calibrated.

 The network has been configured.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Press New and select the 2D fixed type. A new 2D task is created.
3. In the Tasks area, click on the button in the box of the desired task.
4. Optional: Change the name of the option package in the Name box.
5. In the Position data area, select whether relative or absolute position data
are to be used.
(>>> 11.2.1 "Relative and absolute position data" Page 82)
6. Select the desired camera in the Available sensors box and press the
button.
7. Next to the Tool block: box, press the button. A window opens with
the live image display.
8. Select the calibration plane in the Calibration plane box and press Save
picture.
The image is saved in the directory C:\KRC\TP\VisionTech\Snap-
shots\Name of the task\Camera serial number\Name of the plane. The Snap-

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 81 / 435

 KUKA.VisionTech 4.0

shots folder is a shared network resource. A maximum of 20 images can

be saved per calibration plane; any further images overwrite the oldest ex-
isting image.

If images without distortion correction are required, images can also

be acquired without selecting a calibration plane:
Press Save picture(s) in the Task configurationarea.
 Or: Press Save picture in the window with the live image display.

11.2.1 Relative and absolute position data

In the case of 2D tasks with stationary cameras, it is possible to work with rel-
ative or absolute position data from the image processing system.
 Relative: All position data refer to the position of the workpiece at the time
of model generation. In the case of relative position data, a model must be
generated.
 Absolute: All position data refer to the origin of the calibration coordinate
system. In the case of absolute position data, it is not necessary to gener-
ate a model. All objects can be addressed directly in KRL without the need
for teaching.

Fig. 11-1: Example: Relative position data

Item Description
1 Fiducial mark
2 Origin of the calibration coordinate system
3 Position of the workpiece at the time of model generation
4 Current position of the workpiece
5 Relative position data

82 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 11 Configuration

Fig. 11-2: Example: Absolute position data

Item Description
1 Fiducial mark
2 Origin of the calibration coordinate system
3 Position of workpiece 1
4 Position of workpiece 2
5 Absolute position data

11.3 Creating a task and taking images (moving)

Precondition  The cameras are networked.

 The network has been configured.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Press New and select the type 2D moving or 3D moving. A new task is
created.
3. In the Tasks area, click on the button in the box of the desired task.
4. Optional: Change the name of the option package in the Name box.
5. Select the desired camera in the Available sensors box and press the
button.

If a 3D task has been created, 2 cameras must be selected.

6. Press Save picture(s).

Alternative procedure:
a. Next to the Tool block: box, press the button. A window opens
with the live image display.
b. Press Save picture.

The alternative procedure is not recommended for 3D tasks, as the

images of both cameras are taken at different times.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 83 / 435

 KUKA.VisionTech 4.0

The images are saved in the directory C:\KRC\TP\VisionTech\Snap-

shots\Name of the task\Camera serial number. The Snapshots folder is a
shared network resource. A maximum of 20 images can be saved per
camera; any further images overwrite the oldest existing image.

11.4 Acquiring images via WorkVisual

Precondition  Project is open in WorkVisual.

 Camera has been added to the project.
 Camera is accessible via the network.
 Only if using the KUKA IPC:
 The option package is installed on the KUKA IPC.
 The IP address of the KUKA IPC is set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. A window opens
with the live image display.
3. Optional: Select the desired calibration plane. All subsequent images are
perspective-controlled. If no calibration plane is selected, the images are
not perspective-controlled.
4. Optional: Click on Select folder and change the directory to which the im-
ages are saved. Confirm with OK.
5. Click on Save image. The image is saved as a PNG file. This file name is
made up as follows: Serial-number_Calibration-plane_Year-Month-
Day_Hour-Minute-Second-Millisecond.

11.5 Setting up an image processing task in WorkVisual

Step Description
1 Only necessary if the images were acquired via the robot con-
troller:
Save perspective-controlled images to a USB stick or make
them available via the network.
2 Create a tool block file in WorkVisual.
(>>> 11.5.1 "Creating a tool block file in WorkVisual"
Page 85)
3 Transfer the tool block file to the robot controller or KUKA
IPC.
(>>> 11.5.3 "Transferring a tool block file to the robot control-
ler or KUKA IPC" Page 87)

84 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 11 Configuration

11.5.1 Creating a tool block file in WorkVisual

If the text size in Windows is set to greater than 100%, graphics, texts
and input boxes may be shifted and/or overlap. This may restrict op-
eration of the plug-in. In this case, set the text size in Windows to
100%.

For 2D applications, use of the KUKA V2 tool block templates is rec-

ommended (>>> 20.2 "Tool block templates (KUKA V2)" Page 402).
The KUKA V1 2D templates are still retained for reasons of compati-
bility only.

Precondition  Only if live images from a camera are to be used:

 Project is open in WorkVisual.
 The cameras have been added to the project.
 The cameras can be accessed via the network.
 Only if using the KUKA IPC: The IP address of the KUKA IPC is set in
WorkVisual.

Procedure 1. Open the tool block editor:

 Select the menu sequence Editors > Options packages > Vision-
Tech > Tool block editor.

 Alternatively: Click on the button.

2. Select the menu sequence Tool block > New > KUKA v1 or KUKA v2 >
2D or 3D.
3. Select images:
 Use live images from a camera:
i. Select the menu sequence Image source > Camera and select
the desired camera. The live image from the camera is opened.
ii. Optional: Change the exposure time and set the calibration plane.
iii. Click on the button to apply the changes to the next image.
 Use images from a directory: Select the menu sequence Image
source > File... or Directory... and select the image(s) that were tak-
en using the controller.

4. Click on the button. The image(s) are inserted next to the inputs under
InputImage.

5. Click on the button. Tools and templates are displayed.

(>>> 20.1 "Tool block templates (KUKA V1)" Page 389)
(>>> 20.2 "Tool block templates (KUKA V2)" Page 402)
6. Select the desired template or tool and drag it between the inputs and out-
puts.
7. Optional: Edit parameters in the script:
a. Double-click on the template or tool.
b. Click on the button. The script opens.
c. Open the User Variables / Settings area and modify the desired pa-
rameters.
8. Link the inputs and outputs, e.g. InputImage under the inputs with InputIma-
ge in the template. To do so, click on the input or output and drag it onto
the other input or output. The link is indicated by an arrow.
9. Double-click on the template and configure the desired patterns.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 85 / 435

 KUKA.VisionTech 4.0

10. Click on the button and choose whether the tool should be saved com-
pletely or without images or results.
11. Select a directory and click on Save.

Description

Fig. 11-3: VisionTech plug-in – overview

1 Linking arrow

Menu sequence Description

Tool block > New Creates a new tool block of the selected type.
Tool block > Open Opens a tool block from a selected directory.
Tool block > Down- Downloads one or more tool blocks from the
load from... robot controller or KUKA IPC.
(>>> 11.5.2 "Loading tool block files from the
robot controller or KUKA IPC" Page 86)
Tool block > Upload Transfers a tool block to the robot controller or
to... KUKA IPC.
(>>> 11.5.3 "Transferring a tool block file to the
robot controller or KUKA IPC" Page 87)
Image source > File... The selected file is used as the image source for
the tool block.
Image source > The images from the selected directory are used
Directory... as the image source for the tool block.
Image source > Cam- The live images from the selected camera are
era used as the image source for the tool block.

11.5.2 Loading tool block files from the robot controller or KUKA IPC

Precondition  Project is open in WorkVisual.

 The tool block editor is open.
 Only if using the KUKA IPC:
 The option package is installed on the KUKA IPC.

86 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 11 Configuration

 The IP address of the KUKA IPC is set in WorkVisual.

Procedure 1. Select the menu sequence Tool block > Download from... and select the
robot controller or KUKA IPC. A window with an overview opens. All tool
block files located on the robot controller or KUKA IPC are displayed in the
overview.
2. If a tool block file is to be opened after loading in the tool block editor: Se-
lect the file and click on Open. The file is loaded from the robot controller
or KUKA IPC and then opened.
If one or more tool block files are to be downloaded from a directory:
a. Select the desired tool block files and click on Download. If existing
tool block files are to be overwritten, activate the check box for Over-
write existing.
b. Select a directory and confirm with OK. The tool block files are loaded
from the robot controller or KUKA IPC and saved in the selected direc-
tory.
c. Close the window.

11.5.3 Transferring a tool block file to the robot controller or KUKA IPC

Precondition  Project is open in WorkVisual.

 Tool block is opened in the tool block editor.
 Only if using the KUKA IPC:
 The option package is installed on the KUKA IPC.
 The IP address of the KUKA IPC is set in WorkVisual.

Procedure  Select the menu sequence Tool block > Upload to... and select the robot
controller or KUKA IPC. The tool block file is transferred. If the transfer was
successful, a corresponding message is displayed in the message win-
dow.

11.6 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.
For 2D tasks, only 1 camera is needed; the calibration is carried out at the
workpiece level.

Precondition  A 2D task has been created.

 The following inputs and outputs are preconfigured in the tool block:

Input Type Description

InputImage ICogImage Input image on which the image process-
ing task is carried out
NumberOf- INT Number of components to be detected by
Parts means of the image processing

If using the tool block templates (KUKA V1):

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 87 / 435

 KUKA.VisionTech 4.0

Output Type Description

PartResults List<CogTrans- Positions of the found components in
form2DLinear> image coordinates
Scores List<Double> Accuracy with which the components
were detected
Graphic CogGraphic- Graphic showing the results of the image
Collection processing task

If using the tool block templates (KUKA V2):

Output Type Description

Results VisionTech- List of the generated results
Result-
This list contains the positions of the
Collection2D
workpieces found, the accuracy (score),
the result graphics and the object attri-
butes.

 The following outputs can optionally be preconfigured:

Output Type Description

Error Exception Exceptions or errors that occur during
execution of the image processing 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 semico-
lon since this is used as an internal sepa-
rator.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. In the task overview, press Import tool block.
3. Select the directory in which the tool block file is located.
4. Select the tool block file and confirm with OK. The file is imported into Vi-
sionTech and can then be used for all tasks.
5. In the Tasks area, click on the button in the box of the desired task.
6. In the No. of parts area, select the number of components to be found.
7. In the Tool block box, select the tool block file that was imported for the
camera selected in the Available sensors box.
8. Next to the Tool block box, press the button. A window opens with
the live image display.
9. Select the calibration plane in the Calibration plane box.
10. Optional: Enter the exposure time or set it using the plus/minus keys or the
slider control.
11. Press Apply. The settings are saved.
Configuration of the task has been successfully completed when the icon
in the task configuration changes to green.

88 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 11 Configuration

Description

Fig. 11-4: Configuring a 2D task

Item Description
1 Back to Overview
2 Name of the task
The name is freely selectable.
3 Position data
(>>> 11.2.1 "Relative and absolute position data" Page 82)
Note: This box is only relevant for 2D tasks with a stationary cam-
era.
4 List of all available cameras that can be used for this task
5 List of all imported tool block files
6 Switches to the live image display in which the following settings
are possible:
 Set exposure time
 0 … 200 ms
 Select calibration plane
 Take images from this camera
7 Deletes the selected camera from this task
8 Adds the selected camera to this task
9 Generate model
 Check box active: Model has been successfully generated.
 Check box not active: No model has yet been generated.
 Inactive: Model is not relevant (with absolute position data)
10 Select the number of parts

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 89 / 435

 KUKA.VisionTech 4.0

Item Description
11 State of the task
 Green: Task has been successfully configured.
 Red: Task is not configured.
12 Test task
 Active: The task can be tested.
 Inactive: The task cannot be tested. No model has yet been
generated, or the task is not configured.

The following buttons are available:

Button Description
Save picture(s) Acquires an image with the selected camera and
saves it
Save Saves the task configuration
Cancel Aborts the task configuration without saving

11.7 Generating a 2D model

11.7.1 2D model with a stationary camera

A model is only required if relative position data are used.

Precondition  The robot base is calibrated to the calibration base.

(>>> 10.16 "Calibrating a camera (stationary)" Page 73)
 The task is configured; relative position data have been selected.
 There is only 1 component in the field of vision of the camera.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. In the Tasks area, click on the button in the box of the desired task.
3. Press the Model button.
A model is generated and a results window with an image and a table is
displayed. Areas detected by the camera are indicated in green in the im-
age. The results image is displayed in miniature for a better overview.
Generation of the model has been successfully completed when the Mod-
el button has a check mark. The position of the reference workpiece in the
calibration base is now known; all position data of other workpieces are
relative to this position.
4. Optional: Click on the image once. The image is now displayed in its orig-
inal size. The image can be enlarged further by touching it. The image can
be increased or decreased in size using the slide controller. It is possible
to navigate within the image using the arrow keys or by dragging a finger
or stylus over the image.

11.7.2 2D model with a moving camera

Precondition  The selected workpiece base meets the following criteria:

 The XY plane of the workpiece base is located on the surface of the
component.
 The Z axis of the workpiece base points in the same direction as the Z
axis of the calibration coordinate system.

90 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 11 Configuration

It is advisable to calibrate the workpiece base on the calibration plate.

The robot position used for image acquisition should be taught in this
workpiece base.

 The task has been configured.

 There is only 1 component in the field of vision of the camera.
 The NULLFRAME tool is selected.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Move the robot to the reference pose.
3. In the Tasks area, click on the button in the box of the desired task.
4. Press the Model button. Answer the query with Yes.
A model is generated and a results window with an image and a table is
displayed. Areas detected by the camera are indicated in green in the im-
age. The results image is displayed in miniature for a better overview.
Generation of the model has been successfully completed when the Mod-
el button has a check mark. The position of the reference workpiece in the
workpiece base is now known; all position data of other workpieces are rel-
ative to this position.
5. Optional: Click on the image once. The image is now displayed in its orig-
inal size. The image can be enlarged further by touching it. The image can
be increased or decreased in size using the slide controller. It is possible
to navigate within the image using the arrow keys or by dragging a finger
or stylus over the image.

11.8 Testing a 2D task

Precondition  The task has been configured.

 Only if relative position data are used: the model has been generated.
 The base is the same as was used for model generation.
 Only if a robot-guided camera is used: the NULLFRAME tool is selected.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Only with use of a moving camera: move the robot to the reference pose.
3. In the Tasks area, click on the button in the box of the desired task.
The test is carried out and a results overview is displayed. The results im-
age is displayed in miniature for a better overview.
4. Optional: Click on the image once. The image is now displayed in its orig-
inal size. The image can be enlarged further by touching it. The image can
be increased or decreased in size using the slide controller. It is possible
to navigate within the image using the arrow keys or by dragging a finger
or stylus over the image.
If user data from the tool block have been transferred, they are displayed
beneath the enlarged image.
5. Optional: If inputs have been configured in the tool block, set the inputs
and repeat the test.
a. Press Input parameters in the results window.
b. Select each input in the Parameter column and select or enter Test
value a value.
c. Press Execute.

Description If multiple workpieces were detected in the test, individual workpieces can be
selected from a list in the overview of the results. Areas detected by the cam-
eras are indicated in green in the images.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 91 / 435

 KUKA.VisionTech 4.0

Depending on whether relative or absolute position data have been used, dif-
ferent values are displayed in the table:
 In the case of relative position data: difference between the reference po-
sition used for model generation and the calculated position
 In the case of absolute position data: deviation of the position of the indi-
vidual workpiece from the origin of the calibration coordinate system

Fig. 11-5: Result of a 2D task test (example)

1 List of the workpieces found

11.9 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:

Input Type Description

InputImage ICogImage Input image on which the image process-
ing task is carried out
NumberOf- INT Number of components to be detected by
Parts means of the image processing

Output Type Description

Graphic CogGraphic- Graphic showing the results of the image
Collection processing task
Features List<Cog3D- List of features found by means of the
Crsp2D3D> image processing

92 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 11 Configuration

 The following outputs can optionally be preconfigured:

Output Type Description

Error Exception Exceptions or errors that occur during
execution of the image processing 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 semico-
lon since this is used as an internal sepa-
rator.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. In the task overview, press Import tool block.
3. Select the directory in which the tool block file is located.
4. Select the tool block file and confirm with OK. The file is imported into Vi-
sionTech and can then be used for all tasks.
5. In the Tasks area, click on the button in the box of the desired task.
6. In the No. of parts area, select the number of components to be found.

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.

7. Repeat steps 2 to 4 for further tool block files used.

8. In the Tool block box, select the tool block files that were imported for the
cameras selected in the Available sensors box.
9. Next to the Tool block box, press the button. A window opens with
the live image display.
10. Optional: Enter the exposure time or set it using the plus/minus keys or the
slider control.
11. Press Apply. The setting is saved.
Configuration of the task has been successfully completed when the icon
in the task configuration changes to green.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 93 / 435

 KUKA.VisionTech 4.0

Description

Fig. 11-6: Configuring a 3D task

Item Description
1 Back to Overview
2 Name of the task
The name is freely selectable.
3 Generate model
 Check box active: Model has been successfully generated.
 Check box not active: No model has yet been generated.
4 List of all available cameras that can be used for this task
5 List of all imported tool block files
6 Switches to the live image display in which the following settings
are possible:
 Set exposure time
 0 … 200 ms
 Take images from this camera
7 Deletes the selected camera from this task
8 Adds the selected camera to this task
9 Select the number of parts
10 State of the task
 Green: Task has been successfully configured.
 Red: Task is not configured.
11 Test task
 Active: The task can be tested.
 Inactive: The task cannot be tested. No model has yet been
generated, or the task is not configured.

The following buttons are available:

94 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 11 Configuration

Button Description
Save picture(s) Acquires an image with the selected camera and
saves it
Save Saves the task configuration
Cancel Aborts the task configuration without saving

11.10 Generating a 3D model

Precondition  The task has been configured.

 There is only 1 component in the field of vision of the cameras.
 The NULLFRAME tool is selected.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Move the robot to the reference pose.
3. In the Tasks area, click on the button in the box of the desired task.
4. Press the Model button. Answer the query with Yes.
A model is generated and a results window with images and a table is dis-
played. Areas detected by the cameras are indicated in green in the imag-
es. The results images are displayed in miniature for a better overview. All
configured model points are listed in the table. For each model point, the
model type is specified and whether or not it has been found. The maxi-
mum and mean error when finding the model point are also specified. For
good results, the RMS error should be < 1 mm.
Generation of the model has been successfully completed when the Mod-
el button has a check mark. The position of the reference workpiece is now
known; all position data of other workpieces are relative to this position.
5. Optional: Click on the image once. The image is now displayed in its orig-
inal size. The image can be enlarged further by touching it. The image can
be increased or decreased in size using the slide controller. It is possible
to navigate within the image using the arrow keys or by dragging a finger
or stylus over the image.

11.11 Testing a 3D task

Precondition  The task has been configured.

 The model has been generated.
 The base is the same as was used for model generation.
 The NULLFRAME tool is selected.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Move the robot to the reference pose.
3. In the Tasks area, click on the button in the box of the desired task.
The test is carried out and a results overview is displayed. The results im-
ages are displayed in miniature for a better overview.
4. Optional: Click on the image once. The image is now displayed in its orig-
inal size. The image can be enlarged further by touching it. The image can
be increased or decreased in size using the slide controller. It is possible
to navigate within the image using the arrow keys or by dragging a finger
or stylus over the image.
If user data from the tool block have been transferred, they are displayed
beneath the enlarged image.

Description If multiple workpieces were detected in the test, individual workpieces can be
selected from a list in the overview of the results. Areas detected by the cam-

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 95 / 435

 KUKA.VisionTech 4.0

eras are indicated in green in the images. The differences between the refer-
ence position and the calculated position are displayed in the table.
The value of Score is the mean square residual error after calculation of the
object position relative to the nominal position. If the position of the object can-
not be calculated, Score has the value -1.

Fig. 11-7: Result of a 3D task test (example)

1 List of the workpieces found

96 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 12 Programming with inline forms and t...

12
2
Programming with inline forms and templates

Examples of programming with inline forms can be found in the chap-

ter “Example programs”.
(>>> 14 "Example programs" Page 131)

Precondition  VisionTech is licensed.

 The tool and base are calibrated.
 The cameras used have been calibrated.
 The task has been configured.
 Ethernet KRL is configured.

12.1 Inline form “Trigger”

Precondition  Expert user group

 Program is selected or open.
 T1, T2 or AUT mode

Procedure  Select the menu sequence Commands > VisionTech > Trigger.

Description This instruction requests image acquisition with the camera configured in the
specified task. The generated image is evaluated with the image processing
task. Inputs configured in the tool block are taken into consideration.

This instruction can only be used to process one task at a time. It is

not possible to process multiple tasks simultaneously and then wait
for a result (WaitForResult instruction).

Fig. 12-1: Inline form “Trigger”

Item Description
1 Name of the task
All available tasks are displayed in the list. Verification tasks are
not displayed.
2 Input for the tool block
Touch the arrow to edit the data. The corresponding option win-
dow is opened.
(>>> 12.1.1 "Option window “Input”" Page 98)
Note: This box is only displayed if the input has been configured
in the tool block and corresponds to the naming convention.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 97 / 435

 KUKA.VisionTech 4.0

12.1.1 Option window “Input”

Fig. 12-2: Option window “Input”

Item Description
1 New value to be used by the tool block
Possible data types: Double, Boolean, String, Int32
2  Check box active: The value under item 1 is used by the tool
block; the default value is overwritten.
 Check box not active: The default value is used and dis-
played in item 1.

12.2 Inline form “WaitForResult”

Precondition  Expert user group

 Program is selected or open.
 T1, T2 or AUT mode

Procedure  Select the menu sequence Commands > VisionTech > WaitForResult.

Description This instruction is used to wait for a result of the image processing task. As
soon as a valid result is present, the program execution is resumed.

Fig. 12-3: Inline form “WaitForResult”

Item Description
1 Name of the task
All available tasks are displayed in the list. Verification tasks are
not displayed.

12.3 Inline form “SetTargetBase”

Precondition  Expert user group

 Program is selected or open.
 T1, T2 or AUT mode

98 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 12 Programming with inline forms and t...

Procedure  Select the menu sequence Commands > VisionTech > SetTargetBase.

Description The instruction calculates the temporary workpiece base on the basis of the
calibration base and the result of the image processing task. In this way, the
original calibration data remain available in the calibration base.

It is advisable only to use the workpiece base for the offset points.

Fig. 12-4: Inline form “SetTargetBase”

Item Description
1 Calibration base
2 Workpiece base

12.4 Inline form “LoopResults”

Precondition  Expert user group

 Program is selected or open.
 T1, T2 or AUT mode

Procedure 1. Select the menu sequence Commands > VisionTech > LoopResults.
2. Press Cmd OK to save the instruction.
3. Press Open/close fold.
4. Insert the desired instructions (e.g. SetTargetBase) into the fold.

Description The instruction executes the instructions contained in the fold for all results of
the image processing task. In the case of an error or if no workpiece is found,
the flag No success flag is briefly set to TRUE. This allows individual error
evaluation to be carried out (e.g. using an interrupt).

If the instruction is deleted, the instructions contained in the fold are

also deleted.

Fig. 12-5: Inline form “LoopResults”

12.5 Inline form “Direct”

Precondition  User group “Expert”

 Program is selected or open.
 T1, T2 or AUT mode
 At least 2 points have already been taught.

Procedure  Select the menu sequence Commands > VisionTech > Direct.

Description The instruction calculates the shortest path between two points. Status and
Turn of the destination point are overwritten. The instruction only affects des-

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 99 / 435

 KUKA.VisionTech 4.0

tination points that are addressed with the motion type PTP. Direct is executed
in the advance run.

If points are added or modified in an open program, these changes

are not displayed in the inline form until the program has been closed
and opened again.

Fig. 12-6: Inline form “Direct”

Item Description
1 Start point
2 Tool and base of the start point
Touch the arrow to edit the data. The corresponding option win-
dow is opened.
(>>> 12.5.1 "Option window “Tool/base for start point”" Page 100)
3 End point
4 Tool and base of the destination point
Touch the arrow to edit the data. The corresponding option win-
dow is opened.
(>>> 12.5.2 "Option window “Tool/base for destination point”"
Page 101)

12.5.1 Option window “Tool/base for start point”

Fig. 12-7: Option window “Tool/base for start point”

Item Description
1 Select tool of the start point.
This box is only active if manual input has been selected for item 3.
2 Select base of the start point.
This box is only active if manual input has been selected for item 3.
3  From .dat file: Tool and base are read from the data list.
 Input: Enter the tool and base manually.

100 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 12 Programming with inline forms and t...

12.5.2 Option window “Tool/base for destination point”

Fig. 12-8: Option window “Tool/base for destination point”

Item Description
1 Select tool of the destination point.
This box is only active if manual input has been selected for item 3.
2 Select base of the destination point.
This box is only active if manual input has been selected for item 3.
3  From .dat file: Tool and base are read from the data list.
 Input: Enter the tool and base manually.

12.6 Templates for VisionTech robot programs

The following templates are available for VisionTech robot programs:

 VT_2DStationary: For 2D programs with a stationary camera
(>>> 12.6.1 "Template VT_2DStationary" Page 101)
 VT_2DMoving: For 2D programs with robot-guided cameras
(>>> 12.6.2 "Template VT_2DMoving and VT_3DMoving" Page 104)
 VT_3DMoving: For 3D programs with robot-guided cameras
(>>> 12.6.2 "Template VT_2DMoving and VT_3DMoving" Page 104)
 VT_2DVerifyStationary: For 2D verification programs with a stationary
camera
(>>> 12.6.3 "Template VT_2DVerifyStationary" Page 106)

12.6.1 Template VT_2DStationary

In the case of a task with a short runtime, it is possible that the pro-
gram may stop in the line with the subprogram
VT_WAITFORRESULT. The following options are available for
avoiding this:
 Program an advance run stop before execution of the task.
 Program the VT_TASKTRIGGER subprogram instead of the
VT_TASKTRIGGER_ADRUN subprogram (also causes an advance run
stop)
 Do not program any motion instructions between the BCO run and the
Open the communication fold.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 101 / 435

 KUKA.VisionTech 4.0

Program ...
11 ;Define the task name here
12 TaskName[] = "Unknown"
13 ;---------------------------------------------------
14 ;Define the number of the calibration base here
15 CalibrationBaseNo = 0
16 ;---------------------------------------------------
17 ;Define the number of the part base here
18 TargetBaseNo = 0
19 ;---------------------------------------------------
20 ;Define the config file name here
21 ; -> Usually you dont have to change it
22 ConfigFile[] = "VisionTechConfig"
23
24 PTP HOME Vel=100 % DEFAULT
25 Open the communication
26
27 Set your inputs here
28 Trigger the task
29 Wait for result
30
31 ;---------------------------------------------------
32 ;This loop is used to handle each result of the task
33 FOR ObjectCounter = 1 TO ResultCounter
34
35 ;------------------------------------------------
36 ;The results of the toolblock are checked here
37 $FLAG[VTNoSuccessFlagNo] = NOT VT_CheckResult
(Results[ObjectCounter])
38
39 ;------------------------------------------------
40 ;Switch between the result types; -1 is DEFAULT
41 SWITCH Results[ObjectCounter].TypeId
42 CASE -1
43 Read the result attributes here
44 IF NOT $FLAG[VTNoSuccessFlagNo] THEN
45 ;---------------------------------------------
46 ;The part base is adjusted here
47 BASE_DATA[TargetBaseNo] = BASE_DATA[CalibrationBaseNo] :
VT_GetCorrectionFrame(Results[ObjectCounter])
48
49
;---------------------------------------------
50 ;Insert your part handling here
51 ;Use base data of the TargetBaseNo
52
53
54 ELSE
55 ;---------------------------------------------
56 ;Do error handling here
57
58
59
60 $FLAG[VTNoSuccessFlagNo] = FALSE
61 ENDIF
62 ENDSWITCH
63 ENDFOR
64 ObjectCounter = 1
65
66 Clear buffer

102 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 12 Programming with inline forms and t...

67 Close the communication

68 PTP HOME Vel=100 % DEFAULT
69
70 END

Description
Line Description
12 Enter the name of the task.
15 Enter the number of the calibration base.
18 Enter the number of the workpiece base.
Note: It is advisable to use this base only as a workpiece base,
as it is cyclically overwritten.
22 Specify the configuration file to be used.
Note: The configuration file is predefined by default and only
needs to be changed if more than 31 workpieces are to be
detected.
25 Communication to the image processing system is established
in this fold.
26 Motions can be inserted here to ensure that the manipulator is
outside the image acquisition range of the camera.
27 Inputs for the tool block can be defined in this fold. The fold
contains an example for every data type.
Note: In order to be able to use the inputs, they must first be
configured in the tool block.
28 Image acquisition during approximate positioning is requested
in this fold.
29 This fold waits for the result of the image processing. The
manipulator can be moved in the meantime, but these motions
must not interfere with the image acquisition range of the cam-
era.
33 If multiple workpieces have been detected, this loop executes
instructions for all workpieces.
37 Here the system checks whether the image processing task
was executed successfully.
41 If there are different types of workpiece, this instruction can be
used to execute individual instructions for the specific work-
piece type.
43 Object attributes from the tool block can be polled in this fold.
The fold contains an example for every data type.
Note: In order to be able to use the object attributes, they must
first be configured in the tool block.
47 If a workpiece has been detected successfully, the base is off-
set with this instruction.
52 Program here the instructions that are to be executed for the
detected workpieces. The workpiece base (line 18) must be
used for this.
57 Error treatment instructions can be programmed here.
66 In this fold, the memory is deleted.
67 Communication to the image processing system is discon-
nected in this fold.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 103 / 435

 KUKA.VisionTech 4.0

12.6.2 Template VT_2DMoving and VT_3DMoving

Program ...
11 ;Define the task name here
12 TaskName[] = "Unknown"
13 ;---------------------------------------------------
14 ;Define the number of the calibration base here
15 CalibrationBaseNo = 0
16 ;---------------------------------------------------
17 ;Define the number of the part base here
18 TargetBaseNo = 0
19 ;---------------------------------------------------
20 ;Define the config file name here
21 ; -> Usually you dont have to change it
22 ConfigFile[] = "VisionTechConfig"
23
24 PTP HOME Vel=100 % DEFAULT
25 Open the communication
26
27 ;---------------------------------------------------
28 ;Insert the camera position here
29
30
31 Set your inputs here
32 Trigger the task
33
34 ;---------------------------------------------------
35 ;This loop is used to handle each result of the task
36 FOR ObjectCounter = 1 TO ResultCounter
37
38 ;------------------------------------------------
39 ;The results of the toolblock are checked here
40 $FLAG[VTNoSuccessFlagNo] = NOT VT_CheckResult
(Results[ObjectCounter])
41
42 ;------------------------------------------------
43 ;Switch between the result types; -1 is DEFAULT
44 SWITCH Results[ObjectCounter].TypeId
45 CASE -1
46 Read the result attributes here
47 IF NOT $FLAG[VTNoSuccessFlagNo] THEN
48 ;---------------------------------------------
49 ;The part base is adjusted here
50 BASE_DATA[TargetBaseNo] = BASE_DATA[CalibrationBaseNo] :
VT_GetCorrectionFrame(Results[ObjectCounter])
51
52 ;---------------------------------------------
53 ;Insert your part handling here
54 ;Use base data of the TargetBaseNo
55
56
57 ELSE
58 ;---------------------------------------------
59 ;Do error handling here
60
61
62
63 $FLAG[VTNoSuccessFlagNo] = FALSE
64 ENDIF
65 ENDSWITCH

104 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 12 Programming with inline forms and t...

66 ENDFOR
67 ObjectCounter = 1
68
69 Clear buffer
70 Close the communication
71 PTP HOME Vel=100 % DEFAULT
72
73 END

Description
Line Description
12 Enter the name of the task.
15 Enter the number of the calibration base.
18 Enter the number of the workpiece base.
Note: It is advisable to use this base only as a workpiece base,
as it is cyclically overwritten.
22 Specify the configuration file to be used.
Note: The configuration file is predefined by default and only
needs to be changed if more than 31 workpieces are to be
detected.
25 Communication to the image processing system is established
in this fold.
29 Program motions here to move the camera (or cameras in the
case of 3D) to the same position as during calibration.
31 Inputs for the tool block can be defined in this fold. The fold
contains an example for every data type.
Note: In order to be able to use the inputs, they must first be
configured in the tool block.
32 This fold requests an image acquisition and waits for the result
of the image processing.
36 If multiple workpieces have been detected, this loop executes
instructions for all workpieces.
40 Here the system checks whether the image processing task
was executed successfully.
44 If there are different types of workpiece, this instruction can be
used to execute individual instructions for the specific work-
piece type.
46 Object attributes from the tool block can be polled in this fold.
The fold contains an example for every data type.
Note: In order to be able to use the object attributes, they must
first be configured in the tool block.
50 If a workpiece has been detected successfully, the base is off-
set with this instruction.
55 Program here the instructions that are to be executed for the
detected workpieces. The workpiece base (line 18) must be
used for this.
60 Error treatment instructions can be programmed here.
69 In this fold, the memory is deleted.
70 Communication to the image processing system is discon-
nected in this fold.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 105 / 435

 KUKA.VisionTech 4.0

12.6.3 Template VT_2DVerifyStationary

Program ...
10 ;Define the verification task name here
11 TaskName[] = "Unknown"
12 ;---------------------------------------------------
13 ;Define the config file name here
14 ; -> Usually you dont have to change it
15 ConfigFile[] = "VisionTechConfig"
16
17 PTP HOME Vel=100 % DEFAULT
18 Open the communication
19
20 Trigger the task
21
22 ;------------------------------------------------
23 ;The results of the toolblock are checked here
24 $FLAG[VTNoSuccessFlagNo] = NOT VT_CheckVerifyResult(VerifyResult)
25
26 IF NOT $FLAG[VTNoSuccessFlagNo] THEN
27 IF NOT VerifyResult.IsInLimit THEN
28 ;---------------------------------------------
29 ;Do verification result not in range handling
30
31
32 ELSE
33 ;---------------------------------------------
34 ;Verification successful
35
36
37 ENDIF
38 ELSE
39 ;---------------------------------------------
40 ;Do error handling here
41
42
43 $FLAG[VTNoSuccessFlagNo] = FALSE
44 ENDIF
45
46 Clear buffer
47 Close the communication
48 PTP HOME Vel=100 % DEFAULT
49
50 END

Description Line Description

11 Enter the name of the verification task.
15 Specify the configuration file to be used.
Note: The configuration file is predefined by default and only
needs to be changed if more than 31 workpieces are to be
detected.
18 Communication to the image processing system is established
in this fold.
19 Motions can be inserted here to ensure that the manipulator is
outside the image acquisition range of the camera.
There must be only one reference feature in the field of vision of
the camera. This reference feature must be mounted in the cal-
ibration plane.

106 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 12 Programming with inline forms and t...

Line Description
20 This fold requests an image acquisition and waits for the result
of the image processing.
24 Here the system checks whether the image processing task
was executed successfully.
30 If the reference feature was successfully detected during the
image processing task and the result is not inside the config-
ured limits, error treatment instructions can be programmed
here.
35 Program here the instructions to be executed if the result is
inside the configured limits.
41 Error treatment instructions can be programmed here.
46 In this fold, the memory is deleted.
47 Communication to the image processing system is discon-
nected in this fold.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 107 / 435

 KUKA.VisionTech 4.0

108 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 13 Programming with subprograms

13 Programming with subprograms

As an alternative to the inline forms, VisionTech can be programmed using
subprograms. This type of programming is intended for advanced users of Vi-
sionTech.
A configuration file is used in some subprograms. The default configuration file
has the name “VisionTechConfig”. For detection of more than 31 workpieces,
there is an additional configuration file with the name “VisionTechConfigMax-
Parts”.

It must be ensured that the appropriate configuration file for the appli-
cation is used:
In the case of 31 workpieces or fewer, it is advisable to use the con-
figuration file “VisionTechConfig” in all subprograms. The configuration
file “VisionTechConfigMaxParts” can also be used, but initialization of the
EKI channel (VT_INIT) can take longer with this file.
 In the case of more than 31 workpieces, the configuration file “Vision-
TechConfigMaxParts” must be used in all subprograms. Otherwise, no
result is transferred.

13.1 Result structures

13.1.1 Structure of VTRESULT

Name Unit Data type Description

TYPEID INT Type ID of the object found
The type ID can be used to distinguish
between different types of objects. The type ID
is defined in the tool block.
OBJECTID INT Object ID of the object found
The object ID is generally a consecutive num-
ber. It is defined in the tool block.
X mm REAL Translational deviation in the X direction rela-
tive to the nominal position.
Y mm REAL Translational deviation in the Y direction rela-
tive to the nominal position.
Z mm REAL Translational deviation in the Z direction rela-
tive to the nominal position.
A Degrees REAL Rotational deviation about the Z axis relative to
the nominal position.
B Degrees REAL Rotational deviation about the Y axis relative to
the nominal position.
C Degrees REAL Rotational deviation about the X axis relative to
the nominal position.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 109 / 435

 KUKA.VisionTech 4.0

Name Unit Data type Description

SCORE REAL For a 2D task:
Match between the trained pattern and the pat-
tern on the current search image.
Note: The value is normally between 0.0 and
1.0. The closer the value is to 1.0, the better
the match.
For a 3D task:
Mean square residual error after calculation of
the object position relative to the nominal posi-
tion.
Note: If the position of the object cannot be cal-
culated, the value -1 is displayed.
SUCCEEDED BOOL  TRUE: The image processing task has
been executed successfully.
 FALSE: An error occurred during execution
of the image processing task.
ERROR MES- CHAR[100] Indicates errors that have occurred during exe-
SAGE cution of the image processing task.
ATTRIBUTE1 VTRESULT- Result structure containing the name and value
ATTRIBUTE of the 1st object attribute
ATTRIBUTE2 VTRESULT- Result structure containing the name and value
ATTRIBUTE of the 2nd object attribute
ATTRIBUTE3 VTRESULT- Result structure containing the name and value
ATTRIBUTE of the 3rd object attribute
ATTRIBUTE4 VTRESULT- Result structure containing the name and value
ATTRIBUTE of the 4th object attribute
ATTRIBUTE5 VTRESULT- Result structure containing the name and value
ATTRIBUTE of the 5th object attribute

13.1.2 Structure of VTVERIFYRESULT

Name Unit Data type Description

RefX mm REAL Reference position of the X component during
setup
RefY mm REAL Reference position of the Y component during
setup
RefA mm REAL Reference position of the A component during
setup
MeasuredX mm REAL Measured value of the X component during the
runtime
MeasuredY mm REAL Measured value of the Y component during the
runtime
MeasuredA mm REAL Measured value of the A component during the
runtime
LimitX mm REAL Configured limit value in the X direction
LimitY mm REAL Configured limit value in the Y direction
LimitA mm REAL Configured limit value in the A direction
OffsetToLimitX mm REAL Distance from the configured limit value in the X
direction
|MeasuredX - RefX| - LimitX

110 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 13 Programming with subprograms

Name Unit Data type Description

OffsetToLimitY mm REAL Distance from the configured limit value in the Y
direction
|MeasuredY - RefY| - LimitY
OffsetToLimitA mm REAL Distance from the configured limit value in the A
direction
|MeasuredA - RefA| - LimitA
IsInLimit BOOL  TRUE: The system is within the configured lim-
its.
 FALSE: The system is outside the configured
limits.
SCORE REAL Match between the trained image processing pat-
tern and the features extracted during the runtime

13.1.3 Structure of VTRESULTATTRIBUTE

Name Data type Description

NAME CHAR[100] Name of object attribute
VALUE CHAR[100] Value of object attribute
The value is available as a character string and can be con-
verted to the required data type using various subprograms.
(>>> 13.24 "Subprograms for processing object attributes"
Page 124)

13.2 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
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)

Example VT_INIT("VisionTechConfig")

13.3 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
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)

Example VT_OPENCONNECTION("VisionTechConfig")

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 111 / 435

 KUKA.VisionTech 4.0

13.4 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.

For this subprogram, the same base and the same tool data must be
used as for model generation. The result is calculated relative to the
base for model generation.

Syntax VT_TASKTRIGGER("Configuration file", "Image processing task")

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)
Image processing Name of the image processing task to be executed
task
Type: CHAR (IN)

Example VT_TASKTRIGGER("VisionTechConfig", "TestTask")

13.5 Subprogram VT_TASKTRIGGER_ADRUN

Description The subprogram VT_TASKTRIGGER_ADRUN requests acquisition and pro-

cessing of the images. The configuration file and the name of the image pro-
cessing task are transferred. VT_TASKTRIGGER_ADRUN is executed in the
advance run.

For this subprogram, the same base and the same tool data must be
used as for model generation. The result is calculated relative to the
base for model generation.

Syntax VT_TASKTRIGGER_ADRUN("Configuration file", "Image processing task")

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)
Image processing Name of the image processing task to be executed
task
Type: CHAR (IN)

Example VT_TASKTRIGGER_ADRUN("VisionTechConfig", "TestTask")

13.6 Subprogram VT_TASKTRIGGER_REFBASE

Description The subprogram VT_TASKTRIGGER_REFBASE requests acquisition and

processing of the images. The configuration file and the name of the image
processing task are transferred.
Any base can be used for the execution of the subprogram. However, the
same tool data must be used as for model generation. The result of the image
processing is calculated relative to the reference base.
VT_TASKTRIGGER_REFBASE triggers an advance run stop.

Syntax VT_TASKTRIGGER_REFBASE("Configuration file", "Image processing task", Refe-

rence base)

112 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 13 Programming with subprograms

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)
Image processing Name of the image processing task to be executed
task
Type: CHAR (IN)
Reference base Base frame relative to which the result (= deviation in
this base) is to be output
Type: FRAME (IN)

Example VT_TASKTRIGGER_REFBASE("VisionTechConfig", "TestTask",

referenceFrame)

13.7 Subprogram VT_GETCORRECTIONFRAME

Description The return value of VT_GETCORRECTIONFRAME is the correction frame ex-

tracted from the image processing result. The image processing result is trans-
ferred. VT_GETCORRECTIONFRAME is executed in the advance run.

Syntax RET = VT_GETCORRECTIONFRAME(Image processing result)

Explanation of
Element Description
the syntax
RET Correction frame that can be offset against the compo-
nent base
Type: FRAME
Image processing Image processing result from which the correction
result frame is extracted
Type: VTRESULT (IN)

Example DECL VTRESULT RESULT

RESULT = GET_VTRESULT("VisionTechConfig")
CORRECTIONFRAME = VT_GETCORRECTIONFRAME(RESULT)
BASE_DATA[3] = BASE_DATA[2]:CORRECTIONFRAME

13.8 Subprogram VT_CHECKRESULT

Description The subprogram VT_CHECKRESULT checks the result of an image process-

ing task. If the result is faulty, a message is displayed. The result of the image
processing task is transferred. VT_CHECKRESULT is executed in the ad-
vance run.

Syntax RET = VT_CHECKRESULT(Image processing result)

Explanation of
Element Description
the syntax
RET Return value
Type: BOOL
 TRUE: The image processing task has been exe-
cuted successfully.
 FALSE: An error occurred during execution of the
image processing task.
Image processing The image processing result that is to be checked
result
Type: VTRESULT (IN)

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 113 / 435

 KUKA.VisionTech 4.0

Example DECL VTRESULT RESULT

DECL BOOL ISVALID
RESULT = GET_VTRESULT("VisionTechConfig")
ISVALID = VT_CHECKRESULT(RESULT)

13.9 Subprogram VT_WAITFORRESULT

Description The subprogram VT_WAITFORRESULT stops the program sequence until

the flag is set to the value TRUE. Program execution is then resumed.
VT_WAITFORRESULT triggers an advance run stop.

The flag for which the program is to wait is the same flag that is set to
TRUE in the subprogram VT_GETTASKRESULTS.

Syntax VT_WAITFORRESULT("Flag")

Explanation of
Element Description
the syntax
Flag Number of the flag for which the program is to wait
Type: INT (IN)

13.10 Subprogram VT_CLOSECONNECTION

Description The subprogram VT_CLOSECONNECTION closes all existing connections to

the server. The configuration file is transferred. VT_CLOSECONNECTION
triggers an advance run stop.

Syntax VT_CLOSECONNECTION("Configuration file")

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)

Example VT_CLOSECONNECTION("VisionTechConfig")

13.11 Subprogram VT_CLEAR

Description The subprogram VT_CLEAR ends the EKI channel. The configuration file is
transferred. VT_CLEAR is executed in the advance run.

Ensure that no data are called by a connection that has already been
terminated by VT_CLEAR.

Syntax VT_CLEAR("Configuration file")

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)

Example VT_CLEAR("VisionTechConfig")

114 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 13 Programming with subprograms

13.12 Subprogram VT_CHECKPOSITION

For more comprehensive testing of the target robot position, it is rec-

ommended to use the subprogram VT_CHECKPOSE.

Description The subprogram VT_CHECKPOSITION determines whether the target robot

pose (here: P1') lies within the defined limit range. The defined limit value
specifies a range about the original robot pose (here: P1). The range is repre-
sented here by a circle. The defined limit value specifies the radius of the circle
in which the target robot pose must lie.
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_CHECKPOSITION is executed in the advance run.

Fig. 13-1: Base correction with VT_CHECKPOSITION

1 Base correction
2 Offset of point P1 due to the base correction
3 Radius (limit value)

Syntax RET = VT_CHECKPOSITION("Robot pose", "Frame", "Offset")

Explanation of
Element Description
the syntax
RET Return value
Type: BOOL
 TRUE: The target robot pose lies within the defined
limit range.
 FALSE: The limit value is exceeded.
Robot pose The robot pose to be checked
Type: FRAME (IN)

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 115 / 435

 KUKA.VisionTech 4.0

Element Description
Frame Frame returned by the function
VT_GETCORRECTIONFRAME
Type: FRAME (IN)
Offset Maximum offset between the original robot pose and
the robot pose in the new workpiece base in mm
Type: REAL (IN)

13.13 Subprogram VT_CHECKPOSE

Description The subprogram VT_CHECKPOSE checks whether points on the robot de-
fined by the user lie within an area defined by the user. The points on the robot
defined by the user are defined relative to the robot flange. Up to 10 points can
be defined.
(>>> 13.13.1 "Defining the points on the robot" Page 118)
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.

VT_CHECKPOSE can only be used once the gripping point of the

component has been taught.

Fig. 13-2: Example: Defined points and defined area

1 Defined point on the robot

2 Defined area (green)

116 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 13 Programming with subprograms

Fig. 13-3: Example: Defined points within and outside of the defined area

1 Defined point within the defined area

2 Defined point outside of the defined area

Syntax RET = VT_CHECKPOSE("Base of the area", "Limit value X", "Limit value Y", "Limit
value Z", "Base of the gripping point", "Gripping point", "Tool")

Explanation of
Element Description
the syntax
RET Return value
Type: BOOL
 TRUE: All points defined by the user lie within the
defined limit values.
 FALSE: The limit value of at least one point has
been exceeded.
Base of the area Number of the base within which the point to be
checked must lie
Type: INT (IN)
Limit value X Maximum limit value of the base in X direction
Type: INT (IN)
Limit value Y Maximum limit value of the base in Y direction
Type: INT (IN)
Limit value Z Maximum limit value of the base in Z direction
Type: INT (IN)
Base of the grip- Number of the base in which the component must be
ping point gripped
Type: INT (IN)
Gripping point Point at which the component is gripped
Type: FRAME (IN)
Tool Number of the tool with which the component must be
gripped
Type: INT (IN)

Example RET = VT_CHECKPOSE(16,700,950,900,11,XGrippingPos,1)

All points (relative to the robot flange) in base 16 that lie within the following
values are valid:
 X value: max. 700 mm
 Y value: max. 950 mm

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 117 / 435

 KUKA.VisionTech 4.0

 Z value: max. 900 mm

The gripping point is in base 11 and taught with tool 1.

13.13.1 Defining the points on the robot

Preparation only needs to be carried out once after installation.

Preparation 1. Open the file ConfigMon.ini in the directory D:\KUKA_OPT\VisionTech\IN-

TERNAT\KRCSETUP\UTIL.
2. Copy sections [Group1] and [Group2].
3. Open the file ConfigMon.ini in the directory C:\KRC\USER.
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.

Procedure 1. In the main menu, select Variable > Overview > Display.
2. Mark a variable in the UserCheckPoints tab and press Edit.
3. Enter the X, Y and Z values and save with OK.
4. Repeat steps 2 to 3 for the further points used. Enter the points in an un-
interrupted sequence from 1 to 10. If, for example, 5 points are desired,
enter the values into the variables UserCheckPoint[1] to UserCheck-
Point[5].

VT_CHECKPOSE ignores all variables in which all values are 0.

13.14 Subprogram VT_GETUSERDATA

Description The subprogram VT_GETUSERDATA calls up optional user data from all con-
figured tool blocks and makes them available to the KRL.
VT_GETUSERDATA is executed in the advance run.

For the execution of the subprogram, 1 entry with user data from the
tool block is created for each camera.

Syntax VT_GETUSERDATA("Configuration file", User data)

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)
User data 2-dimensional array into which user data are written.
The first dimension corresponds to the camera index,
the second dimension contains the user data as a char-
acter string.
Type: CHAR (OUT)

Example DECL CHAR USERDATA[2, 100]

VT_GETUSERDATA("VisionTechConfig" USERDATA[ , ])

118 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 13 Programming with subprograms

13.15 Subprogram VT_GETTASKRESULTS

Description The subprogram VT_GETTASKRESULTS is used for the detection of multiple

components.
VT_GETTASKRESULTS generates a result structure for all object instances
found. This is written to the transfer parameter RESULTS. The parameter RE-
SULTCOUNTER contains the result of image processing after execution of
the subprogram. If components are located, the value corresponds to the num-
ber of components. The value is always at least 1, even if no component is lo-
cated. In this case, an error message can be read from the result structure.
The flags are then set to TRUE and FALSE. The subprogram is executed in
the advance run.
VT_GETTASKRESULTS can also be used as an interrupt program. This is
called after the image processing task has been executed. In this case, the
subprogram is executed in the main run.

The flag that is to be set to TRUE is the same flag that is used in the
subprogram VT_WAITFORRESULT. The flag that is to be set to
FALSE is defined in the settings for configuration of Ethernet KRL
(>>> 10.5 "Configuring Ethernet KRL" Page 66).

Syntax VT_GETTASKRESULTS("Configuration file", RESULTS[], RESULTCOUNTER,

"Flag True", "Flag False")

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)
RESULTS Results of image processing
Type: VTRESULT (OUT)
RESULT- Contains the result of image processing after execution
COUNTER of the subprogram. If components are located, the
value corresponds to the number of components. The
value is always at least 1, even if no component is
located.
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)

Example DECL VTRESULT[100] RESULTS

DECL INT RESULTCOUNTER = 0
VT_GETTASKRESULTS("VisionTechConfig", RESULTS, RESULTCOUNTER, 1, 998)

13.16 Subprogram VT_GETTASKRESULTS_IR

Description The subprogram VT_GETTASKRESULTS_IR has the same function as the

subprogram VT_GETTASKRESULTS, but can be used in an interrupt.
VT_GETTASKRESULTS_IR is used for the detection of multiple workpieces.
VT_GETTASKRESULTS_IR generates a result structure for all object instanc-
es found. This is written to the transfer parameter RESULTS. The parameter

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 119 / 435

 KUKA.VisionTech 4.0

RESULTCOUNTER contains the result of image processing after execution of

the subprogram. If components are located, the value corresponds to the num-
ber of components. The value is always at least 1, even if no component is lo-
cated. In this case, an error message can be read from the result structure.
The flags are then set to TRUE and FALSE. The subprogram is executed in
the advance run.
VT_GETTASKRESULTS_IR can also be used as an interrupt program. This
is called after the image processing task has been executed. In this case, the
subprogram is executed in the main run.

The flag that is to be set to TRUE is the same flag that is used in the
subprogram VT_WAITFORRESULT. The flag that is to be set to
FALSE is defined in the configuration file.

Syntax VT_GETTASKRESULTS_IR(CONFIGFILE[], RESULTS[], RESULT-

COUNTER, "Flag True", "Flag False")

Explanation of
Element Description
the syntax
CONFIGFILE Variable in which the name of the configuration file is
saved.
Type: CHAR (OUT)
RESULTS Results of image processing
Type: VTRESULT (OUT)
RESULT- Contains the result of image processing after execution
COUNTER of the subprogram. If components are located, the
value corresponds to the number of components. The
value is always at least 1, even if no component is
located.
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)

Example DECL VTRESULT[100] RESULTS

DECL INT RESULTCOUNTER = 0
VT_GETTASKRESULTS_IR(ConfigFile, RESULTS, RESULTCOUNTER, 1, 998)

13.17 Subprogram VT_DIRECT

Description The subprogram VT_DIRECT calculates the status of axis 5 at the end (des-
tination) point in such a way that axes 4 and 6 are moved as little as possible.
The program requires the coordinates X, Y, Z, A, B and C of start and end
points as well as the status of the start point.
Start and end points can be taught with different tools and BASE coordinate
systems. In order for these to be calculated for the axis angles, the tool and
base must be transferred as a parameter for each start and end point.

If the status for the basic area or for axes 2 and 3 changes from the
start point to the end point, the program can no longer be used.

120 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 13 Programming with subprograms

Syntax VT_DIRECT("Start point", "End point", "Base of the start point", "Base of the end
point", "Tool of the start point", "Tool of the end point")

Explanation of
Element Description
the syntax
Start point Type: E6POS (IN)
End point Type: E6POS (OUT)
Base of the start Type: FRAME (IN)
point
Base of the end Type: FRAME (IN)
point
Tool of the start Type: FRAME (IN)
point
Tool of the end Type: FRAME (IN)
point

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

13.18 Subprogram VT_VERIFICATIONTRIGGER

Description The subprogram VT_VERIFICATIONTRIGGER requests execution of an im-

age processing task of type “Verification”. The configuration file and the name
of the image processing task are transferred. VT_VERIFICATIONTRIGGER is
executed in the advance run.

Syntax VT_VERIFICATIONTRIGGER("Configuration file", "Image processing task")

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)
Image processing Name of the image processing task to be executed
task
Type: CHAR (IN)

Example VT_VERIFICATIONTRIGGER("VisionTechConfig", "VerificationTask")

13.19 Subprogram VT_GETRESULTS

Description The subprogram VT_GETRESULTS interprets the reception structure in ac-

cordance with the server reply type and writes it to the result structure VTRE-
SULT or VTVERIFYRESULT (>>> 13.1.2 "Structure of VTVERIFYRESULT"
Page 110). The values can then be accessed via the global KRL variables
VERIFYRESULT or RESULTS[]. VT_GETRESULTS is executed in the ad-
vance run.

The flag that is to be set to TRUE is the same flag that is used in the
subprogram VT_WAITFORRESULT. The flag that is to be set to
FALSE is defined in the configuration file.

Syntax VT_GETRESULTS("Configuration file", "Flag True", "Flag False")

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 121 / 435

 KUKA.VisionTech 4.0

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)
Flag True Number of the flag input to be set to TRUE once the
program has been executed
Type: INT (IN)
Flag False Number of the flag input to be set to FALSE once the
program has been executed
Type: INT (IN)

Example VT_GETRESULTS("VisionTechConfig", 1, 998)

13.20 Subprogram VT_GETVERIFICATIONRESULT

Description The subprogram VT_GETVERIFICATIONRESULT monitors the result of the

calibration verification.
VT_GETVERIFICATIONRESULT reads in the result of the calibration verifica-
tion and creates a result structure. The result is written to the transfer param-
eter RESULT. The flags are then set to TRUE and FALSE. The subprogram
is executed in the advance run.

The flag that is to be set to TRUE is the same flag that is used in the
subprogram VT_WAITFORRESULT. The flag that is to be set to
FALSE is defined in the configuration file.

Syntax VT_GETVERIFICATIONRESULT("Configuration file", RESULT, "Flag True",

"Flag False")

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)
RESULT Result of the calibration verification
Type: VTVERIFYRESULT (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)

Example DECL VTVERIFYRESULT RESULT

VT_GETVERIFICATIONRESULT("VisionTechConfig", RESULT, 1, 998)

13.21 Subprogram VT_GETVERIFYRESULT_IR

Description The subprogram VT_GETVERIFYRESULT_IR has the same function as the

subprogram VT_GETVERIFICATIONRESULT, but can be used in an inter-
rupt.
VT_GETVERIFYRESULT_IR monitors the result of the calibration verification.

122 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 13 Programming with subprograms

The subprogram reads in the result of the calibration verification and creates
a result structure. The result is written to the transfer parameter RESULT. The
flags are then set to TRUE and FALSE. The subprogram is executed in the ad-
vance run.

The flag that is to be set to TRUE is the same flag that is used in the
subprogram VT_WAITFORRESULT. The flag that is to be set to
FALSE is defined in the configuration file.

Syntax VT_GETVERIFYRESULT_IR(CONFIGFILE[], RESULT, "Flag True", "Flag Fal-

se")

Explanation of
Element Description
the syntax
CONFIGFILE Variable in which the name of the configuration file is
saved.
Type: CHAR (OUT)
RESULT Result of the calibration verification
Type: VTVERIFYRESULT (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)

Example DECL VTVERIFYRESULT RESULT

VT_GETVERIFYRESULT_IR(ConfigFile, RESULT, 1, 998)

13.22 Subprogram VT_CLEARBUFFER

Description The subprogram VT_CLEARBUFFER deletes data which have been received
but not yet retrieved from the memory. The configuration file is transferred.
VT_CLEARBUFFER is executed in the advance run.

Syntax VT_CLEARBUFFER("Configuration file")

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)

Example VT_CLEARBUFFER("VisionTechConfig")

13.23 Subprogram VT_SETEXPOSURE

Description The subprogram VT_SETEXPOSURE enables modification via the KRL pro-
gram of the exposure time configured in the task. The new exposure time is
applied for all cameras configured in the task. VT_SETEXPOSURE is execut-
ed in the advance run.

The exposure time must be within the limits defined in the file Vision-
TechUser.DAT (variables VTMinExposureValue and VTMaxExposu-
reValue). Otherwise, the exposure time configured in the task will be
used. By default, the range of values is 0 to 200 ms.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 123 / 435

 KUKA.VisionTech 4.0

VT_SETEXPOSURE only overwrites the exposure time for the next

image processing task (VT_TASKTRIGGER). Before execution of
every other image processing task, the exposure time must be set
again, otherwise the exposure time configured in the task will be used.

Syntax VT_SETEXPOSURE("Configuration file", "Exposure time")

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)
Exposure time Desired exposure time in ms
Type: REAL (IN)

Example VT_SETEXPOSURE("VisionTechConfig", 10.12)

13.24 Subprograms for processing object attributes

13.24.1 Subprogram VT_ContainsAttribute

Description The subprogram VT_ContainsAttribute determines whether the result struc-

ture contains the object attribute with the specified name.
VT_ContainsAttribute is executed in the advance run.

Syntax RET = VT_ContainsAttribute("Object attribute", "Result structure")

Explanation of
Element Description
the syntax
RET Return value
Type: BOOL
 TRUE: The result structure contains the object attri-
bute being searched for
 FALSE: The object attribute being searched for was
not found in the result structure
Object attribute Name of the object attribute to be searched for
Type: CHAR (IN)
Result structure Result structure in which the object attribute is to be
searched for
Type: VTRESULT (IN)

Example IF VT_ContainsAttribute("Diameter", Results[i]) == TRUE THEN

...
ENDIF

13.24.2 Subprogram VT_GetIntFromAttrName

Description The subprogram VT_GetIntFromAttrName converts the value of an object at-

tribute into an integer value. VT_GetIntFromAttrName is executed in the ad-
vance run.

Syntax RET = VT_GetIntFromAttrName("Object attribute", "Result structure")

124 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 13 Programming with subprograms

Explanation of
Element Description
the syntax
RET Return value in the form of a 32-bit integer with sign.
The number corresponds to the value of the object
attribute.
Type: INT

 -231-1 … 231-1
Note: If the object attribute was not found in the result
structure, the value "0" is returned.
Object attribute Name of the object attribute whose value is to be con-
verted
Type: CHAR (IN)
Result structure Result structure in which the object attribute is to be
searched for
Type: VTRESULT (IN)

Example DECL INT i_diameter

i_diameter = VT_GetIntFromAttrName("Diameter", Results[i])

13.24.3 Subprogram VT_GetRealFromAttrName

Description The subprogram VT_GetRealFromAttrName converts the value of an object

attribute into a real value. VT_GetRealFromAttrName is executed in the ad-
vance run.

Syntax RET = VT_GetRealFromAttrName("Object attribute", "Result structure")

Explanation of
Element Description
the syntax
RET Return value in the form of a floating-point number with
sign. The number corresponds to the value of the
object attribute.
Type: INT

 1.1*10-38 … 3.4*1038
Note: If the object attribute was not found in the result
structure, the value "0.0" is returned.
Object attribute Name of the object attribute whose value is to be con-
verted
Type: CHAR (IN)
Result structure Result structure in which the object attribute is to be
searched for
Type: VTRESULT (IN)

Example DECL REAL r_diameter

r_diameter = VT_GetRealFromAttrName("Diameter", Results[i])

13.24.4 Subprogram VT_GetCharFromAttrName

Description The subprogram VT_GetCharFromAttrName converts the value of an object

attribute into a Char value. VT_GetCharFromAttrName is executed in the ad-
vance run.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 125 / 435

 KUKA.VisionTech 4.0

Syntax RET = VT_GetCharFromAttrName("Object attribute", "Result structure")

Explanation of
Element Description
the syntax
RET Return value in the form of a character string. This cor-
responds to the value of the object attribute.
Type: CHAR
 1 … 100
Note: If the object attribute was not found in the result
structure, a character string of length 1 with the entry '#'
is returned.
Object attribute Name of the object attribute whose value is to be con-
verted
Type: CHAR (IN)
Result structure Result structure in which the object attribute is to be
searched for
Type: VTRESULT (IN)

Example DECL CHAR Value[100]

Value[] = VT_GetCharFromAttrName("Diameter", Results[i])

13.24.5 Subprogram VT_GetBoolFromAttrName

Description The subprogram VT_GetBoolFromAttrName converts the value of an object

attribute into a Bool value. VT_GetBoolFromAttrName is executed in the ad-
vance run.

Syntax RET = VT_GetBoolFromAttrName("Object attribute", "Result structure")

Explanation of
Element Description
the syntax
RET Value of object attribute
Type: BOOL
Object attribute Name of the object attribute whose value is to be con-
verted
Type: CHAR (IN)
Result structure Result structure in which the object attribute is to be
searched for
Type: VTRESULT (IN)

Example DECL Bool b_isValid

b_isValid = VT_GetBoolFromAttrName("IsValid", Results[i])

13.24.6 Subprogram VT_IsAttributeValSet

Description The subprogram VT_IsAttributeValSet determines whether a value has been

assigned to an object attribute. VT_IsAttributeValSet is executed in the ad-
vance run.

VisionTech always transfers a fixed number of object attributes. The

entries of non-defined object attributes are blank.

126 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 13 Programming with subprograms

Syntax RET = VT_IsAttributeValSet("Value")

Explanation of
Element Description
the syntax
RET Return value
Type: BOOL
 TRUE: A valid value has been assigned to the ob-
ject attribute.
 FALSE: No valid value has been assigned to the
object attribute.
Value Value of the object attribute to be checked for validity
Type: CHAR (IN)

Example DECL Bool b_isValid

b_isValid = VT_IsAttributeValSet(Results[i].Attribute1.Value[])

13.24.7 Subprogram VT_StringToBool

Description The subprogram VT_StringToBool converts a Char array into a Bool value. No
distinction is made between uppercase and lowercase letters.
VT_StringToBool is executed in the advance run.

Syntax RET = VT_StringToBool("Char array")

Explanation of
Element Description
the syntax
RET Converted value
Type: BOOL
Char array Char array that is to be converted
Type: CHAR (IN)

Example DECL Bool b_isValid

b_isValid = VT_StringToBool("True")

13.24.8 Subprogram VT_StringToInt

Description The subprogram VT_StringToInt converts a Char array into an integer value.
VT_StringToInt is executed in the advance run.

Syntax RET = VT_StringToInt("Char array")

Explanation of
Element Description
the syntax
RET Converted value
Type: INT
Char array Char array that is to be converted
Type: CHAR (IN)

Example DECL Int i_isNumber

i_isNumber = VT_StringToInt("123456")

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 127 / 435

 KUKA.VisionTech 4.0

13.24.9 Subprogram VT_StringToReal

Description The subprogram VT_StringToReal converts a Char array into a real value.
VT_StringToReal is executed in the advance run.

Syntax RET = VT_StringToReal("Char array")

Explanation of
Element Description
the syntax
RET Converted value
Type: REAL
Char array Char array that is to be converted
Type: CHAR (IN)

 3.40282*1038 … 1.17549*10-38
Note: A decimal point must be used as the decimal
separator. The value can also be written exponentially.

Example DECL Real r_isNumber

r_isNumber = VT_StringToReal("123456.789")

13.25 Subprograms for transferring input parameters

13.25.1 Subprogram VT_SetInputAsBool

Description The subprogram VT_SetInputAsBool transfers a Boolean value to the input of

a tool block. VT_SetInputAsBool is executed in the advance run.

With this subprogram, the specified value is only written to a memory.

To transfer the value, the subprogram VT_TASKTRIGGER must sub-
sequently be used.
If the same input is set several times in succession, it is overwritten.

Syntax VT_SetInputAsBool("Configuration file", "Input", "Value")

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)
Input Name or number of the input to be set on the tool block
Type: ENUM VTINPUTS (#Input1 … #Input5)
Value Value of the input to be transferred to the tool block
Type: BOOL (IN)

Example VT_SetInputAsBool("VisionTechConfig", #Input1, TRUE)

13.25.2 Subprogram VT_SetInputAsInt

Description The subprogram VT_SetInputAsInt transfers an integer value to the input of a

tool block. VT_SetInputAsInt is executed in the advance run.

128 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 13 Programming with subprograms

With this subprogram, the specified value is only written to a memory.

To transfer the value, the subprogram VT_TASKTRIGGER must sub-
sequently be used.
If the same input is set several times in succession, it is overwritten.

Syntax VT_SetInputAsInt("Configuration file", "Input", "Value")

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)
Input Name or number of the input to be set on the tool block
Type: ENUM VTINPUTS (#Input1 … #Input5)
Value Value of the input to be transferred to the tool block
 -2147483648 … 2147483648
Type: INT (IN)

Example VT_SetInputAsInt("VisionTechConfig", #Input1, 123456)

13.25.3 Subprogram VT_SetInputAsReal

Description The subprogram VT_SetInputAsReal transfers a real value to the input of a

tool block. VT_SetInputAsReal is executed in the advance run.

With this subprogram, the specified value is only written to a memory.

To transfer the value, the subprogram VT_TASKTRIGGER must sub-
sequently be used.
If the same input is set several times in succession, it is overwritten.

Syntax VT_SetInputAsReal("Configuration file", "Input", "Value")

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)
Input Name or number of the input to be set on the tool block
Type: ENUM VTINPUTS (#Input1 … #Input5)
Value Value of the input to be transferred to the tool block
Type: REAL (IN)

Example VT_SetInputAsReal("VisionTechConfig", #Input1, 123456.789)

13.25.4 Subprogram VT_SetInputAsString

Description The subprogram VT_SetInputAsString transfers a string value to the input of

a tool block. VT_SetInputAsString is executed in the advance run.

With this subprogram, the specified value is only written to a memory.

To transfer the value, the subprogram VT_TASKTRIGGER must sub-
sequently be used.
If the same input is set several times in succession, it is overwritten.

Syntax VT_SetInputAsString("Configuration file", "Input", "Value")

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 129 / 435

 KUKA.VisionTech 4.0

Explanation of
Element Description
the syntax
Configuration file Name of the configuration file
Type: CHAR (IN)
Input Name or number of the input to be set on the tool block
Type: ENUM VTINPUTS (#Input1 … #Input5)
Value Value of the input to be transferred to the tool block
Type: CHAR (IN)
 1 … 100
Note: Special characters must not be used.

Example VT_SetInputAsString("VisionTechConfig", #Input1, "This is a text")

130 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 14 Example programs

14
4
Example programs
x

14.1 Example program: Detecting and gripping a workpiece

Program 1 INI
2
3 PTP HOME Vel= 100% DEFAULT
4
5 PTP P1 Vel=100% PDAT1 Tool[1]: Gripper BASE[3]
6
7 VT.TRIGGER 2Dfix_relative
8
9 VT.WAITFORRESULT 2Dfix_relative
10
11 VT.SETTARGETBASE CalibrationBase=Base[1]:CalibBase
TargetBase=Base[2]:PartBase
12
13 VT.DIRECT Source: P1 Tool[1]:Gripper BASE[3] Target: P2
Tool[1]:Gripper BASE[2]:PartBase
14
15 PTP P2 Vel=100% PDAT2 Tool[1]:Gripper BASE[2]:PartBase
16
17 PTP HOME Vel= 100% DEFAULT

Description
Line Description
7 Requests execution of the task with the name
“2Dfix_relative”.
9 Waits for the result of the task “2Dfix_relative”.
11 Shifts the calibration base onto the workpiece base with the
vector of the result of the image processing task.
13 Recalculates Status and Turn if point P2 cannot be addressed
using the Status and Turn values from point P1.
15 Executes a PTP motion to the taught point. The offset base
from line 11 is used for this.

14.2 Example program: Detecting and gripping multiple workpieces

Program 1 INI
2
3 PTP HOME Vel= 100% DEFAULT
4
5 VT.TRIGGER 2Dfix_relative
6
7 VT.WAITFORRESULT 2Dfix_relative
8
9 VT.LOOPRESULTS
10 FOR ObjectCounter = 1 TO ResultCounter STEP 1
11 IF Results[ObjectCounter].Succeeded == FALSE THEN
12 $FLAG[VTNoSuccessFlagNo] = NOT VT_CheckResult
(Results[ObjectCounter])
13 ELSE
14 ;insert VT.SETTARGETBASE inline form here
15 VT.SETTARGETBASE CalibrationBase=Base[1]:CalibBase
TargetBase=Base[2]:PartBase
16
17 ;teach robot movement in the target base

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 131 / 435

 KUKA.VisionTech 4.0

18 PTP P1 Vel=100% PDAT1 Tool[1]:Gripper BASE[2]:PartBase

19
20 ENDIF
21 ENDFOR
22 ObjectCounter = 1
23
24 PTP HOME Vel= 100% DEFAULT

Description
Line Description
5 Requests execution of the task with the name
“2Dfix_relative”.
7 Waits for the results of the task “2Dfix_relative”.
9 Executes the instructions contained in the fold (lines
10 … 22) for all results of the image processing task.
12 Describes the flag “NoSuccessFlag”. Notification messages
are generated for this result.
15 Shifts the calibration base onto the workpiece base with the
vector of the result of the image processing task.
18 Executes a PTP motion to the taught point. The shifted base
from line 15 is used for this. The results of the individually
detected workpieces are addressed in this way.

132 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

15 Messages
s

15.1 Information about the messages

s

The “Messages” chapter contains selected messages. It does not cover all the
messages displayed in the message window.

15.2 System messages from module: VisionTech (VTH)

15.2.1 VTH35004

Message code  VTH35004

Message text  No fiducial mark found for the calibration
Message type  Notification message

Possible cause(s)  Cause: The fiducial mark is not detected in all the images
(>>> Page 133)
Solution: Align the camera with the fiducial mark (>>> Page 134)

 Cause: Lighting is too bright or too dim (>>> Page 134)

Solution: Optimize the lighting (>>> Page 134)

Cause: The fiducial mark is not detected in all the images

Description The fiducial mark is the cross at the center of the calibration plate; it must al-
ways be visible during calibration.

Fig. 15-1: Calibration plate with fiducial mark

1 Fiducial mark 2 Origin

The procedure for checking if the fiducial mark is visible is as follows:

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 133 / 435

 KUKA.VisionTech 4.0

Checking instruc- 1. In the main menu, select VisionTech > Calibration.

tions Freeze-frame images from the cameras are displayed on the moving sen-
sors or fixed sensors tab. The freeze-frame images of the cameras that
have already been calibrated have a green frame. In the case of cameras
that have not yet been calibrated, the freeze-frame images have a red
frame.
2. Select the calibration plate used as the calibration body.
3. Select the cameras that are to be calibrated by clicking on the freeze-
frame images.
4. Click on Calibration Wizard.
5. For a robot-guided camera: move to the calibration pose. For a stationary
camera: continue with Step 6.
6. Click on Take picture. Check whether the fiducial mark is visible.
7. In the case of a robot-guided camera, repeat steps 5 and 6 for all calibra-
tion poses.

Solution: Align the camera with the fiducial mark

Description The camera must be aligned in such a way that the fiducial mark is visible.

Cause: Lighting is too bright or too dim

Description KUKA.VisionTech requires optimum lighting in order to detect attributes. If the

lighting is too bright or too dim, attributes cannot be detected and processed.

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

Checking instruc-  Check whether the lighting is too bright or too dim.
tions

Solution: Optimize the lighting

Description Objects must be more brightly or more dimly lit.

15.2.2 VTH35206

Message code  VTH35206

Message text  The task with the name {Task name} is either not a valid VisionTech
.task file or not supported by the current version of the software
Message type  Acknowledgement message

Possible cause(s)  Cause: Task file has an invalid format (>>> Page 134)
Solution: Use valid task file (>>> Page 135)

Cause: Task file has an invalid format

Description The task file has an invalid format. As such, it cannot be loaded. The task file
must meet the following requirements:

134 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

 The task file must be of file type .task (Vision Tech Task).
 The task file must not have been created using an older version of Vision-
Tech. The task files are not compatible for use between different main ver-
sions of VisionTech.

Solution: Use valid task file

Description Use a valid task file.

Procedure 1. Delete the invalid task file.

2. Create a new task.

15.2.3 VTH35901

Message code  VTH35901

Message text  The connection to one of the sensors could not be established
Message type  Notification message

Possible cause(s)  Cause: Image acquisition not possible (>>> Page 135)
Solution: Connect camera (>>> Page 135)

 Cause: Connecting cable defective (>>> Page 135)

Solution: Exchange the connecting cable (>>> Page 136)

 Cause: Sensor cable defective or not connected correctly

(>>> Page 136)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 137)

Cause: Image acquisition not possible

Description KUKA.VisionTech cannot take images. No camera is connected.

Checking instruc-  Check whether the camera has been connected in accordance with the
tions documentation.

Solution: Connect camera

Description The camera must be connected.

Procedure 1. Connect the camera.

2. In the main menu, select VisionTech > Sensor overview.
3. Press Refresh sensors.
The newly-connected camera is indicated by a green LED status.

Cause: Connecting cable defective

Description The connecting cable is defective.

The procedure for checking whether the connecting cable is defective is
as follows:

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 135 / 435

 KUKA.VisionTech 4.0

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange the connecting cable

Description The connecting cable must be exchanged.

Procedure 1. Shut down the robot controller.

2. Replace the defective connecting cable with a new connecting cable.
3. Reboot the robot controller.

The main switch on the robot controller must not be op-

erated if the KSS has been exited with the option with re-
start and the reboot has not yet been completed. System files may otherwise
be destroyed.

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1
 PoE2 - B2
 PoE3 - B3

136 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

If a KUKA IPC is used:

 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.4 VTH35902

Message code  VTH35902

Message text  Image acquisition with one of the sensors failed
Message type  Notification message

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 137 / 435

 KUKA.VisionTech 4.0

Possible cause(s)  Cause: Camera is tied up in another process (>>> Page 138)
Solution: End the current process first (>>> Page 139)

 Cause: Camera is tied up in another process (>>> Page 139)

Solution: Disconnect camera from power supply and reconnect
(>>> Page 140)

 Cause: Camera is tied up in another process (>>> Page 141)

Solution: Carry out cold restart (>>> Page 142)

 Cause: Sensor cable defective or not connected correctly

(>>> Page 142)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 143)

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-2: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

138 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Fig. 15-3: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: End the current process first

Description Cancel the ongoing process or wait until it has ended.

The procedure is determined by the current process.

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-4: KUKA MXG20 camera – LEDs

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 139 / 435

 KUKA.VisionTech 4.0

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-5: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

Fig. 15-6: KUKA MXG20 camera – overview

1 LEDs

140 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

2 Data/PoE interface
3 Process interface / power supply

Fig. 15-7: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-8: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 141 / 435

 KUKA.VisionTech 4.0

Fig. 15-9: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1

142 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

 PoE2 - B2
 PoE3 - B3
If a KUKA IPC is used:
 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.5 VTH35904

Message code  VTH35904

Message text  Unknown error during the execution of a task
Message type  Notification message

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 143 / 435

 KUKA.VisionTech 4.0

Possible cause(s)  Cause: Object located outside of the camera’s field of vision
(>>> Page 144)
Solution: Align the camera via the smartHMI (>>> Page 144)

 Cause: Object located outside of the camera’s field of vision

(>>> Page 145)
Solution: Align camera via WorkVisual (>>> Page 145)

 Cause: Cameras aligned with different features (>>> Page 146)

Solution: Align the camera via the smartHMI (>>> Page 146)

 Cause: Cameras aligned with different features (>>> Page 146)

Solution: Align camera via WorkVisual (>>> Page 147)

 Cause: Lighting is too bright or too dim (>>> Page 147)

Solution: Optimize the lighting (>>> Page 147)

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.

144 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

3. Stationary camera: Position the camera over the measurement object so

that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 145 / 435

 KUKA.VisionTech 4.0

4. Stationary camera: Position the camera over the measurement object so

that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.

146 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Lighting is too bright or too dim

Description KUKA.VisionTech requires optimum lighting in order to detect attributes. If the

lighting is too bright or too dim, attributes cannot be detected and processed.

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

Checking instruc-  Check whether the lighting is too bright or too dim.
tions

Solution: Optimize the lighting

Description Objects must be more brightly or more dimly lit.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 147 / 435

 KUKA.VisionTech 4.0

15.2.6 VTH35905

Message code  VTH35905

Message text  One of the sensors is not calibrated
Message type  Notification message

Possible cause(s)  Cause: Camera not fully or correctly calibrated (>>> Page 148)
Solution: Calibrate camera (stationary) (>>> Page 148)

 Cause: Camera not fully or correctly calibrated (>>> Page 150)

Solution: Calibrate camera (robot-guided) (>>> Page 150)

Cause: Camera not fully or correctly calibrated

Description The camera is not fully or correctly calibrated. Therefore, it is not possible to
determine an object position.

Solution: Calibrate camera (stationary)

During calibration, the IP address of camera must not be changed.

Precondition  Camera is mounted in a fixed position.

 Camera is connected and configured.
 Camera is aligned.
 Calibration exposure time is set.
 Calibration plate is attached. This is in the workpiece plane and in the field
of vision of the camera.

Procedure 1. In the main menu, select VisionTech > Calibration.

A freeze-frame image from the camera is displayed on the fixed sensors
tab. If the camera is calibrated, the freeze-frame image has a green frame.
If the camera is not calibrated, the freeze-frame image has a red frame.
2. 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.
3. Select the camera by tapping on the freeze-frame image.
4. Press Calibration Wizard.
5. Press Take picture. The fiducial mark (cross at the center of the calibra-
tion plate) must be visible.

148 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Fig. 15-10: Calibration plate with fiducial mark

1 Fiducial mark 2 Origin

Recommendations:
The camera should be directly above the calibration plate.
The calibration plate should fill as much of the image of the camera
as possible.

6. Press Calibration.
7. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
8. Select an existing calibration plane in the Calibration plane box or choose
Create new calibration plane... to create a new calibration plane:
a. Enter a name for the calibration plane in the Name box.
b. Optional: Enter a description of the calibration plane in the Descrip-
tion box.

Recommendation: The description of the calibration plane should

contain the number of the base used.

c. Select an existing base in the Base ID box or choose Measure new

base... to calibrate a new base. The base can, for example, be cali-
brated using the 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. 15-10 ).

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 149 / 435

 KUKA.VisionTech 4.0

Fig. 15-11: Base for a stationary camera

1 Stationary camera 2 Calibration plate

9. Press Save. The settings are saved.

10. Press Exit. The window closes.

Cause: Camera not fully or correctly calibrated

Description The camera is not fully or correctly calibrated. Therefore, it is not possible to
determine an object position.

Solution: Calibrate camera (robot-guided)

If a palletizing robot is used, it is not possible to calibrate moving (ro-

bot-guided) cameras.

During calibration, the IP addresses of cameras must not be

changed.

Precondition  Cameras are mounted on the robot flange.

 Cameras are connected and configured.
 Cameras are aligned.
 Calibration plate is mounted and is located in the field of vision of the cam-
eras.
 NULLFRAME tool is selected.

Procedure 1. In the main menu, select VisionTech > Calibration.

Freeze-frame images from the cameras are displayed on the moving sen-
sors tab. The freeze-frame images of the cameras that have already been
calibrated have a green frame. 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 tapping the freeze-frame
images.
3. Press Calibration Wizard.
4. Move the robot to the first calibration pose and press Take picture. The
fiducial mark (cross at the center of the calibration plate) must be visible in
every pose. It is not possible to take 2 images in the same pose.

Recommendation: For the first pose, the cameras should be posi-

tioned directly above the calibration plate. In every pose, the cameras
should be at a different angle relative to the calibration plate; for this,
the robot must be moved.

150 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

5. Repeat step 4 for every pose. Record at least 6 poses. A maximum of 9

poses are possible.
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.
7. Press Calibration. The calibration process takes approx. 5 to 10 minutes.
8. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
9. Press Save. The result is saved.
10. Press Exit. The window closes.

The calibration coordinate system is defined on the basis of the fidu-

cial mark (>>> Fig. 15-10 ) and not visible to the user as a robot
base.

15.2.7 VTH35907

Message code  VTH35907

Message text  The specified task is not supported
Message type  Notification message

Possible cause(s)  Cause: Task file has an invalid format (>>> Page 151)
Solution: Use valid task file (>>> Page 151)

Cause: Task file has an invalid format

Description The task file has an invalid format. As such, it cannot be loaded. The task file
must meet the following requirements:
 The task file must be of file type .task (Vision Tech Task).
 The task file must not have been created using an older version of Vision-
Tech. The task files are not compatible for use between different main ver-
sions of VisionTech.

Solution: Use valid task file

Description Use a valid task file.

Procedure 1. Delete the invalid task file.

2. Create a new task.

15.2.8 VTH35912

Message code  VTH35912

Message text  Failed to calculate the position of the part
Message type  Notification message

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 151 / 435

 KUKA.VisionTech 4.0

Possible cause(s)  Cause: Object located outside of the camera’s field of vision
(>>> Page 152)
Solution: Align the camera via the smartHMI (>>> Page 152)

 Cause: Object located outside of the camera’s field of vision

(>>> Page 153)
Solution: Align camera via WorkVisual (>>> Page 153)

 Cause: Cameras aligned with different features (>>> Page 154)

Solution: Align the camera via the smartHMI (>>> Page 154)

 Cause: Cameras aligned with different features (>>> Page 154)

Solution: Align camera via WorkVisual (>>> Page 155)

 Cause: Lighting is too bright or too dim (>>> Page 155)

Solution: Optimize the lighting (>>> Page 155)

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.

152 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

3. Stationary camera: Position the camera over the measurement object so

that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 153 / 435

 KUKA.VisionTech 4.0

4. Stationary camera: Position the camera over the measurement object so

that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.

154 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Lighting is too bright or too dim

Description KUKA.VisionTech requires optimum lighting in order to detect attributes. If the

lighting is too bright or too dim, attributes cannot be detected and processed.

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

Checking instruc-  Check whether the lighting is too bright or too dim.
tions

Solution: Optimize the lighting

Description Objects must be more brightly or more dimly lit.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 155 / 435

 KUKA.VisionTech 4.0

15.2.9 VTH35913

Message code  VTH35913

Message text  Not enough features have been detected for calculating the position of
the part
Message type  Notification message

Possible cause(s)  Cause: Object located outside of the camera’s field of vision
(>>> Page 156)
Solution: Align the camera via the smartHMI (>>> Page 156)

 Cause: Object located outside of the camera’s field of vision

(>>> Page 157)
Solution: Align camera via WorkVisual (>>> Page 157)

 Cause: Cameras aligned with different features (>>> Page 158)

Solution: Align the camera via the smartHMI (>>> Page 158)

 Cause: Cameras aligned with different features (>>> Page 158)

Solution: Align camera via WorkVisual (>>> Page 159)

 Cause: Lighting is too bright or too dim (>>> Page 159)

Solution: Optimize the lighting (>>> Page 160)

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.

156 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

 Only for robot-guided cameras:

 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 157 / 435

 KUKA.VisionTech 4.0

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.

158 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Lighting is too bright or too dim

Description KUKA.VisionTech requires optimum lighting in order to detect attributes. If the

lighting is too bright or too dim, attributes cannot be detected and processed.

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

Checking instruc-  Check whether the lighting is too bright or too dim.
tions

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 159 / 435

 KUKA.VisionTech 4.0

Solution: Optimize the lighting

Description Objects must be more brightly or more dimly lit.

15.2.10 VTH35918

Message code  VTH35918

Message text  The task is either not a valid VisionTech .task file or not supported by
the current version of the software
Message type  Notification message

Possible cause(s)  Cause: Task file has an invalid format (>>> Page 160)
Solution: Use valid task file (>>> Page 160)

Cause: Task file has an invalid format

Description The task file has an invalid format. As such, it cannot be loaded. The task file
must meet the following requirements:
 The task file must be of file type .task (Vision Tech Task).
 The task file must not have been created using an older version of Vision-
Tech. The task files are not compatible for use between different main ver-
sions of VisionTech.

Solution: Use valid task file

Description Use a valid task file.

Procedure 1. Delete the invalid task file.

2. Create a new task.

15.2.11 VTH35920

Message code  VTH35920

Message text  Failed to match the part instances found in the toolblocks
Message type  Notification message

Possible cause(s)  Cause: Cameras aligned with different components (>>> Page 161)
Solution: Align the camera via the smartHMI (>>> Page 161)

 Cause: Cameras aligned with different components (>>> Page 161)

Solution: Align camera via WorkVisual (>>> Page 161)

 Cause: Camera not fully or correctly calibrated (>>> Page 162)

Solution: Calibrate camera (stationary) (>>> Page 162)

 Cause: Camera not fully or correctly calibrated (>>> Page 164)

Solution: Calibrate camera (robot-guided) (>>> Page 164)

160 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: Cameras aligned with different components

Description In order to detect components, all components must be acquired by every

camera. Each of the cameras has detected different components.
The procedure for checking whether each camera detects the same com-
ponents is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different components

Description In order to detect components, all components must be acquired by every

camera. Each of the cameras has detected different components.
The procedure for checking whether each camera detects the same com-
ponents is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 161 / 435

 KUKA.VisionTech 4.0

 Cameras are connected and configured.

 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Camera not fully or correctly calibrated

Description The camera is not fully or correctly calibrated. Therefore, it is not possible to
determine an object position.

Solution: Calibrate camera (stationary)

During calibration, the IP address of camera must not be changed.

Precondition  Camera is mounted in a fixed position.

 Camera is connected and configured.
 Camera is aligned.
 Calibration exposure time is set.
 Calibration plate is attached. This is in the workpiece plane and in the field
of vision of the camera.

Procedure 1. In the main menu, select VisionTech > Calibration.

A freeze-frame image from the camera is displayed on the fixed sensors
tab. If the camera is calibrated, the freeze-frame image has a green frame.
If the camera is not calibrated, the freeze-frame image has a red frame.
2. Select the calibration plate used as the calibration body.

162 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

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.
3. Select the camera by tapping on the freeze-frame image.
4. Press Calibration Wizard.
5. Press Take picture. The fiducial mark (cross at the center of the calibra-
tion plate) must be visible.

Fig. 15-12: Calibration plate with fiducial mark

1 Fiducial mark 2 Origin

Recommendations:
The camera should be directly above the calibration plate.
The calibration plate should fill as much of the image of the camera
as possible.

6. Press Calibration.
7. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
8. Select an existing calibration plane in the Calibration plane box or choose
Create new calibration plane... to create a new calibration plane:
a. Enter a name for the calibration plane in the Name box.
b. Optional: Enter a description of the calibration plane in the Descrip-
tion box.

Recommendation: The description of the calibration plane should

contain the number of the base used.

c. Select an existing base in the Base ID box or choose Measure new

base... to calibrate a new base. The base can, for example, be cali-
brated using the 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. 15-12 ).

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 163 / 435

 KUKA.VisionTech 4.0

Fig. 15-13: Base for a stationary camera

1 Stationary camera 2 Calibration plate

9. Press Save. The settings are saved.

10. Press Exit. The window closes.

Cause: Camera not fully or correctly calibrated

Description The camera is not fully or correctly calibrated. Therefore, it is not possible to
determine an object position.

Solution: Calibrate camera (robot-guided)

If a palletizing robot is used, it is not possible to calibrate moving (ro-

bot-guided) cameras.

During calibration, the IP addresses of cameras must not be

changed.

Precondition  Cameras are mounted on the robot flange.

 Cameras are connected and configured.
 Cameras are aligned.
 Calibration plate is mounted and is located in the field of vision of the cam-
eras.
 NULLFRAME tool is selected.

Procedure 1. In the main menu, select VisionTech > Calibration.

Freeze-frame images from the cameras are displayed on the moving sen-
sors tab. The freeze-frame images of the cameras that have already been
calibrated have a green frame. 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 tapping the freeze-frame
images.
3. Press Calibration Wizard.
4. Move the robot to the first calibration pose and press Take picture. The
fiducial mark (cross at the center of the calibration plate) must be visible in
every pose. It is not possible to take 2 images in the same pose.

Recommendation: For the first pose, the cameras should be posi-

tioned directly above the calibration plate. In every pose, the cameras
should be at a different angle relative to the calibration plate; for this,
the robot must be moved.

164 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

5. Repeat step 4 for every pose. Record at least 6 poses. A maximum of 9

poses are possible.
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.
7. Press Calibration. The calibration process takes approx. 5 to 10 minutes.
8. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
9. Press Save. The result is saved.
10. Press Exit. The window closes.

The calibration coordinate system is defined on the basis of the fidu-

cial mark (>>> Fig. 15-12 ) and not visible to the user as a robot
base.

15.2.12 VTH35923

Message code  VTH35923

Message text  One of the configured sensors is not connected to the system
Message type  Notification message

Possible cause(s)  Cause: Camera is tied up in another process (>>> Page 165)
Solution: End the current process first (>>> Page 166)

 Cause: Camera is tied up in another process (>>> Page 166)

Solution: Disconnect camera from power supply and reconnect
(>>> Page 167)

 Cause: Camera is tied up in another process (>>> Page 168)

Solution: Carry out cold restart (>>> Page 169)

 Cause: Image acquisition not possible (>>> Page 170)

Solution: Connect camera (>>> Page 170)

 Cause: Sensor cable defective or not connected correctly

(>>> Page 170)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 171)

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 165 / 435

 KUKA.VisionTech 4.0

LEDs

Fig. 15-14: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-15: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: End the current process first

Description Cancel the ongoing process or wait until it has ended.

The procedure is determined by the current process.

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

166 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-16: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-17: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 167 / 435

 KUKA.VisionTech 4.0

Fig. 15-18: KUKA MXG20 camera – overview

1 LEDs
2 Data/PoE interface
3 Process interface / power supply

Fig. 15-19: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

168 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

LEDs

Fig. 15-20: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-21: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 169 / 435

 KUKA.VisionTech 4.0

Cause: Image acquisition not possible

Description KUKA.VisionTech cannot take images. No camera is connected.

Checking instruc-  Check whether the camera has been connected in accordance with the
tions documentation.

Solution: Connect camera

Description The camera must be connected.

Procedure 1. Connect the camera.

2. In the main menu, select VisionTech > Sensor overview.
3. Press Refresh sensors.
The newly-connected camera is indicated by a green LED status.

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1
 PoE2 - B2
 PoE3 - B3
If a KUKA IPC is used:
 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back

170 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

 Connector on correct slot

2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.13 VTH35935

Message code  VTH35935

Message text  Live image display is not possible in the current operating mode.
Message type  Notification message

Possible cause(s)  Cause: The robot is in AUT or AUT EXT mode. (>>> Page 171)
Solution: Change operating mode (>>> Page 171)

Cause: The robot is in AUT or AUT EXT mode.

Description Some functions are deactivated in AUT and AUT EXT mode. These include:
 Live image display
 Manual image acquisition
These functions are only available in modes T1 and T2.

Solution: Change operating mode

Do not change the operating mode while a program is running. If the

operating mode is changed during program execution, the industrial
robot is stopped with a safety stop 2.

Precondition  The robot controller is not executing a program.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 171 / 435

 KUKA.VisionTech 4.0

 If the mode selector switch is the variant with a key: the key is inserted in
the switch.

Procedure 1. Turn the mode selector switch on the smartPAD. The connection manager
is displayed.
2. Select the operating mode.
3. Return the mode selector switch to its original position.
The selected operating mode is displayed in the status bar of the smart-
PAD.

Operat-
Use Velocities
ing mode
 Program verification:
Programmed velocity, maxi-
For test operation, pro- mum 250 mm/s
T1 gramming and teach-
ing  Jog mode:
Jog velocity, maximum
250 mm/s
 Program verification:
T2 For test operation Programmed velocity
 Jog mode: Not possible
For industrial robots  Program operation:
AUT without higher-level Programmed velocity
controllers  Jog mode: Not possible
For industrial robots  Program operation:
AUT EXT with higher-level con- Programmed velocity
trollers, e.g. PLC  Jog mode: Not possible

15.2.14 VTH35936

Message code  VTH35936

Message text  Manual image acquisition has been stopped, as the current operating
mode does not permit manual image acquisition
Message type  Notification message

Possible cause(s)  Cause: The robot is in AUT or AUT EXT mode. (>>> Page 172)
Solution: Change operating mode (>>> Page 173)

Cause: The robot is in AUT or AUT EXT mode.

Description Some functions are deactivated in AUT and AUT EXT mode. These include:
 Live image display
 Manual image acquisition
These functions are only available in modes T1 and T2.

172 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Solution: Change operating mode

Do not change the operating mode while a program is running. If the

operating mode is changed during program execution, the industrial
robot is stopped with a safety stop 2.

Precondition  The robot controller is not executing a program.

 If the mode selector switch is the variant with a key: the key is inserted in
the switch.

Procedure 1. Turn the mode selector switch on the smartPAD. The connection manager
is displayed.
2. Select the operating mode.
3. Return the mode selector switch to its original position.
The selected operating mode is displayed in the status bar of the smart-
PAD.

Operat-
Use Velocities
ing mode
 Program verification:
Programmed velocity, maxi-
For test operation, pro- mum 250 mm/s
T1 gramming and teach-
ing  Jog mode:
Jog velocity, maximum
250 mm/s
 Program verification:
T2 For test operation Programmed velocity
 Jog mode: Not possible
For industrial robots  Program operation:
AUT without higher-level Programmed velocity
controllers  Jog mode: Not possible
For industrial robots  Program operation:
AUT EXT with higher-level con- Programmed velocity
trollers, e.g. PLC  Jog mode: Not possible

15.2.15 VTH35937

Message code  VTH35937

Message text  Manual image acquisition cannot start, as the current operating mode
does not permit manual image acquisition
Message type  Notification message

Possible cause(s)  Cause: The robot is in AUT or AUT EXT mode. (>>> Page 173)
Solution: Change operating mode (>>> Page 174)

Cause: The robot is in AUT or AUT EXT mode.

Description Some functions are deactivated in AUT and AUT EXT mode. These include:
 Live image display

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 173 / 435

 KUKA.VisionTech 4.0

 Manual image acquisition

These functions are only available in modes T1 and T2.

Solution: Change operating mode

Do not change the operating mode while a program is running. If the

operating mode is changed during program execution, the industrial
robot is stopped with a safety stop 2.

Precondition  The robot controller is not executing a program.

 If the mode selector switch is the variant with a key: the key is inserted in
the switch.

Procedure 1. Turn the mode selector switch on the smartPAD. The connection manager
is displayed.
2. Select the operating mode.
3. Return the mode selector switch to its original position.
The selected operating mode is displayed in the status bar of the smart-
PAD.

Operat-
Use Velocities
ing mode
 Program verification:
Programmed velocity, maxi-
For test operation, pro- mum 250 mm/s
T1 gramming and teach-
ing  Jog mode:
Jog velocity, maximum
250 mm/s
 Program verification:
T2 For test operation Programmed velocity
 Jog mode: Not possible
For industrial robots  Program operation:
AUT without higher-level Programmed velocity
controllers  Jog mode: Not possible
For industrial robots  Program operation:
AUT EXT with higher-level con- Programmed velocity
trollers, e.g. PLC  Jog mode: Not possible

15.2.16 VTH35940

Message code  VTH35940

Message text  Unable to create runtime result data
Message type  Acknowledgement message

174 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Possible cause(s)  Cause: An error occurred during creation of the result graphics
(>>> Page 175)
Solution: Carry out cold restart (>>> Page 175)

 Cause: An error occurred during creation of the result graphics

(>>> Page 175)
Solution: Contact KUKA Support (>>> Page 175)

Cause: An error occurred during creation of the result graphics

Description An error occurred during creation of the result graphics. The task results can
therefore not be distributed to the clients.

Checking instruc-  Check in WorkVisual that correct and complete results are generated by
tions the tool block.
 Check whether a current tool block V2 is being used.
 Check whether result graphics are generated in the tool block.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: An error occurred during creation of the result graphics

Description An error occurred during creation of the result graphics. The task results can
therefore not be distributed to the clients.

Checking instruc-  Check in WorkVisual that correct and complete results are generated by
tions the tool block.
 Check whether a current tool block V2 is being used.
 Check whether result graphics are generated in the tool block.

Solution: Contact KUKA Support

Description Contact the relevant Support department to rectify errors.

15.2.17 VTH35941

Message code  VTH35941

Message text  Unable to create runtime result data for task {Task name}
Message type  Acknowledgement message

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 175 / 435

 KUKA.VisionTech 4.0

Possible cause(s)  Cause: An error occurred during creation of the result graphics
(>>> Page 176)
Solution: Carry out cold restart (>>> Page 176)

 Cause: An error occurred during creation of the result graphics

(>>> Page 176)
Solution: Contact KUKA Support (>>> Page 176)

Cause: An error occurred during creation of the result graphics

Description An error occurred during creation of the result graphics. The task results can
therefore not be distributed to the clients.

Checking instruc-  Check in WorkVisual that correct and complete results are generated by
tions the tool block.
 Check whether a current tool block V2 is being used.
 Check whether result graphics are generated in the tool block.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: An error occurred during creation of the result graphics

Description An error occurred during creation of the result graphics. The task results can
therefore not be distributed to the clients.

Checking instruc-  Check in WorkVisual that correct and complete results are generated by
tions the tool block.
 Check whether a current tool block V2 is being used.
 Check whether result graphics are generated in the tool block.

Solution: Contact KUKA Support

Description Contact the relevant Support department to rectify errors.

15.2.18 VTH35942

Message code  VTH35942

Message text  Unable to create result graphics for the executed task
Message type  Acknowledgement message

176 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Possible cause(s)  Cause: An error occurred during creation of the result graphics
(>>> Page 177)
Solution: Carry out cold restart (>>> Page 177)

 Cause: An error occurred during creation of the result graphics

(>>> Page 177)
Solution: Contact KUKA Support (>>> Page 177)

Cause: An error occurred during creation of the result graphics

Description An error occurred during creation of the result graphics. The task results can
therefore not be distributed to the clients.

Checking instruc-  Check in WorkVisual that correct and complete results are generated by
tions the tool block.
 Check whether a current tool block V2 is being used.
 Check whether result graphics are generated in the tool block.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: An error occurred during creation of the result graphics

Description An error occurred during creation of the result graphics. The task results can
therefore not be distributed to the clients.

Checking instruc-  Check in WorkVisual that correct and complete results are generated by
tions the tool block.
 Check whether a current tool block V2 is being used.
 Check whether result graphics are generated in the tool block.

Solution: Contact KUKA Support

Description Contact the relevant Support department to rectify errors.

15.2.19 VTH35943

Message code  VTH35943

Message text  Unable to create result graphics for the executed task {0}
Message type  Acknowledgement message

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 177 / 435

 KUKA.VisionTech 4.0

Possible cause(s)  Cause: An error occurred during creation of the result graphics
(>>> Page 178)
Solution: Carry out cold restart (>>> Page 178)

 Cause: An error occurred during creation of the result graphics

(>>> Page 178)
Solution: Contact KUKA Support (>>> Page 178)

Cause: An error occurred during creation of the result graphics

Description An error occurred during creation of the result graphics. The task results can
therefore not be distributed to the clients.

Checking instruc-  Check in WorkVisual that correct and complete results are generated by
tions the tool block.
 Check whether a current tool block V2 is being used.
 Check whether result graphics are generated in the tool block.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: An error occurred during creation of the result graphics

Description An error occurred during creation of the result graphics. The task results can
therefore not be distributed to the clients.

Checking instruc-  Check in WorkVisual that correct and complete results are generated by
tions the tool block.
 Check whether a current tool block V2 is being used.
 Check whether result graphics are generated in the tool block.

Solution: Contact KUKA Support

Description Contact the relevant Support department to rectify errors.

15.2.20 VTH35944

Message code  VTH35944

Message text  Unable to unregister from result notification
Message type  Acknowledgement message

Possible cause(s)  Cause: Network connection has been terminated (>>> Page 179)
Solution: Restore network connection (>>> Page 179)

178 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: Network connection has been terminated

Description The network connection has been disconnected or the client has been
switched off.

Solution: Restore network connection

Description Restore the network connection.

15.2.21 VTH35945

Message code  VTH35945

Message text  Unable to unregister client {Client identifier} from result notification
Message type  Acknowledgement message

Possible cause(s)  Cause: Network connection has been terminated (>>> Page 179)
Solution: Restore network connection (>>> Page 179)

Cause: Network connection has been terminated

Description The network connection has been disconnected or the client has been
switched off.

Solution: Restore network connection

Description Restore the network connection.

15.2.22 VTH36001

Message code  VTH36001

Message text  An unexpected error occurred: {Error message.}
Message type  Acknowledgement message

Possible cause(s)  Cause: An unexpected runtime error occurred in the software or hard-
ware (>>> Page 179)
Solution: Carry out cold restart (>>> Page 180)

 Cause: An unexpected runtime error occurred in the software or hard-

ware (>>> Page 180)
Solution: Correct the configuration with WorkVisual. (>>> Page 180)

Cause: An unexpected runtime error occurred in the software or hardware

Description A runtime error has occurred in the software or in the connected hardware
(e.g. camera) and the process cannot be executed.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 179 / 435

 KUKA.VisionTech 4.0

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: An unexpected runtime error occurred in the software or hardware

Description A runtime error has occurred in the software or in the connected hardware
(e.g. camera) and the process cannot be executed.

Solution: Correct the configuration with WorkVisual.

Procedure  Correct the configuration with WorkVisual.

15.2.23 VTH36002

Message code  VTH36002

Message text  An unexpected error occurred
Message type  Acknowledgement message

Possible cause(s)  Cause: An unexpected runtime error occurred in the software or hard-
ware (>>> Page 180)
Solution: Carry out cold restart (>>> Page 180)

 Cause: An unexpected runtime error occurred in the software or hard-

ware (>>> Page 180)
Solution: Correct the configuration with WorkVisual. (>>> Page 181)

Cause: An unexpected runtime error occurred in the software or hardware

Description A runtime error has occurred in the software or in the connected hardware
(e.g. camera) and the process cannot be executed.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: An unexpected runtime error occurred in the software or hardware

Description A runtime error has occurred in the software or in the connected hardware
(e.g. camera) and the process cannot be executed.

180 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Solution: Correct the configuration with WorkVisual.

Procedure  Correct the configuration with WorkVisual.

15.2.24 VTH36003

Message code  VTH36003

Message text  The file could not be found.
Message type  Acknowledgement message

Possible cause(s)  Cause: A file required for execution of the option package is missing
(>>> Page 181)
Solution: Carry out cold restart (>>> Page 181)

 Cause: A file required for execution of the option package is missing

(>>> Page 181)
Solution: Check the WorkVisual project and transfer it again
(>>> Page 181)

 Cause: A file required for execution of the option package is missing

(>>> Page 182)
Solution: Reinstall KUKA.VisionTech (>>> Page 182)

Cause: A file required for execution of the option package is missing

Description A file that is required for execution of the option package was not found in the
file system. The file may have been manually deleted, renamed or moved in
the file system.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: A file required for execution of the option package is missing

Description A file that is required for execution of the option package was not found in the
file system. The file may have been manually deleted, renamed or moved in
the file system.

Solution: Check the WorkVisual project and transfer it again

Description The WorkVisual project must be checked and then transferred to the robot
controller again.

Precondition  User group “Expert”

 T1 or T2 mode

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 181 / 435

 KUKA.VisionTech 4.0

 No program is selected.
 Network connection between PC and robot controller

Procedure 1. Load the active project from the robot controller.

2. Check whether the configuration in the project matches the real system
configuration. If not, correct the configuration.
3. Transfer the project back from WorkVisual to the robot controller and acti-
vate it.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

Cause: A file required for execution of the option package is missing

Description A file that is required for execution of the option package was not found in the
file system. The file may have been manually deleted, renamed or moved in
the file system.

Solution: Reinstall KUKA.VisionTech

Description Reinstall KUKA.VisionTech so that all components work correctly.

It is advisable to archive all relevant data before updating a software

package.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller
 The option package is available as a KOP file.
 For installation of the option package in WorkVisual: Local administrator
rights

It is advisable to restart WorkVisual before installing the option pack-

age.

Procedure 1. Only for an update: Uninstall the previous version of the VisionTech op-
tion package in WorkVisual.
2. Install the VisionTech option package in WorkVisual.
3. Load the project from the robot controller.
4. Insert the VisionTech option package into the project.
5. Deploy the project from WorkVisual to the robot controller and activate it.
6. The request for confirmation Do you want to activate the project […]? is dis-
played on the smartHMI. The active project is overwritten during activa-
tion. If no relevant project will be overwritten: Answer the query with Yes.
7. An overview with the changes and a request for confirmation are displayed
on the smartHMI. Answer this with Yes. The option package is installed
and the robot controller carries out a reboot.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

182 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

15.2.25 VTH36004

Message code  VTH36004

Message text  Unable to find file "{File name}".
Message type  Acknowledgement message

Possible cause(s)  Cause: A file required for execution of the option package is missing
(>>> Page 183)
Solution: Carry out cold restart (>>> Page 183)

 Cause: A file required for execution of the option package is missing

(>>> Page 183)
Solution: Check the WorkVisual project and transfer it again
(>>> Page 183)

 Cause: A file required for execution of the option package is missing

(>>> Page 184)
Solution: Reinstall KUKA.VisionTech (>>> Page 184)

Cause: A file required for execution of the option package is missing

Description A file that is required for execution of the option package was not found in the
file system. The file may have been manually deleted, renamed or moved in
the file system.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: A file required for execution of the option package is missing

Description A file that is required for execution of the option package was not found in the
file system. The file may have been manually deleted, renamed or moved in
the file system.

Solution: Check the WorkVisual project and transfer it again

Description The WorkVisual project must be checked and then transferred to the robot
controller again.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller

Procedure 1. Load the active project from the robot controller.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 183 / 435

 KUKA.VisionTech 4.0

2. Check whether the configuration in the project matches the real system
configuration. If not, correct the configuration.
3. Transfer the project back from WorkVisual to the robot controller and acti-
vate it.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

Cause: A file required for execution of the option package is missing

Description A file that is required for execution of the option package was not found in the
file system. The file may have been manually deleted, renamed or moved in
the file system.

Solution: Reinstall KUKA.VisionTech

Description Reinstall KUKA.VisionTech so that all components work correctly.

It is advisable to archive all relevant data before updating a software

package.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller
 The option package is available as a KOP file.
 For installation of the option package in WorkVisual: Local administrator
rights

It is advisable to restart WorkVisual before installing the option pack-

age.

Procedure 1. Only for an update: Uninstall the previous version of the VisionTech op-
tion package in WorkVisual.
2. Install the VisionTech option package in WorkVisual.
3. Load the project from the robot controller.
4. Insert the VisionTech option package into the project.
5. Deploy the project from WorkVisual to the robot controller and activate it.
6. The request for confirmation Do you want to activate the project […]? is dis-
played on the smartHMI. The active project is overwritten during activa-
tion. If no relevant project will be overwritten: Answer the query with Yes.
7. An overview with the changes and a request for confirmation are displayed
on the smartHMI. Answer this with Yes. The option package is installed
and the robot controller carries out a reboot.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

184 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

15.2.26 VTH36005

Message code  VTH36005

Message text  The file could not be opened.
Message type  Acknowledgement message

Possible cause(s)  Cause: Opening of the specified file failed (>>> Page 185)
Solution: Carry out cold restart (>>> Page 185)

 Cause: Opening of the specified file failed (>>> Page 185)

Solution: Check the WorkVisual project and transfer it again
(>>> Page 185)

 Cause: Opening of the specified file failed (>>> Page 186)

Solution: Reinstall KUKA.VisionTech (>>> Page 186)

Cause: Opening of the specified file failed

Description Opening of the specified file failed. This may be a temporary problem.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: Opening of the specified file failed

Description Opening of the specified file failed. This may be a temporary problem.

Solution: Check the WorkVisual project and transfer it again

Description The WorkVisual project must be checked and then transferred to the robot
controller again.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller

Procedure 1. Load the active project from the robot controller.

2. Check whether the configuration in the project matches the real system
configuration. If not, correct the configuration.
3. Transfer the project back from WorkVisual to the robot controller and acti-
vate it.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 185 / 435

 KUKA.VisionTech 4.0

Cause: Opening of the specified file failed

Description Opening of the specified file failed. This may be a temporary problem.

Solution: Reinstall KUKA.VisionTech

Description Reinstall KUKA.VisionTech so that all components work correctly.

It is advisable to archive all relevant data before updating a software

package.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller
 The option package is available as a KOP file.
 For installation of the option package in WorkVisual: Local administrator
rights

It is advisable to restart WorkVisual before installing the option pack-

age.

Procedure 1. Only for an update: Uninstall the previous version of the VisionTech op-
tion package in WorkVisual.
2. Install the VisionTech option package in WorkVisual.
3. Load the project from the robot controller.
4. Insert the VisionTech option package into the project.
5. Deploy the project from WorkVisual to the robot controller and activate it.
6. The request for confirmation Do you want to activate the project […]? is dis-
played on the smartHMI. The active project is overwritten during activa-
tion. If no relevant project will be overwritten: Answer the query with Yes.
7. An overview with the changes and a request for confirmation are displayed
on the smartHMI. Answer this with Yes. The option package is installed
and the robot controller carries out a reboot.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

15.2.27 VTH36006

Message code  VTH36006

Message text  Unable to find the variable \"{KRL variable name}\".
Message type  Acknowledgement message

Possible cause(s)  Cause: The specified KRL variable could not be found (>>> Page 187)
Solution: Carry out cold restart (>>> Page 187)

186 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

 Cause: The specified KRL variable could not be found (>>> Page 187)
Solution: Check the WorkVisual project and transfer it again
(>>> Page 187)

 Cause: The specified KRL variable could not be found (>>> Page 188)
Solution: Reinstall KUKA.VisionTech (>>> Page 188)

Cause: The specified KRL variable could not be found

Description The specified KRL variable could not be found in the data list (DAT file). The
variable was not declared in the data list or has not be initialized.
The procedure for checking the state of a variable is as follows:

Checking instruc-  Check the state of a variable with the VARSTATE() function. The
tions VARSTATE function supplies 3 return values: #DECLARED, #INITIAL-
IZED or #UNKNOWN.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: The specified KRL variable could not be found

Description The specified KRL variable could not be found in the data list (DAT file). The
variable was not declared in the data list or has not be initialized.
The procedure for checking the state of a variable is as follows:

Checking instruc-  Check the state of a variable with the VARSTATE() function. The
tions VARSTATE function supplies 3 return values: #DECLARED, #INITIAL-
IZED or #UNKNOWN.

Solution: Check the WorkVisual project and transfer it again

Description The WorkVisual project must be checked and then transferred to the robot
controller again.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller

Procedure 1. Load the active project from the robot controller.

2. Check whether the configuration in the project matches the real system
configuration. If not, correct the configuration.
3. Transfer the project back from WorkVisual to the robot controller and acti-
vate it.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 187 / 435

 KUKA.VisionTech 4.0

Cause: The specified KRL variable could not be found

Description The specified KRL variable could not be found in the data list (DAT file). The
variable was not declared in the data list or has not be initialized.
The procedure for checking the state of a variable is as follows:

Checking instruc-  Check the state of a variable with the VARSTATE() function. The
tions VARSTATE function supplies 3 return values: #DECLARED, #INITIAL-
IZED or #UNKNOWN.

Solution: Reinstall KUKA.VisionTech

Description Reinstall KUKA.VisionTech so that all components work correctly.

It is advisable to archive all relevant data before updating a software

package.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller
 The option package is available as a KOP file.
 For installation of the option package in WorkVisual: Local administrator
rights

It is advisable to restart WorkVisual before installing the option pack-

age.

Procedure 1. Only for an update: Uninstall the previous version of the VisionTech op-
tion package in WorkVisual.
2. Install the VisionTech option package in WorkVisual.
3. Load the project from the robot controller.
4. Insert the VisionTech option package into the project.
5. Deploy the project from WorkVisual to the robot controller and activate it.
6. The request for confirmation Do you want to activate the project […]? is dis-
played on the smartHMI. The active project is overwritten during activa-
tion. If no relevant project will be overwritten: Answer the query with Yes.
7. An overview with the changes and a request for confirmation are displayed
on the smartHMI. Answer this with Yes. The option package is installed
and the robot controller carries out a reboot.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

15.2.28 VTH36007

Message code  VTH36007

Message text  The variable \"{KRL variable name}\" is not initialized.
Message type  Acknowledgement message

188 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Possible cause(s)  Cause: The specified KRL variable could not be found (>>> Page 189)
Solution: Carry out cold restart (>>> Page 189)

 Cause: The specified KRL variable could not be found (>>> Page 189)
Solution: Check the WorkVisual project and transfer it again
(>>> Page 189)

 Cause: The specified KRL variable could not be found (>>> Page 190)
Solution: Reinstall KUKA.VisionTech (>>> Page 190)

Cause: The specified KRL variable could not be found

Description The specified KRL variable could not be found in the data list (DAT file). The
variable was not declared in the data list or has not be initialized.
The procedure for checking the state of a variable is as follows:

Checking instruc-  Check the state of a variable with the VARSTATE() function. The
tions VARSTATE function supplies 3 return values: #DECLARED, #INITIAL-
IZED or #UNKNOWN.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: The specified KRL variable could not be found

Description The specified KRL variable could not be found in the data list (DAT file). The
variable was not declared in the data list or has not be initialized.
The procedure for checking the state of a variable is as follows:

Checking instruc-  Check the state of a variable with the VARSTATE() function. The
tions VARSTATE function supplies 3 return values: #DECLARED, #INITIAL-
IZED or #UNKNOWN.

Solution: Check the WorkVisual project and transfer it again

Description The WorkVisual project must be checked and then transferred to the robot
controller again.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller

Procedure 1. Load the active project from the robot controller.

2. Check whether the configuration in the project matches the real system
configuration. If not, correct the configuration.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 189 / 435

 KUKA.VisionTech 4.0

3. Transfer the project back from WorkVisual to the robot controller and acti-
vate it.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

Cause: The specified KRL variable could not be found

Description The specified KRL variable could not be found in the data list (DAT file). The
variable was not declared in the data list or has not be initialized.
The procedure for checking the state of a variable is as follows:

Checking instruc-  Check the state of a variable with the VARSTATE() function. The
tions VARSTATE function supplies 3 return values: #DECLARED, #INITIAL-
IZED or #UNKNOWN.

Solution: Reinstall KUKA.VisionTech

Description Reinstall KUKA.VisionTech so that all components work correctly.

It is advisable to archive all relevant data before updating a software

package.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller
 The option package is available as a KOP file.
 For installation of the option package in WorkVisual: Local administrator
rights

It is advisable to restart WorkVisual before installing the option pack-

age.

Procedure 1. Only for an update: Uninstall the previous version of the VisionTech op-
tion package in WorkVisual.
2. Install the VisionTech option package in WorkVisual.
3. Load the project from the robot controller.
4. Insert the VisionTech option package into the project.
5. Deploy the project from WorkVisual to the robot controller and activate it.
6. The request for confirmation Do you want to activate the project […]? is dis-
played on the smartHMI. The active project is overwritten during activa-
tion. If no relevant project will be overwritten: Answer the query with Yes.
7. An overview with the changes and a request for confirmation are displayed
on the smartHMI. Answer this with Yes. The option package is installed
and the robot controller carries out a reboot.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

190 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

15.2.29 VTH36010

Message code  VTH36010

Message text  An error occurred when changing the default exposure time
Message type  Acknowledgement message

Possible cause(s)  Cause: Sensor cable defective or not connected correctly

(>>> Page 191)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 192)

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1
 PoE2 - B2
 PoE3 - B3
If a KUKA IPC is used:
 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 191 / 435

 KUKA.VisionTech 4.0

2. Check whether the cable is mechanically damaged. Causes of squashed

cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.30 VTH36012

Message code  VTH36012

Message text  An error occurred when changing the calibration exposure time
Message type  Acknowledgement message

Possible cause(s)  Cause: Sensor cable defective or not connected correctly

(>>> Page 192)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 193)

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:

192 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

 PoE1 - B1
 PoE2 - B2
 PoE3 - B3
If a KUKA IPC is used:
 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.31 VTH36014

Message code  VTH36014

Message text  An error occurred while setting the exposure time: {Error text}
Message type  Acknowledgement message

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 193 / 435

 KUKA.VisionTech 4.0

Possible cause(s)  Cause: Sensor cable defective or not connected correctly

(>>> Page 194)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 195)

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1
 PoE2 - B2
 PoE3 - B3
If a KUKA IPC is used:
 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:

194 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

 Cross-connection of individual wires

 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.32 VTH36016

Message code  VTH36016

Message text  An error occurred when saving the image from sensor {Serial number}
Message type  Acknowledgement message

Possible cause(s)  Cause: Camera is tied up in another process (>>> Page 195)
Solution: End the current process first (>>> Page 196)

 Cause: Camera is tied up in another process (>>> Page 196)

Solution: Disconnect camera from power supply and reconnect
(>>> Page 197)

 Cause: Camera is tied up in another process (>>> Page 198)

Solution: Carry out cold restart (>>> Page 199)

 Cause: Sensor cable defective or not connected correctly

(>>> Page 200)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 200)

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 195 / 435

 KUKA.VisionTech 4.0

LEDs

Fig. 15-22: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-23: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: End the current process first

Description Cancel the ongoing process or wait until it has ended.

The procedure is determined by the current process.

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

196 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-24: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-25: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 197 / 435

 KUKA.VisionTech 4.0

Fig. 15-26: KUKA MXG20 camera – overview

1 LEDs
2 Data/PoE interface
3 Process interface / power supply

Fig. 15-27: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

198 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

LEDs

Fig. 15-28: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-29: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 199 / 435

 KUKA.VisionTech 4.0

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1
 PoE2 - B2
 PoE3 - B3
If a KUKA IPC is used:
 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

200 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.33 VTH36019

Message code  VTH36019

Message text  The sensor overview cannot be opened during the calibration process
Message type  Notification message

Possible cause(s)  Cause: Changes to the sensor configuration not permitted during cali-
bration (>>> Page 201)
Solution: End the calibration process (>>> Page 201)

Cause: Changes to the sensor configuration not permitted during calibration

Description Changes to the sensor configuration are not permitted during an ongoing cal-
ibration process. As a result, the sensor overview cannot be opened during the
calibration process.
The calibration process takes approx. 5 to 10 minutes.

Solution: End the calibration process

Description End the calibration process in one of the following 3 ways:

 Cancel the calibration wizard.
 Save the calibration result.
 Discard the calibration result.

15.2.34 VTH36020

Message code  VTH36020

Message text  The sensor overview cannot be opened after the calibration wizard has
been started
Message type  Notification message

Possible cause(s)  Cause: Changes to the sensor configuration not permitted during cali-
bration (>>> Page 202)
Solution: End the calibration process (>>> Page 202)

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 201 / 435

 KUKA.VisionTech 4.0

Cause: Changes to the sensor configuration not permitted during calibration

Description Changes to the sensor configuration are not permitted during an ongoing cal-
ibration process. As a result, the sensor overview cannot be opened during the
calibration process.
The calibration process takes approx. 5 to 10 minutes.

Solution: End the calibration process

Description End the calibration process in one of the following 3 ways:

 Cancel the calibration wizard.
 Save the calibration result.
 Discard the calibration result.

15.2.35 VTH36022

Message code  VTH36022

Message text  An error occurred while acquiring an image from sensor {Serial num-
ber}: {Error message}
Message type  Acknowledgement message

Possible cause(s)  Cause: Camera is tied up in another process (>>> Page 202)
Solution: End the current process first (>>> Page 203)

 Cause: Camera is tied up in another process (>>> Page 203)

Solution: Disconnect camera from power supply and reconnect
(>>> Page 204)

 Cause: Camera is tied up in another process (>>> Page 205)

Solution: Carry out cold restart (>>> Page 206)

 Cause: Sensor cable defective or not connected correctly

(>>> Page 207)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 207)

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

202 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

LEDs

Fig. 15-30: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-31: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: End the current process first

Description Cancel the ongoing process or wait until it has ended.

The procedure is determined by the current process.

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 203 / 435

 KUKA.VisionTech 4.0

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-32: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-33: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

204 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Fig. 15-34: KUKA MXG20 camera – overview

1 LEDs
2 Data/PoE interface
3 Process interface / power supply

Fig. 15-35: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 205 / 435

 KUKA.VisionTech 4.0

LEDs

Fig. 15-36: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-37: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

206 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1
 PoE2 - B2
 PoE3 - B3
If a KUKA IPC is used:
 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 207 / 435

 KUKA.VisionTech 4.0

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.36 VTH36023

Message code  VTH36023

Message text  An error occurred while acquiring an image from a sensor: {Serial num-
ber}
Message type  Acknowledgement message

Possible cause(s)  Cause: Camera is tied up in another process (>>> Page 208)
Solution: End the current process first (>>> Page 209)

 Cause: Camera is tied up in another process (>>> Page 209)

Solution: Disconnect camera from power supply and reconnect
(>>> Page 210)

 Cause: Camera is tied up in another process (>>> Page 211)

Solution: Carry out cold restart (>>> Page 212)

 Cause: Sensor cable defective or not connected correctly

(>>> Page 213)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 213)

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-38: KUKA MXG20 camera – LEDs

208 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-39: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: End the current process first

Description Cancel the ongoing process or wait until it has ended.

The procedure is determined by the current process.

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 209 / 435

 KUKA.VisionTech 4.0

LEDs

Fig. 15-40: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-41: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

210 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Fig. 15-42: KUKA MXG20 camera – overview

1 LEDs
2 Data/PoE interface
3 Process interface / power supply

Fig. 15-43: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 211 / 435

 KUKA.VisionTech 4.0

LEDs

Fig. 15-44: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-45: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

212 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1
 PoE2 - B2
 PoE3 - B3
If a KUKA IPC is used:
 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 213 / 435

 KUKA.VisionTech 4.0

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.37 VTH36024

Message code  VTH36024

Message text  The following error occurred while loading the task: {Error message}
Message type  Acknowledgement message

Possible cause(s)  Cause: Task file has an invalid format (>>> Page 214)
Solution: Use valid task file (>>> Page 214)

Cause: Task file has an invalid format

Description The task file has an invalid format. As such, it cannot be loaded. The task file
must meet the following requirements:
 The task file must be of file type .task (Vision Tech Task).
 The task file must not have been created using an older version of Vision-
Tech. The task files are not compatible for use between different main ver-
sions of VisionTech.

Solution: Use valid task file

Description Use a valid task file.

Procedure 1. Delete the invalid task file.

2. Create a new task.

15.2.38 VTH36027

Message code  VTH36027

Message text  Error reading the current Cartesian robot position. Please ensure that
valid BASE and TOOL data are set in the controller
Message type  Acknowledgement message

Possible cause(s)  Cause: Tool and/or base not assigned (>>> Page 214)
Solution: Select tool and base (>>> Page 215)

Cause: Tool and/or base not assigned

Description The base and tool have not yet been set after a reboot of the robot controller.
A program was started without selecting the base and tool.

214 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

The procedure for checking whether the tool and/or base have been as-
signed is as follows:

Checking instruc- 1. Touch the Tool/base status indicator. The Cur. Tool/Base window is
tions opened.
2. Check whether Unknown is shown next to the tool and/or base and a
question mark instead of the number.

Solution: Select tool and base

Description One tool (TOOL coordinate system) and one base (BASE coordinate system)
must be selected for Cartesian jogging.

Procedure 1. Touch the status indicator Cur. tool/base. The Cur. tool/base window
opens.
2. Select the desired tool and base.
3. The window closes and the selection is applied.

15.2.39 VTH36031

Message code  VTH36031

Message text  The following error occurred during synchronization of the active project
with the vision data: {Detailed error message}
Message type  Acknowledgement message

Possible cause(s)  Cause: Active project defective (>>> Page 215)

Solution: Carry out cold restart (>>> Page 215)

 Cause: Active project defective (>>> Page 215)

Solution: Check the WorkVisual project and transfer it again
(>>> Page 216)

Cause: Active project defective

Description The active project on the robot controller is defective.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: Active project defective

Description The active project on the robot controller is defective.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 215 / 435

 KUKA.VisionTech 4.0

Solution: Check the WorkVisual project and transfer it again

Description The WorkVisual project must be checked and then transferred to the robot
controller again.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller

Procedure 1. Load the active project from the robot controller.

2. Check whether the configuration in the project matches the real system
configuration. If not, correct the configuration.
3. Transfer the project back from WorkVisual to the robot controller and acti-
vate it.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

15.2.40 VTH36033

Message code  VTH36033

Message text  The manufacturer or model name ({Manufacturer of the configured sen-
sor}, {Model name of the configured sensor}) of the configured sensor
with serial number {Serial number of the configured sensor} does not
match the sensor found ({Manufacturer of the sensor found}, {Model
name of the sensor found}).
Message type  Acknowledgement message

Possible cause(s)  Cause: Incorrect camera model stored in WorkVisual project

(>>> Page 216)
Solution: Correct the configuration with WorkVisual. (>>> Page 217)

Cause: Incorrect camera model stored in WorkVisual project

Description A camera model stored in the WorkVisual project does not match the camera
model that is actually connected. This can only occur if the cameras have been
configured offline, i.e. if the catalog element for the wrong camera model has
been dragged into the project manually.
The procedure for checking which camera models are configured is as
follows:

Precondition  Project is open in WorkVisual.

 The robot controller has been set as the active controller.

Checking instruc- 1. Select the Hardware tab in the Project structure window.
tions 2. Check which camera is inserted under the robot controller.
3. If the camera has been renamed, double-click on the camera.
4. On the Camera settings tab, check the Product entry.

216 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Solution: Correct the configuration with WorkVisual.

Procedure  Correct the configuration with WorkVisual.

15.2.41 VTH36037

Message code  VTH36037

Message text  A task with the specified name "{Task name}" could not be found
Message type  Acknowledgement message

Possible cause(s)  Cause: Task no longer exists (>>> Page 217)

Solution: Remove the write protection attribute (>>> Page 217)

 Cause: Task no longer exists (>>> Page 217)

Solution: Update task list (>>> Page 217)

Cause: Task no longer exists

Description There is a task in the task list. When attempting to delete the task, the error
message appears.

Solution: Remove the write protection attribute

Description Write-protection for the file must be deactivated.

Precondition  User group “Administrator”

Procedure 1. Open Explorer.

2. Open the folder in which the file is located.
3. Open the properties of the file by means of the menu sequence File >
Properties.
4. On the General tab, deactivate the Attribute write-protected.
5. Confirm with OK.

Cause: Task no longer exists

Description There is a task in the task list. When attempting to delete the task, the error
message appears.

Solution: Update task list

Description The task list must be updated in order to see if the task is still available.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Update task list.
3. Check the Tasks area to see if the desired task is available.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 217 / 435

 KUKA.VisionTech 4.0

15.2.42 VTH36038

Message code  VTH36038

Message text  Failed to save the calibration result
Message type  Acknowledgement message

Possible cause(s)  Cause: The SensorCalibration directory or the calibration result within
is write-protected (>>> Page 218)
Solution: Remove write protection of directory (>>> Page 218)

 Cause: SensorCalibration directory missing (>>> Page 218)

Solution: Create directory (>>> Page 219)

Cause: The SensorCalibration directory or the calibration result within is write-protected

Description The SensorCalibration directory or the calibration result within is write-pro-

tected.

Directory Directory C:\KRC\TP\VisionTech\

The procedure for checking whether the directory is write-protected is

as follows:

Precondition  “Expert” user group

Checking instruc- 1. In the main menu, select Start-up > Service > Minimize HMI.
tions The smartHMI is minimized and the Windows interface is displayed.
2. Navigate to the directory.
3. Right-click and select Settings.
4. Check whether the check box Write-protected is deactivated.

Solution: Remove write protection of directory

Description Remove the write protection of the directory

Cause: SensorCalibration directory missing

Description The directory SensorCalibration must be located under C:\KRC\TP\Vision-

Tech\. The directory SensorCalibration is not present.

Directory Directory C:\KRC\TP\VisionTech\

Precondition  “Expert” user group

The procedure for checking whether the directory is missing is as fol-
lows:

Checking instruc- 1. In the Navigator, navigate to the directory in which the directory should be
tions located.
2. Check whether the directory is present.

218 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Solution: Create directory

Description To eliminate the problem, the directory must be created manually.

Precondition  User group: Expert

 Windows interface (Minimize HMI)
 Administrator rights in Windows

Procedure 1. Navigate to the location at which the directory is to be created.

2. Create the directory.

15.2.43 VTH36039

Message code  VTH36039

Message text  Connection to sensor failed
Message type  Acknowledgement message

Possible cause(s)  Cause: Image acquisition not possible (>>> Page 219)
Solution: Connect camera (>>> Page 219)

 Cause: Connecting cable defective (>>> Page 219)

Solution: Exchange the connecting cable (>>> Page 220)

 Cause: Sensor cable defective or not connected correctly

(>>> Page 220)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 221)

Cause: Image acquisition not possible

Description KUKA.VisionTech cannot take images. No camera is connected.

Checking instruc-  Check whether the camera has been connected in accordance with the
tions documentation.

Solution: Connect camera

Description The camera must be connected.

Procedure 1. Connect the camera.

2. In the main menu, select VisionTech > Sensor overview.
3. Press Refresh sensors.
The newly-connected camera is indicated by a green LED status.

Cause: Connecting cable defective

Description The connecting cable is defective.

The procedure for checking whether the connecting cable is defective is
as follows:

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 219 / 435

 KUKA.VisionTech 4.0

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange the connecting cable

Description The connecting cable must be exchanged.

Procedure 1. Shut down the robot controller.

2. Replace the defective connecting cable with a new connecting cable.
3. Reboot the robot controller.

The main switch on the robot controller must not be op-

erated if the KSS has been exited with the option with re-
start and the reboot has not yet been completed. System files may otherwise
be destroyed.

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1
 PoE2 - B2
 PoE3 - B3

220 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

If a KUKA IPC is used:

 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.44 VTH36040

Message code  VTH36040

Message text  No image processing license found. Please activate a license.
Message type  Notification message

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 221 / 435

 KUKA.VisionTech 4.0

Possible cause(s)  Cause: Incorrect or no license installed on the controller

(>>> Page 222)
Solution: Uninstall license and install new license (>>> Page 222)

Cause: Incorrect or no license installed on the controller

Description The KUKA.VisionTech option package is supplied with two licenses. One of
the licenses has a smaller range of functions. This license is required for in-
stallation on a service laptop. The second license has the full range of func-
tions. This license is required for installation on the controller. Installing the
incorrect license on the controller results in an error message.
The procedure for checking whether the correct license is installed is as
follows:

Checking instruc- 1. In the main menu, select VisionTech > Licensing.

tions 2. Compare the license key entered with the license key you have received.
The license key is either on a sticker in the robot controller or is enclosed
with the software.

Fig. 15-46: KUKA.VisionTech license KRC

The license key entered must match the license key under Vision license
key KRC.

Solution: Uninstall license and install new license

Description The incorrect license must be uninstalled and the correct license installed.

Precondition  If the license on the robot controller or KUKA IPC is to be uninstalled: The
connection to the robot controller or KUKA IPC has been established.

Procedure 1. Open the licensing overview:

 Select the menu sequence Editors > Options packages > Vision-
Tech > Licensing overview.

 Alternatively: Click on the button.

The Vision licensing overview window opens. The service laptop is dis-
played under Engineering licenses and the robot controller and KUKA
IPC are displayed under Runtime licenses.
2. Click on Open licensing management in the box corresponding to the
computer for which the license is to be uninstalled.
3. Click on Uninstall license.
4. In the list of installed licenses, select the license to be uninstalled.
5. Click on Create uninstall request and select a directory. A file is gener-
ated in the selected directory.
6. Send the generated file to [email protected]. KUKA
Service will use this to create a response file and send it to you.

222 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

7. Click on ..., select the response file received and confirm with Open.

15.2.45 VTH36041

Message code  VTH36041

Message text  Cannot establish a connection to the image processing module. Vision-
Tech is not ready for operation
Message type  Acknowledgement message

Possible cause(s)  Cause: Vision server is not correctly installed (>>> Page 223)
Solution: Reinstall KUKA.VisionTech (>>> Page 223)

Cause: Vision server is not correctly installed

Description It was not possible to install the vision server correctly. Errors occurred during
the installation routine.

Solution: Reinstall KUKA.VisionTech

Description Reinstall KUKA.VisionTech so that all components work correctly.

It is advisable to archive all relevant data before updating a software

package.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller
 The option package is available as a KOP file.
 For installation of the option package in WorkVisual: Local administrator
rights

It is advisable to restart WorkVisual before installing the option pack-

age.

Procedure 1. Only for an update: Uninstall the previous version of the VisionTech op-
tion package in WorkVisual.
2. Install the VisionTech option package in WorkVisual.
3. Load the project from the robot controller.
4. Insert the VisionTech option package into the project.
5. Deploy the project from WorkVisual to the robot controller and activate it.
6. The request for confirmation Do you want to activate the project […]? is dis-
played on the smartHMI. The active project is overwritten during activa-
tion. If no relevant project will be overwritten: Answer the query with Yes.
7. An overview with the changes and a request for confirmation are displayed
on the smartHMI. Answer this with Yes. The option package is installed
and the robot controller carries out a reboot.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 223 / 435

 KUKA.VisionTech 4.0

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

15.2.46 VTH36042

Message code  VTH36042

Message text  An unknown exception occurred while acquiring a picture from the sen-
sor {Serial number}: {Error message}
Message type  Acknowledgement message

Possible cause(s)  Cause: Camera is tied up in another process (>>> Page 224)
Solution: End the current process first (>>> Page 225)

 Cause: Camera is tied up in another process (>>> Page 225)

Solution: Disconnect camera from power supply and reconnect
(>>> Page 226)

 Cause: Camera is tied up in another process (>>> Page 227)

Solution: Carry out cold restart (>>> Page 228)

 Cause: Image acquisition not possible (>>> Page 228)

Solution: Connect camera (>>> Page 228)

 Cause: Sensor cable defective or not connected correctly

(>>> Page 229)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 229)

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-47: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

224 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Fig. 15-48: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: End the current process first

Description Cancel the ongoing process or wait until it has ended.

The procedure is determined by the current process.

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-49: KUKA MXG20 camera – LEDs

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 225 / 435

 KUKA.VisionTech 4.0

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-50: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

Fig. 15-51: KUKA MXG20 camera – overview

1 LEDs

226 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

2 Data/PoE interface
3 Process interface / power supply

Fig. 15-52: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-53: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 227 / 435

 KUKA.VisionTech 4.0

Fig. 15-54: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: Image acquisition not possible

Description KUKA.VisionTech cannot take images. No camera is connected.

Checking instruc-  Check whether the camera has been connected in accordance with the
tions documentation.

Solution: Connect camera

Description The camera must be connected.

Procedure 1. Connect the camera.

2. In the main menu, select VisionTech > Sensor overview.
3. Press Refresh sensors.
The newly-connected camera is indicated by a green LED status.

228 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1
 PoE2 - B2
 PoE3 - B3
If a KUKA IPC is used:
 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 229 / 435

 KUKA.VisionTech 4.0

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.47 VTH36044

Message code  VTH36044

Message text  The selected tool block is not supported. Please check the inputs and
outputs of the tool block.
Message type  Acknowledgement message

Possible cause(s)  Cause: Tool block does not support the inputs or outputs used
(>>> Page 230)
Solution: Correcting the programming in the SRC file (>>> Page 230)

 Cause: Tool block does not support the inputs or outputs used
(>>> Page 230)
Solution: Create new tool block in WorkVisual (>>> Page 230)

Cause: Tool block does not support the inputs or outputs used

Description Inputs or outputs are used which do not correspond to the format that the tool
block expects.

Checking instruc-  Check the tool block documentation to see which inputs and outputs are
tions defined for tool block purposes and what their data type is.

Solution: Correcting the programming in the SRC file

Procedure  Correct the programming in the SRC file

Further information is contained in the documentation for the relevant

software.

Cause: Tool block does not support the inputs or outputs used

Description Inputs or outputs are used which do not correspond to the format that the tool
block expects.

Checking instruc-  Check the tool block documentation to see which inputs and outputs are
tions defined for tool block purposes and what their data type is.

Solution: Create new tool block in WorkVisual

Description Create a new tool block in WorkVisual.

Procedure 1. Open the tool block editor:

230 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

 Select the menu sequence Editors > Options packages > Vision-
Tech > Tool block editor.

 Alternatively: Click on the button.

2. Select the menu sequence Tool block > New > KUKA v1 or KUKA v2 >
2D or 3D.
3. Select the menu sequence Image source > File... or Directory... and se-
lect the image(s) that were taken using the controller.

4. Click on the button. The image(s) are inserted next to the inputs under
InputImage.

5. Click on the button. Tools and templates are displayed.

(>>> 20.1 "Tool block templates (KUKA V1)" Page 389)
(>>> 20.2 "Tool block templates (KUKA V2)" Page 402)
6. Select the desired template or tool and drag it between the inputs and out-
puts.
7. Optional: Edit the parameters in the script of a template or tool.
a. Double-click on the template or tool.
b. Click on the button. The script opens.
c. Open the User Variables / Settings area and modify the desired pa-
rameters.
8. Link the inputs and outputs, e.g. InputImage under the inputs with InputIma-
ge in the template. To do so, click on the input or output and drag it onto
the other input or output. The link is indicated by an arrow.
9. Double-click on the template and configure the desired patterns.

10. Click on the button and choose whether the tool should be saved com-
pletely or without images or results.
11. Select a directory and click on Save.

15.2.48 VTH36045

Message code  VTH36045

Message text  The amount of captured pictures is not sufficient for performing a cali-
bration
Message type  Acknowledgement message

Possible cause(s)  Cause: The number of captured pictures is not sufficient for performing
a calibration (>>> Page 231)
Solution: Increase number of images taken (>>> Page 232)

Cause: The number of captured pictures is not sufficient for performing a calibration

Description To correctly calibrate KUKA.VisionTech, at least 6 images must be taken.

The procedure for checking whether enough images have been taken for
a calibration is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Calibration.

tions Freeze-frame images from the cameras are displayed on the moving sen-
sors or fixed sensors tab. The freeze-frame images of the cameras that
have already been calibrated have a green frame. In the case of cameras

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 231 / 435

 KUKA.VisionTech 4.0

that have not yet been calibrated, the freeze-frame images have a red
frame.
2. Select the calibration plate used as the calibration body.
3. Select the cameras that are to be calibrated by clicking on the freeze-
frame images.
4. Click on Calibration Wizard.
The number of images already taken is displayed using the Calibration
Wizard button.
5. Check that at least 6 images have been taken.

Solution: Increase number of images taken

Description If fewer than 6 images were taken, calibration is not possible. Further images
must be taken in order to complete the calibration. A maximum of 9 images
can be taken.

Procedure 1. In the main menu, select VisionTech > Calibration.

Freeze-frame images from the cameras are displayed on the moving sen-
sors tab. The freeze-frame images of the cameras that have already been
calibrated have a green frame. 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 tapping the freeze-frame
images.
3. Press Calibration Wizard.
4. Move the robot to the first calibration pose and press Take picture. The
fiducial mark (cross at the center of the calibration plate) must be visible in
every pose. It is not possible to take 2 images in the same pose.

Recommendation: For the first pose, the cameras should be posi-

tioned directly above the calibration plate. In every pose, the cameras
should be at a different angle relative to the calibration plate; for this,
the robot must be moved.

5. Repeat step 4 for every pose. Record at least 6 poses. A maximum of 9

poses are possible.
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.
7. Press Calibration. The calibration process takes approx. 5 to 10 minutes.
8. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
9. Press Save. The result is saved.
10. Press Exit. The window closes.

15.2.49 VTH36046

Message code  VTH36046

Message text  Saving of the calibration result failed
Message type  Acknowledgement message

232 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Possible cause(s)  Cause: The SensorCalibration directory or the calibration result within
is write-protected (>>> Page 233)
Solution: Remove write protection of directory (>>> Page 233)

 Cause: SensorCalibration directory missing (>>> Page 233)

Solution: Create directory (>>> Page 233)

Cause: The SensorCalibration directory or the calibration result within is write-protected

Description The SensorCalibration directory or the calibration result within is write-pro-

tected.

Directory Directory C:\KRC\TP\VisionTech\

The procedure for checking whether the directory is write-protected is

as follows:

Precondition  “Expert” user group

Checking instruc- 1. In the main menu, select Start-up > Service > Minimize HMI.
tions The smartHMI is minimized and the Windows interface is displayed.
2. Navigate to the directory.
3. Right-click and select Settings.
4. Check whether the check box Write-protected is deactivated.

Solution: Remove write protection of directory

Description Remove the write protection of the directory

Cause: SensorCalibration directory missing

Description The directory SensorCalibration must be located under C:\KRC\TP\Vision-

Tech\. The directory SensorCalibration is not present.

Directory Directory C:\KRC\TP\VisionTech\

Precondition  “Expert” user group

The procedure for checking whether the directory is missing is as fol-
lows:

Checking instruc- 1. In the Navigator, navigate to the directory in which the directory should be
tions located.
2. Check whether the directory is present.

Solution: Create directory

Description To eliminate the problem, the directory must be created manually.

Precondition  User group: Expert

 Windows interface (Minimize HMI)
 Administrator rights in Windows

Procedure 1. Navigate to the location at which the directory is to be created.

2. Create the directory.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 233 / 435

 KUKA.VisionTech 4.0

15.2.50 VTH36047

Message code  VTH36047

Message text  Deletion of the calibration result failed
Message type  Acknowledgement message

Possible cause(s)  Cause: File with calibration result damaged (>>> Page 234)
Solution: Delete file (>>> Page 234)

Cause: File with calibration result damaged

Description The file that contains the calibration result is damaged and cannot be deleted
via the software interface. The file can be found in the SensorCalibration sub-
directory.

Directory Directory C:\KRC\TP\VisionTech\

Solution: Delete file

Description Delete the affected file in the directory.

It is advisable to archive the file data before deleting it.

Precondition  Windows interface

Procedure 1. Navigate to the directory in which the file is located.

2. Select the file.
3. Delete the file.

15.2.51 VTH36048

Message code  VTH36048

Message text  The following error occurred during calibration: {Error message}
Message type  Acknowledgement message

Possible cause(s)  Cause: The fiducial mark is not detected in all the images
(>>> Page 235)
Solution: Align the camera with the fiducial mark (>>> Page 235)

 Cause: The calibration poses do not differ to an adequate extent

(>>> Page 235)
Solution: Use calibration poses that lie further away from each other
(>>> Page 236)

234 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: The fiducial mark is not detected in all the images

Description The fiducial mark is the cross at the center of the calibration plate; it must al-
ways be visible during calibration.

Fig. 15-55: Calibration plate with fiducial mark

1 Fiducial mark 2 Origin

The procedure for checking if the fiducial mark is visible is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Calibration.

tions Freeze-frame images from the cameras are displayed on the moving sen-
sors or fixed sensors tab. The freeze-frame images of the cameras that
have already been calibrated have a green frame. In the case of cameras
that have not yet been calibrated, the freeze-frame images have a red
frame.
2. Select the calibration plate used as the calibration body.
3. Select the cameras that are to be calibrated by clicking on the freeze-
frame images.
4. Click on Calibration Wizard.
5. For a robot-guided camera: move to the calibration pose. For a stationary
camera: continue with Step 6.
6. Click on Take picture. Check whether the fiducial mark is visible.
7. In the case of a robot-guided camera, repeat steps 5 and 6 for all calibra-
tion poses.

Solution: Align the camera with the fiducial mark

Description The camera must be aligned in such a way that the fiducial mark is visible.

Cause: The calibration poses do not differ to an adequate extent

Description At least 6 different calibration poses need to be addressed in order to calibrate

a robot-guided camera. The fiducial mark (cross at the center of the calibration
plate) must be visible in every pose. It is not possible to take 2 images in the
same pose.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 235 / 435

 KUKA.VisionTech 4.0

Recommendation: For the 1st pose, the cameras should be posi-

tioned directly above the calibration plate. In every pose, the cameras
should be at a different angle relative to the calibration plate; for this,
the robot must be moved.

Solution: Use calibration poses that lie further away from each other

Description Record at least 6 new calibration poses and ensure that they are an adequate
distance from each other.

Procedure 1. In the main menu, select VisionTech > Calibration.

Freeze-frame images from the cameras are displayed on the moving sen-
sors tab. The freeze-frame images of the cameras that have already been
calibrated have a green frame. 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 tapping the freeze-frame
images.
3. Press Calibration Wizard.
4. Move the robot to the first calibration pose and press Take picture. The
fiducial mark (cross at the center of the calibration plate) must be visible in
every pose. It is not possible to take 2 images in the same pose.

Recommendation: For the first pose, the cameras should be posi-

tioned directly above the calibration plate. In every pose, the cameras
should be at a different angle relative to the calibration plate; for this,
the robot must be moved.

5. Repeat step 4 for every pose. Record at least 6 poses. A maximum of 9

poses are possible.
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.
7. Press Calibration. The calibration process takes approx. 5 to 10 minutes.
8. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
9. Press Save. The result is saved.
10. Press Exit. The window closes.

15.2.52 VTH36051

Message code  VTH36051

Message text  An error occurred while creating the default sensor settings for sensor
{Error message}: {1}
Message type  Acknowledgement message

Possible cause(s)  Cause: Unable to establish connection to vision server (>>> Page 237)
Solution: Disconnect camera from power supply and reconnect
(>>> Page 237)

236 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

 Cause: Unable to establish connection to vision server (>>> Page 238)

Solution: Carry out cold restart (>>> Page 238)

 Cause: Directory with sensor configuration is write-protected

(>>> Page 238)
Solution: Remove write protection of directory (>>> Page 238)

 Cause: Unable to establish connection to vision server (>>> Page 238)

Solution: Contact KUKA Support (>>> Page 238)

Cause: Unable to establish connection to vision server

Description No connection can be established to the vision server.

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

Fig. 15-56: KUKA MXG20 camera – overview

1 LEDs
2 Data/PoE interface
3 Process interface / power supply

Fig. 15-57: KUKA VCXG-25M camera – overview

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 237 / 435

 KUKA.VisionTech 4.0

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Unable to establish connection to vision server

Description No connection can be established to the vision server.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: Directory with sensor configuration is write-protected

Description The directory in which the sensor configuration is to be saved is write-protect-

ed.
The write protection was set up by making manual adjustments to the file sys-
tem.

Directory Directory C:\KRC\TP\VisionTech\

The procedure for checking whether the directory is write-protected is

as follows:

Precondition  “Expert” user group

Checking instruc- 1. In the main menu, select Start-up > Service > Minimize HMI.
tions The smartHMI is minimized and the Windows interface is displayed.
2. Navigate to the directory.
3. Right-click and select Settings.
4. Check whether the check box Write-protected is deactivated.

Solution: Remove write protection of directory

Description Remove the write protection of the directory

Cause: Unable to establish connection to vision server

Description No connection can be established to the vision server.

Solution: Contact KUKA Support

Description Contact the relevant Support department to rectify errors.

238 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

15.2.53 VTH36053

Message code  VTH36053

Message text  An error occurred while saving the network settings of the sensor: {Error
message}
Message type  Acknowledgement message

Possible cause(s)  Cause: Sensor cable defective or not connected correctly

(>>> Page 239)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 240)

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1
 PoE2 - B2
 PoE3 - B3
If a KUKA IPC is used:
 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 239 / 435

 KUKA.VisionTech 4.0

2. Check whether the cable is mechanically damaged. Causes of squashed

cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.54 VTH36055

Message code  VTH36055

Message text  Model for task {Task name} could not be created: {Error message}
Message type  Acknowledgement message

Possible cause(s)  Cause: Object located outside of the camera’s field of vision
(>>> Page 241)
Solution: Align the camera via the smartHMI (>>> Page 241)

 Cause: Object located outside of the camera’s field of vision

(>>> Page 241)
Solution: Align camera via WorkVisual (>>> Page 242)

 Cause: Cameras aligned with different features (>>> Page 242)

Solution: Align the camera via the smartHMI (>>> Page 243)

 Cause: Cameras aligned with different features (>>> Page 243)

Solution: Align camera via WorkVisual (>>> Page 243)

 Cause: Lighting is too bright or too dim (>>> Page 244)

Solution: Optimize the lighting (>>> Page 244)

240 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 241 / 435

 KUKA.VisionTech 4.0

1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

242 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 243 / 435

 KUKA.VisionTech 4.0

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Lighting is too bright or too dim

Description KUKA.VisionTech requires optimum lighting in order to detect attributes. If the

lighting is too bright or too dim, attributes cannot be detected and processed.

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

Checking instruc-  Check whether the lighting is too bright or too dim.
tions

Solution: Optimize the lighting

Description Objects must be more brightly or more dimly lit.

15.2.55 VTH36056

Message code  VTH36056

Message text  Model for the task could not be created: {Error message}
Message type  Acknowledgement message

Possible cause(s)  Cause: Cameras aligned with different features (>>> Page 244)
Solution: Align the camera via the smartHMI (>>> Page 245)

 Cause: Cameras aligned with different features (>>> Page 245)

Solution: Align camera via WorkVisual (>>> Page 245)

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.

244 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 245 / 435

 KUKA.VisionTech 4.0

 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

15.2.56 VTH36058

Message code  VTH36058

Message text  Model for task {Task name} could not be created since more than one
object was found (#{Number of objects found}). Please ensure that only
one object instance is visible during reference model creation.
Message type  Acknowledgement message

Possible cause(s)  Cause: More than 1 object is in the field of vision of the cameras
(>>> Page 246)
Solution: Only place 1 object in the field of vision of the cameras
(>>> Page 246)

Cause: More than 1 object is in the field of vision of the cameras

Description More than 1 object is in the field of vision of the camera(s). There must be only
one object in the field of vision of the camera(s)

Solution: Only place 1 object in the field of vision of the cameras

Description Restart model generation and only place 1 object in the field of vision of the
cameras.

Precondition  The selected workpiece base meets the following criteria:

 The XY plane of the workpiece base is located on the surface of the
component.

246 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

 The Z axis of the workpiece base points in the same direction as the Z
axis of the calibration coordinate system.

It is advisable to calibrate the workpiece base on the calibration plate.

The robot position used for image acquisition should be taught in this
workpiece base.

 The task has been configured.

 There is only 1 component in the field of vision of the camera.
 The NULLFRAME tool is selected.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Move the robot to the reference pose.
3. In the Tasks area, click on the button in the box of the desired task.
4. Press the Model button. Answer the query with Yes.
A model is generated and a results window with an image and a table is
displayed. Areas detected by the camera are indicated in green in the im-
age. The results image is displayed in miniature for a better overview.
Generation of the model has been successfully completed when the Mod-
el button has a check mark. The position of the reference workpiece in the
workpiece base is now known; all position data of other workpieces are rel-
ative to this position.
5. Optional: Click on the image once. The image is now displayed in its orig-
inal size. The image can be enlarged further by touching it. The image can
be increased or decreased in size using the slide controller. It is possible
to navigate within the image using the arrow keys or by dragging a finger
or stylus over the image.

15.2.57 VTH36059

Message code  VTH36059

Message text  Model for task {Task name} could not be created because no object was
found. Please check your image processing task and ensure that the
object is visible.
Message type  Acknowledgement message

Possible cause(s)  Cause: Object located outside of the camera’s field of vision
(>>> Page 247)
Solution: Align the camera via the smartHMI (>>> Page 248)

 Cause: Object located outside of the camera’s field of vision

(>>> Page 248)
Solution: Align camera via WorkVisual (>>> Page 249)

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 247 / 435

 KUKA.VisionTech 4.0

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

248 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

15.2.58 VTH36060

Message code  VTH36060

Message text  Model for the task could not be created because no object was found.
Please check your image processing task and ensure that the object is
visible.
Message type  Acknowledgement message

Possible cause(s)  Cause: Object located outside of the camera’s field of vision
(>>> Page 250)
Solution: Align the camera via the smartHMI (>>> Page 250)

 Cause: Object located outside of the camera’s field of vision

(>>> Page 250)
Solution: Align camera via WorkVisual (>>> Page 251)

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 249 / 435

 KUKA.VisionTech 4.0

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:

250 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

15.2.59 VTH36061

Message code  VTH36061

Message text  The model for the task could not be created since an insufficient number
of features was found. {Features found} feature(s) found. At least 3 fea-
tures are needed for 3D reference model creation.
Message type  Acknowledgement message

Possible cause(s)  Cause: Cameras aligned with different features (>>> Page 252)
Solution: Align the camera via the smartHMI (>>> Page 252)

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 251 / 435

 KUKA.VisionTech 4.0

 Cause: Cameras aligned with different features (>>> Page 252)

Solution: Align camera via WorkVisual (>>> Page 253)

 Cause: Lighting is too bright or too dim (>>> Page 253)

Solution: Optimize the lighting (>>> Page 253)

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.

252 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Lighting is too bright or too dim

Description KUKA.VisionTech requires optimum lighting in order to detect attributes. If the

lighting is too bright or too dim, attributes cannot be detected and processed.

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

Checking instruc-  Check whether the lighting is too bright or too dim.
tions

Solution: Optimize the lighting

Description Objects must be more brightly or more dimly lit.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 253 / 435

 KUKA.VisionTech 4.0

15.2.60 VTH36062

Message code  VTH36062

Message text  The model for the task could not be created since an insufficient number
of features was found. At least 3 features are needed for 3D reference
model creation.
Message type  Acknowledgement message

Possible cause(s)  Cause: Cameras aligned with different features (>>> Page 254)
Solution: Align the camera via the smartHMI (>>> Page 254)

 Cause: Cameras aligned with different features (>>> Page 255)

Solution: Align camera via WorkVisual (>>> Page 255)

 Cause: Lighting is too bright or too dim (>>> Page 256)

Solution: Optimize the lighting (>>> Page 256)

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.

254 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 255 / 435

 KUKA.VisionTech 4.0

Cause: Lighting is too bright or too dim

Description KUKA.VisionTech requires optimum lighting in order to detect attributes. If the

lighting is too bright or too dim, attributes cannot be detected and processed.

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

Checking instruc-  Check whether the lighting is too bright or too dim.
tions

Solution: Optimize the lighting

Description Objects must be more brightly or more dimly lit.

15.2.61 VTH36063

Message code  VTH36063

Message text  The model for the task could not be created since an insufficient number
of point features was found. {Number of point features found} point fea-
ture(s) found. At least 3 point features are needed for 3D reference
model creation.
Message type  Acknowledgement message

Possible cause(s)  Cause: Cameras aligned with different features (>>> Page 256)
Solution: Align the camera via the smartHMI (>>> Page 256)

 Cause: Cameras aligned with different features (>>> Page 257)

Solution: Align camera via WorkVisual (>>> Page 257)

 Cause: Lighting is too bright or too dim (>>> Page 258)

Solution: Optimize the lighting (>>> Page 258)

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

256 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 257 / 435

 KUKA.VisionTech 4.0

2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Lighting is too bright or too dim

Description KUKA.VisionTech requires optimum lighting in order to detect attributes. If the

lighting is too bright or too dim, attributes cannot be detected and processed.

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

Checking instruc-  Check whether the lighting is too bright or too dim.
tions

Solution: Optimize the lighting

Description Objects must be more brightly or more dimly lit.

15.2.62 VTH36064

Message code  VTH36064

Message text  The model for the task could not be created since an insufficient number
of point features was found.
Message type  Acknowledgement message

Possible cause(s)  Cause: 3D model requires at least 3 point features (>>> Page 259)
Solution: Provide 3 point features for 3D model creation
(>>> Page 259)

 Cause: Cameras aligned with different features (>>> Page 259)

Solution: Align the camera via the smartHMI (>>> Page 259)

 Cause: Cameras aligned with different features (>>> Page 259)

Solution: Align camera via WorkVisual (>>> Page 260)

 Cause: Lighting is too bright or too dim (>>> Page 260)

Solution: Optimize the lighting (>>> Page 260)

258 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: 3D model requires at least 3 point features

Description To create a 3D model, at least 3 point features are required.

Solution: Provide 3 point features for 3D model creation

Description Ensure that at least 3 point features exist for 3D reference model creation.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 259 / 435

 KUKA.VisionTech 4.0

4. Repeat the procedure for each camera.

5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Lighting is too bright or too dim

Description KUKA.VisionTech requires optimum lighting in order to detect attributes. If the

lighting is too bright or too dim, attributes cannot be detected and processed.

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

Checking instruc-  Check whether the lighting is too bright or too dim.
tions

Solution: Optimize the lighting

Description Objects must be more brightly or more dimly lit.

260 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

15.2.63 VTH36065

Message code  VTH36065

Message text  The model for the task could not be created since more than one object
was found (#{Number of objects found}). Please ensure that only one
object instance is visible during reference model creation.
Message type  Acknowledgement message

Possible cause(s)  Cause: More than 1 object is in the field of vision of the cameras
(>>> Page 261)
Solution: Only place 1 object in the field of vision of the cameras
(>>> Page 261)

Cause: More than 1 object is in the field of vision of the cameras

Description More than 1 object is in the field of vision of the camera(s). There must be only
one object in the field of vision of the camera(s)

Solution: Only place 1 object in the field of vision of the cameras

Description Restart model generation and only place 1 object in the field of vision of the
cameras.

Precondition  The task has been configured.

 There is only 1 component in the field of vision of the cameras.
 The NULLFRAME tool is selected.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Move the robot to the reference pose.
3. In the Tasks area, click on the button in the box of the desired task.
4. Press the Model button. Answer the query with Yes.
A model is generated and a results window with images and a table is dis-
played. Areas detected by the cameras are indicated in green in the imag-
es. The results images are displayed in miniature for a better overview. All
configured model points are listed in the table. For each model point, the
model type is specified and whether or not it has been found. The maxi-
mum and mean error when finding the model point are also specified. For
good results, the RMS error should be < 1 mm.
Generation of the model has been successfully completed when the Mod-
el button has a check mark. The position of the reference workpiece is now
known; all position data of other workpieces are relative to this position.
5. Optional: Click on the image once. The image is now displayed in its orig-
inal size. The image can be enlarged further by touching it. The image can
be increased or decreased in size using the slide controller. It is possible
to navigate within the image using the arrow keys or by dragging a finger
or stylus over the image.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 261 / 435

 KUKA.VisionTech 4.0

15.2.64 VTH36066

Message code  VTH36066

Message text  The model for the task could not be created since more than one object
was found. Please ensure that only one object instance is visible during
reference model creation.
Message type  Acknowledgement message

Possible cause(s)  Cause: More than 1 object is in the field of vision of the cameras
(>>> Page 262)
Solution: Only place 1 object in the field of vision of the cameras
(>>> Page 262)

Cause: More than 1 object is in the field of vision of the cameras

Description More than 1 object is in the field of vision of the camera(s). There must be only
one object in the field of vision of the camera(s)

Solution: Only place 1 object in the field of vision of the cameras

Description Restart model generation and only place 1 object in the field of vision of the
cameras.

Precondition  The task has been configured.

 There is only 1 component in the field of vision of the cameras.
 The NULLFRAME tool is selected.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Move the robot to the reference pose.
3. In the Tasks area, click on the button in the box of the desired task.
4. Press the Model button. Answer the query with Yes.
A model is generated and a results window with images and a table is dis-
played. Areas detected by the cameras are indicated in green in the imag-
es. The results images are displayed in miniature for a better overview. All
configured model points are listed in the table. For each model point, the
model type is specified and whether or not it has been found. The maxi-
mum and mean error when finding the model point are also specified. For
good results, the RMS error should be < 1 mm.
Generation of the model has been successfully completed when the Mod-
el button has a check mark. The position of the reference workpiece is now
known; all position data of other workpieces are relative to this position.
5. Optional: Click on the image once. The image is now displayed in its orig-
inal size. The image can be enlarged further by touching it. The image can
be increased or decreased in size using the slide controller. It is possible
to navigate within the image using the arrow keys or by dragging a finger
or stylus over the image.

15.2.65 VTH36069

Message code  VTH36069

Message text  The model could not be created since no features were found. Please
check your tool block and your sensor images.

262 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Message type  Acknowledgement message

Possible cause(s)  Cause: Object located outside of the camera’s field of vision
(>>> Page 263)
Solution: Align the camera via the smartHMI (>>> Page 263)

 Cause: Object located outside of the camera’s field of vision

(>>> Page 264)
Solution: Align camera via WorkVisual (>>> Page 264)

 Cause: Unsuitable tool block used (>>> Page 265)

Solution: Create new tool block in WorkVisual (>>> Page 265)

 Cause: Lighting is too bright or too dim (>>> Page 265)

Solution: Optimize the lighting (>>> Page 266)

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 263 / 435

 KUKA.VisionTech 4.0

3. Stationary camera: Position the camera over the measurement object so

that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.

264 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

4. Stationary camera: Position the camera over the measurement object so

that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Unsuitable tool block used

Description The tool block is unsuitable for the object, e.g. the permissible scaling has
been configured in such a way that no object can be detected.

Solution: Create new tool block in WorkVisual

Description Create a new tool block in WorkVisual.

Procedure 1. Open the tool block editor:

 Select the menu sequence Editors > Options packages > Vision-
Tech > Tool block editor.

 Alternatively: Click on the button.

2. Select the menu sequence Tool block > New > KUKA v1 or KUKA v2 >
2D or 3D.
3. Select the menu sequence Image source > File... or Directory... and se-
lect the image(s) that were taken using the controller.

4. Click on the button. The image(s) are inserted next to the inputs under
InputImage.

5. Click on the button. Tools and templates are displayed.

(>>> 20.1 "Tool block templates (KUKA V1)" Page 389)
(>>> 20.2 "Tool block templates (KUKA V2)" Page 402)
6. Select the desired template or tool and drag it between the inputs and out-
puts.
7. Optional: Edit the parameters in the script of a template or tool.
a. Double-click on the template or tool.
b. Click on the button. The script opens.
c. Open the User Variables / Settings area and modify the desired pa-
rameters.
8. Link the inputs and outputs, e.g. InputImage under the inputs with InputIma-
ge in the template. To do so, click on the input or output and drag it onto
the other input or output. The link is indicated by an arrow.
9. Double-click on the template and configure the desired patterns.

10. Click on the button and choose whether the tool should be saved com-
pletely or without images or results.
11. Select a directory and click on Save.

Cause: Lighting is too bright or too dim

Description KUKA.VisionTech requires optimum lighting in order to detect attributes. If the

lighting is too bright or too dim, attributes cannot be detected and processed.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 265 / 435

 KUKA.VisionTech 4.0

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

Checking instruc-  Check whether the lighting is too bright or too dim.
tions

Solution: Optimize the lighting

Description Objects must be more brightly or more dimly lit.

15.2.66 VTH36077

Message code  VTH36077

Message text  The sensor {Serial number} is being used by another process. Please
terminate the other process and restart the controller
Message type  Notification message

Possible cause(s)  Cause: Camera is tied up in another process (>>> Page 266)
Solution: End the current process first (>>> Page 267)

 Cause: Camera is tied up in another process (>>> Page 267)

Solution: Disconnect camera from power supply and reconnect
(>>> Page 268)

 Cause: Camera is tied up in another process (>>> Page 269)

Solution: Carry out cold restart (>>> Page 270)

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-58: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

266 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Fig. 15-59: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: End the current process first

Description Cancel the ongoing process or wait until it has ended.

The procedure is determined by the current process.

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-60: KUKA MXG20 camera – LEDs

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 267 / 435

 KUKA.VisionTech 4.0

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-61: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

Fig. 15-62: KUKA MXG20 camera – overview

1 LEDs

268 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

2 Data/PoE interface
3 Process interface / power supply

Fig. 15-63: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-64: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 269 / 435

 KUKA.VisionTech 4.0

Fig. 15-65: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

15.2.67 VTH36078

Message code  VTH36078

Message text  The video format is not supported by the camera
Message type  Notification message

Possible cause(s)  Cause: Camera model not compatible (>>> Page 270)
Solution: Use KUKA MXG20 or VCXG-25M camera (>>> Page 271)

Cause: Camera model not compatible

Description The camera in use provides a video or image format that is not supported by
KUKA.VisionTech.

270 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Solution: Use KUKA MXG20 or VCXG-25M camera

Description Use the camera model KUKA MXG20 or KUKA VCXG-25M that is intended
for use with KUKA.VisionTech.

15.2.68 VTH36079

Message code  VTH36079

Message text  The sensor {Serial number} is in an unknown connection state. Please
establish a connection and reboot the controller
Message type  Notification message

Possible cause(s)  Cause: Camera is tied up in another process (>>> Page 271)
Solution: End the current process first (>>> Page 272)

 Cause: Camera is tied up in another process (>>> Page 272)

Solution: Disconnect camera from power supply and reconnect
(>>> Page 273)

 Cause: Camera is tied up in another process (>>> Page 274)

Solution: Carry out cold restart (>>> Page 275)

 Cause: Incorrect or no license installed on the controller

(>>> Page 276)
Solution: Uninstall license and install new license (>>> Page 276)

 Cause: Sensor cable defective or not connected correctly

(>>> Page 276)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 277)

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-66: KUKA MXG20 camera – LEDs

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 271 / 435

 KUKA.VisionTech 4.0

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-67: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: End the current process first

Description Cancel the ongoing process or wait until it has ended.

The procedure is determined by the current process.

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

272 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

LEDs

Fig. 15-68: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-69: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 273 / 435

 KUKA.VisionTech 4.0

Fig. 15-70: KUKA MXG20 camera – overview

1 LEDs
2 Data/PoE interface
3 Process interface / power supply

Fig. 15-71: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

274 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

LEDs

Fig. 15-72: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-73: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 275 / 435

 KUKA.VisionTech 4.0

Cause: Incorrect or no license installed on the controller

Description The KUKA.VisionTech option package is supplied with two licenses. One of
the licenses has a smaller range of functions. This license is required for in-
stallation on a service laptop. The second license has the full range of func-
tions. This license is required for installation on the controller. Installing the
incorrect license on the controller results in an error message.
The procedure for checking whether the correct license is installed is as
follows:

Checking instruc- 1. In the main menu, select VisionTech > Licensing.

tions 2. Compare the license key entered with the license key you have received.
The license key is either on a sticker in the robot controller or is enclosed
with the software.

Fig. 15-74: KUKA.VisionTech license KRC

The license key entered must match the license key under Vision license
key KRC.

Solution: Uninstall license and install new license

Description The incorrect license must be uninstalled and the correct license installed.

Precondition  If the license on the robot controller or KUKA IPC is to be uninstalled: The
connection to the robot controller or KUKA IPC has been established.

Procedure 1. Open the licensing overview:

 Select the menu sequence Editors > Options packages > Vision-
Tech > Licensing overview.

 Alternatively: Click on the button.

The Vision licensing overview window opens. The service laptop is dis-
played under Engineering licenses and the robot controller and KUKA
IPC are displayed under Runtime licenses.
2. Click on Open licensing management in the box corresponding to the
computer for which the license is to be uninstalled.
3. Click on Uninstall license.
4. In the list of installed licenses, select the license to be uninstalled.
5. Click on Create uninstall request and select a directory. A file is gener-
ated in the selected directory.
6. Send the generated file to [email protected]. KUKA
Service will use this to create a response file and send it to you.
7. Click on ..., select the response file received and confirm with Open.

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.

276 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

The cameras can be connected to the following interfaces of the KR C4 robot

controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1
 PoE2 - B2
 PoE3 - B3
If a KUKA IPC is used:
 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 277 / 435

 KUKA.VisionTech 4.0

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.69 VTH36080

Message code  VTH36080

Message text  The host of sensor {Serial number} has an invalid configuration. Please
update the sensors.
Message type  Notification message

Possible cause(s)  Cause: Driver for network card missing (>>> Page 278)
Solution: Install driver for network card (>>> Page 278)

Cause: Driver for network card missing

Description Drivers that are required for GigE Vision have not been enabled for the net-
work card or are not installed.

Checking instruc-  Check in the Control Panel whether the correct drivers or only standard
tions drivers have been installed for the network card.

Solution: Install driver for network card

Description Install or enable the driver for the network card.

15.2.70 VTH36081

Message code  VTH36081

Message text  Sensor is not accessible: {0}
Message type  Acknowledgement message

Possible cause(s)  Cause: Camera is tied up in another process (>>> Page 279)
Solution: End the current process first (>>> Page 279)

 Cause: Camera is tied up in another process (>>> Page 280)

Solution: Disconnect camera from power supply and reconnect
(>>> Page 281)

 Cause: Camera is tied up in another process (>>> Page 281)

Solution: Carry out cold restart (>>> Page 282)

 Cause: Sensor cable defective or not connected correctly

(>>> Page 283)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 283)

278 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-75: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-76: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: End the current process first

Description Cancel the ongoing process or wait until it has ended.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 279 / 435

 KUKA.VisionTech 4.0

The procedure is determined by the current process.

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-77: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-78: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

280 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

Fig. 15-79: KUKA MXG20 camera – overview

1 LEDs
2 Data/PoE interface
3 Process interface / power supply

Fig. 15-80: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 281 / 435

 KUKA.VisionTech 4.0

LEDs

Fig. 15-81: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-82: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

282 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1
 PoE2 - B2
 PoE3 - B3
If a KUKA IPC is used:
 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 283 / 435

 KUKA.VisionTech 4.0

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.71 VTH36082

Message code  VTH36082

Message text  The sensor {Serial number} has no connection
Message type  Notification message

Possible cause(s)  Cause: Camera is tied up in another process (>>> Page 284)
Solution: End the current process first (>>> Page 285)

 Cause: Camera is tied up in another process (>>> Page 285)

Solution: Disconnect camera from power supply and reconnect
(>>> Page 286)

 Cause: Camera is tied up in another process (>>> Page 287)

Solution: Carry out cold restart (>>> Page 288)

 Cause: Image acquisition not possible (>>> Page 289)

Solution: Connect camera (>>> Page 289)

 Cause: Sensor cable defective or not connected correctly

(>>> Page 289)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 290)

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-83: KUKA MXG20 camera – LEDs

284 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-84: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: End the current process first

Description Cancel the ongoing process or wait until it has ended.

The procedure is determined by the current process.

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 285 / 435

 KUKA.VisionTech 4.0

LEDs

Fig. 15-85: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-86: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

286 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Fig. 15-87: KUKA MXG20 camera – overview

1 LEDs
2 Data/PoE interface
3 Process interface / power supply

Fig. 15-88: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 287 / 435

 KUKA.VisionTech 4.0

LEDs

Fig. 15-89: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-90: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

288 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: Image acquisition not possible

Description KUKA.VisionTech cannot take images. No camera is connected.

Checking instruc-  Check whether the camera has been connected in accordance with the
tions documentation.

Solution: Connect camera

Description The camera must be connected.

Procedure 1. Connect the camera.

2. In the main menu, select VisionTech > Sensor overview.
3. Press Refresh sensors.
The newly-connected camera is indicated by a green LED status.

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1
 PoE2 - B2
 PoE3 - B3
If a KUKA IPC is used:
 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 289 / 435

 KUKA.VisionTech 4.0

 Connector on correct slot

2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.72 VTH36083

Message code  VTH36083

Message text  The sensor {Serial number} is in an unknown connection state. Please
establish a connection and reboot the controller
Message type  Acknowledgement message

Possible cause(s)  Cause: Camera is tied up in another process (>>> Page 290)
Solution: End the current process first (>>> Page 291)

 Cause: Camera is tied up in another process (>>> Page 291)

Solution: Disconnect camera from power supply and reconnect
(>>> Page 292)

 Cause: Camera is tied up in another process (>>> Page 293)

Solution: Carry out cold restart (>>> Page 294)

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

290 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

LEDs

Fig. 15-91: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-92: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: End the current process first

Description Cancel the ongoing process or wait until it has ended.

The procedure is determined by the current process.

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 291 / 435

 KUKA.VisionTech 4.0

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-93: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-94: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

292 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Fig. 15-95: KUKA MXG20 camera – overview

1 LEDs
2 Data/PoE interface
3 Process interface / power supply

Fig. 15-96: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 293 / 435

 KUKA.VisionTech 4.0

LEDs

Fig. 15-97: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-98: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

294 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

15.2.73 VTH36084

Message code  VTH36084

Message text  A task with the name "{Task name}" could not be found in the file sys-
tem. The task will be removed from the list
Message type  Notification message

Possible cause(s)  Cause: Task no longer exists (>>> Page 295)

Solution: Remove the write protection attribute (>>> Page 295)

 Cause: Task no longer exists (>>> Page 295)

Solution: Update task list (>>> Page 295)

Cause: Task no longer exists

Description There is a task in the task list. When attempting to delete the task, the error
message appears.

Solution: Remove the write protection attribute

Description Write-protection for the file must be deactivated.

Precondition  User group “Administrator”

Procedure 1. Open Explorer.

2. Open the folder in which the file is located.
3. Open the properties of the file by means of the menu sequence File >
Properties.
4. On the General tab, deactivate the Attribute write-protected.
5. Confirm with OK.

Cause: Task no longer exists

Description There is a task in the task list. When attempting to delete the task, the error
message appears.

Solution: Update task list

Description The task list must be updated in order to see if the task is still available.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Update task list.
3. Check the Tasks area to see if the desired task is available.

15.2.74 VTH36085

Message code  VTH36085

Message text  The result data for the task with ID "{TaskId}" could not be found.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 295 / 435

 KUKA.VisionTech 4.0

Message type  Acknowledgement message

Possible cause(s)  Cause: Task no longer exists (>>> Page 296)

Solution: Remove the write protection attribute (>>> Page 296)

 Cause: Task no longer exists (>>> Page 296)

Solution: Update task list (>>> Page 296)

Cause: Task no longer exists

Description There is a task in the task list. When attempting to delete the task, the error
message appears.

Solution: Remove the write protection attribute

Description Write-protection for the file must be deactivated.

Precondition  User group “Administrator”

Procedure 1. Open Explorer.

2. Open the folder in which the file is located.
3. Open the properties of the file by means of the menu sequence File >
Properties.
4. On the General tab, deactivate the Attribute write-protected.
5. Confirm with OK.

Cause: Task no longer exists

Description There is a task in the task list. When attempting to delete the task, the error
message appears.

Solution: Update task list

Description The task list must be updated in order to see if the task is still available.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Update task list.
3. Check the Tasks area to see if the desired task is available.

15.2.75 VTH36086

Message code  VTH36086

Message text  The result data for the task with type ID "{TypeId}" and object ID "{Ob-
jectId}" could not be found
Message type  Acknowledgement message

296 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Possible cause(s)  Cause: Task no longer exists (>>> Page 297)

Solution: Remove the write protection attribute (>>> Page 297)

 Cause: Task no longer exists (>>> Page 297)

Solution: Update task list (>>> Page 297)

Cause: Task no longer exists

Description There is a task in the task list. When attempting to delete the task, the error
message appears.

Solution: Remove the write protection attribute

Description Write-protection for the file must be deactivated.

Precondition  User group “Administrator”

Procedure 1. Open Explorer.

2. Open the folder in which the file is located.
3. Open the properties of the file by means of the menu sequence File >
Properties.
4. On the General tab, deactivate the Attribute write-protected.
5. Confirm with OK.

Cause: Task no longer exists

Description There is a task in the task list. When attempting to delete the task, the error
message appears.

Solution: Update task list

Description The task list must be updated in order to see if the task is still available.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Update task list.
3. Check the Tasks area to see if the desired task is available.

15.2.76 VTH36087

Message code  VTH36087

Message text  The executable task {} is not valid.
Message type  Acknowledgement message

Possible cause(s)  Cause: The selected task is not valid (>>> Page 297)
Solution: Configure the task completely (>>> Page 298)

Cause: The selected task is not valid

Description The selected task is not valid and can therefore not be executed.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 297 / 435

 KUKA.VisionTech 4.0

The procedure for checking whether the preconditions for a valid task
are met is as follows:

Checking instruc-  Check whether all cameras configured in the task are actually connected.
tions  Check whether the correct number of camera configurations is present in
the task.
 Check whether all cameras are configured with the correct mounting type
(stationary or robot-guided).
 Check whether each camera has been assigned an image processing
task.
 Check whether the task contains a model.

Solution: Configure the task completely

Description Configure the task completely. Take the connected cameras into consider-
ation.

This activity must be carried out in accordance with the procedure de-
scribed in the operating and programming instructions.

15.2.77 VTH36088

Message code  VTH36088

Message text  Failed to calculate the position of the object
Message type  Acknowledgement message

Possible cause(s)  Cause: Object located outside of the camera’s field of vision
(>>> Page 298)
Solution: Align the camera via the smartHMI (>>> Page 299)

 Cause: Object located outside of the camera’s field of vision

(>>> Page 299)
Solution: Align camera via WorkVisual (>>> Page 300)

 Cause: Cameras aligned with different features (>>> Page 300)

Solution: Align the camera via the smartHMI (>>> Page 300)

 Cause: Cameras aligned with different features (>>> Page 301)

Solution: Align camera via WorkVisual (>>> Page 301)

 Cause: Lighting is too bright or too dim (>>> Page 302)

Solution: Optimize the lighting (>>> Page 302)

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

298 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 299 / 435

 KUKA.VisionTech 4.0

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

300 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

 Cameras are connected and configured.

 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 301 / 435

 KUKA.VisionTech 4.0

3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Lighting is too bright or too dim

Description KUKA.VisionTech requires optimum lighting in order to detect attributes. If the

lighting is too bright or too dim, attributes cannot be detected and processed.

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

Checking instruc-  Check whether the lighting is too bright or too dim.
tions

Solution: Optimize the lighting

Description Objects must be more brightly or more dimly lit.

15.2.78 VTH36089

Message code  VTH36089

Message text  Not enough features have been detected for calculating the object po-
sition
Message type  Acknowledgement message

Possible cause(s)  Cause: Object located outside of the camera’s field of vision
(>>> Page 303)
Solution: Align the camera via the smartHMI (>>> Page 303)

 Cause: Object located outside of the camera’s field of vision

(>>> Page 303)
Solution: Align camera via WorkVisual (>>> Page 304)

 Cause: Cameras aligned with different features (>>> Page 304)

Solution: Align the camera via the smartHMI (>>> Page 305)

 Cause: Cameras aligned with different features (>>> Page 305)

Solution: Align camera via WorkVisual (>>> Page 305)

 Cause: Lighting is too bright or too dim (>>> Page 306)

Solution: Optimize the lighting (>>> Page 306)

302 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 303 / 435

 KUKA.VisionTech 4.0

1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

304 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 305 / 435

 KUKA.VisionTech 4.0

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Lighting is too bright or too dim

Description KUKA.VisionTech requires optimum lighting in order to detect attributes. If the

lighting is too bright or too dim, attributes cannot be detected and processed.

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

Checking instruc-  Check whether the lighting is too bright or too dim.
tions

Solution: Optimize the lighting

Description Objects must be more brightly or more dimly lit.

15.2.79 VTH36091

Message code  VTH36091

Message text  The conversion of an input failed: {Error message}
Message type  Acknowledgement message

Possible cause(s)  Cause: Tool block does not support the inputs or outputs used
(>>> Page 307)
Solution: Correcting the programming in the SRC file (>>> Page 307)

 Cause: Tool block does not support the inputs or outputs used
(>>> Page 307)
Solution: Create new tool block in WorkVisual (>>> Page 307)

306 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: Tool block does not support the inputs or outputs used

Description Inputs or outputs are used which do not correspond to the format that the tool
block expects.

Checking instruc-  Check the tool block documentation to see which inputs and outputs are
tions defined for tool block purposes and what their data type is.

Solution: Correcting the programming in the SRC file

Procedure  Correct the programming in the SRC file

Further information is contained in the documentation for the relevant

software.

Cause: Tool block does not support the inputs or outputs used

Description Inputs or outputs are used which do not correspond to the format that the tool
block expects.

Checking instruc-  Check the tool block documentation to see which inputs and outputs are
tions defined for tool block purposes and what their data type is.

Solution: Create new tool block in WorkVisual

Description Create a new tool block in WorkVisual.

Procedure 1. Open the tool block editor:

 Select the menu sequence Editors > Options packages > Vision-
Tech > Tool block editor.

 Alternatively: Click on the button.

2. Select the menu sequence Tool block > New > KUKA v1 or KUKA v2 >
2D or 3D.
3. Select the menu sequence Image source > File... or Directory... and se-
lect the image(s) that were taken using the controller.

4. Click on the button. The image(s) are inserted next to the inputs under
InputImage.

5. Click on the button. Tools and templates are displayed.

(>>> 20.1 "Tool block templates (KUKA V1)" Page 389)
(>>> 20.2 "Tool block templates (KUKA V2)" Page 402)
6. Select the desired template or tool and drag it between the inputs and out-
puts.
7. Optional: Edit the parameters in the script of a template or tool.
a. Double-click on the template or tool.
b. Click on the button. The script opens.
c. Open the User Variables / Settings area and modify the desired pa-
rameters.
8. Link the inputs and outputs, e.g. InputImage under the inputs with InputIma-
ge in the template. To do so, click on the input or output and drag it onto
the other input or output. The link is indicated by an arrow.
9. Double-click on the template and configure the desired patterns.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 307 / 435

 KUKA.VisionTech 4.0

10. Click on the button and choose whether the tool should be saved com-
pletely or without images or results.
11. Select a directory and click on Save.

15.2.80 VTH36094

Message code  VTH36094

Message text  The sensors are not calibrated
Message type  Acknowledgement message

Possible cause(s)  Cause: Camera not fully or correctly calibrated (>>> Page 308)
Solution: Calibrate camera (stationary) (>>> Page 308)

 Cause: Camera not fully or correctly calibrated (>>> Page 310)

Solution: Calibrate camera (robot-guided) (>>> Page 310)

Cause: Camera not fully or correctly calibrated

Description The camera is not fully or correctly calibrated. Therefore, it is not possible to
determine an object position.

Solution: Calibrate camera (stationary)

During calibration, the IP address of camera must not be changed.

Precondition  Camera is mounted in a fixed position.

 Camera is connected and configured.
 Camera is aligned.
 Calibration exposure time is set.
 Calibration plate is attached. This is in the workpiece plane and in the field
of vision of the camera.

Procedure 1. In the main menu, select VisionTech > Calibration.

A freeze-frame image from the camera is displayed on the fixed sensors
tab. If the camera is calibrated, the freeze-frame image has a green frame.
If the camera is not calibrated, the freeze-frame image has a red frame.
2. 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.
3. Select the camera by tapping on the freeze-frame image.
4. Press Calibration Wizard.
5. Press Take picture. The fiducial mark (cross at the center of the calibra-
tion plate) must be visible.

308 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Fig. 15-99: Calibration plate with fiducial mark

1 Fiducial mark 2 Origin

Recommendations:
The camera should be directly above the calibration plate.
The calibration plate should fill as much of the image of the camera
as possible.

6. Press Calibration.
7. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
8. Select an existing calibration plane in the Calibration plane box or choose
Create new calibration plane... to create a new calibration plane:
a. Enter a name for the calibration plane in the Name box.
b. Optional: Enter a description of the calibration plane in the Descrip-
tion box.

Recommendation: The description of the calibration plane should

contain the number of the base used.

c. Select an existing base in the Base ID box or choose Measure new

base... to calibrate a new base. The base can, for example, be cali-
brated using the 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. 15-99 ).

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 309 / 435

 KUKA.VisionTech 4.0

Fig. 15-100: Base for a stationary camera

1 Stationary camera 2 Calibration plate

9. Press Save. The settings are saved.

10. Press Exit. The window closes.

Cause: Camera not fully or correctly calibrated

Description The camera is not fully or correctly calibrated. Therefore, it is not possible to
determine an object position.

Solution: Calibrate camera (robot-guided)

If a palletizing robot is used, it is not possible to calibrate moving (ro-

bot-guided) cameras.

During calibration, the IP addresses of cameras must not be

changed.

Precondition  Cameras are mounted on the robot flange.

 Cameras are connected and configured.
 Cameras are aligned.
 Calibration plate is mounted and is located in the field of vision of the cam-
eras.
 NULLFRAME tool is selected.

Procedure 1. In the main menu, select VisionTech > Calibration.

Freeze-frame images from the cameras are displayed on the moving sen-
sors tab. The freeze-frame images of the cameras that have already been
calibrated have a green frame. 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 tapping the freeze-frame
images.
3. Press Calibration Wizard.
4. Move the robot to the first calibration pose and press Take picture. The
fiducial mark (cross at the center of the calibration plate) must be visible in
every pose. It is not possible to take 2 images in the same pose.

Recommendation: For the first pose, the cameras should be posi-

tioned directly above the calibration plate. In every pose, the cameras
should be at a different angle relative to the calibration plate; for this,
the robot must be moved.

310 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

5. Repeat step 4 for every pose. Record at least 6 poses. A maximum of 9

poses are possible.
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.
7. Press Calibration. The calibration process takes approx. 5 to 10 minutes.
8. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
9. Press Save. The result is saved.
10. Press Exit. The window closes.

The calibration coordinate system is defined on the basis of the fidu-

cial mark (>>> Fig. 15-99 ) and not visible to the user as a robot
base.

15.2.81 VTH36095

Message code  VTH36095

Message text  An unknown error occurred while testing the task
Message type  Acknowledgement message

Possible cause(s)  Cause: Object located outside of the camera’s field of vision
(>>> Page 311)
Solution: Align the camera via the smartHMI (>>> Page 312)

 Cause: Object located outside of the camera’s field of vision

(>>> Page 312)
Solution: Align camera via WorkVisual (>>> Page 312)

 Cause: Cameras aligned with different features (>>> Page 313)

Solution: Align the camera via the smartHMI (>>> Page 313)

 Cause: Cameras aligned with different features (>>> Page 314)

Solution: Align camera via WorkVisual (>>> Page 314)

 Cause: Lighting is too bright or too dim (>>> Page 315)

Solution: Optimize the lighting (>>> Page 315)

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 311 / 435

 KUKA.VisionTech 4.0

3. Check whether the object can be seen in the live image.

In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Object located outside of the camera’s field of vision

Description KUKA.VisionTech cannot detect any object. The object is located outside of
the camera’s field of vision.
The procedure for checking whether the object is located outside of the
camera’s field of vision is as follows:

Checking instruc- On the smartHMI:

tions 1. In the main menu, select VisionTech > Live picture.
2. Press Start. A live image is generated for the camera.
3. Check whether the object can be seen in the live image.
In WorkVisual:
1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Check whether the object can be seen in the live image.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

312 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 313 / 435

 KUKA.VisionTech 4.0

 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.

314 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

4. Stationary camera: Position the camera over the measurement object so

that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Lighting is too bright or too dim

Description KUKA.VisionTech requires optimum lighting in order to detect attributes. If the

lighting is too bright or too dim, attributes cannot be detected and processed.

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

Checking instruc-  Check whether the lighting is too bright or too dim.
tions

Solution: Optimize the lighting

Description Objects must be more brightly or more dimly lit.

15.2.82 VTH36096

Message code  VTH36096

Message text  The selected tool block {Name of the tool block} is not supported.
Please check the inputs and outputs of the tool block
Message type  Acknowledgement message

Possible cause(s)  Cause: Tool block does not support the inputs or outputs used
(>>> Page 315)
Solution: Correcting the programming in the SRC file (>>> Page 315)

 Cause: Tool block does not support the inputs or outputs used
(>>> Page 316)
Solution: Create new tool block in WorkVisual (>>> Page 316)

Cause: Tool block does not support the inputs or outputs used

Description Inputs or outputs are used which do not correspond to the format that the tool
block expects.

Checking instruc-  Check the tool block documentation to see which inputs and outputs are
tions defined for tool block purposes and what their data type is.

Solution: Correcting the programming in the SRC file

Procedure  Correct the programming in the SRC file

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 315 / 435

 KUKA.VisionTech 4.0

Further information is contained in the documentation for the relevant

software.

Cause: Tool block does not support the inputs or outputs used

Description Inputs or outputs are used which do not correspond to the format that the tool
block expects.

Checking instruc-  Check the tool block documentation to see which inputs and outputs are
tions defined for tool block purposes and what their data type is.

Solution: Create new tool block in WorkVisual

Description Create a new tool block in WorkVisual.

Procedure 1. Open the tool block editor:

 Select the menu sequence Editors > Options packages > Vision-
Tech > Tool block editor.

 Alternatively: Click on the button.

2. Select the menu sequence Tool block > New > KUKA v1 or KUKA v2 >
2D or 3D.
3. Select the menu sequence Image source > File... or Directory... and se-
lect the image(s) that were taken using the controller.

4. Click on the button. The image(s) are inserted next to the inputs under
InputImage.

5. Click on the button. Tools and templates are displayed.

(>>> 20.1 "Tool block templates (KUKA V1)" Page 389)
(>>> 20.2 "Tool block templates (KUKA V2)" Page 402)
6. Select the desired template or tool and drag it between the inputs and out-
puts.
7. Optional: Edit the parameters in the script of a template or tool.
a. Double-click on the template or tool.
b. Click on the button. The script opens.
c. Open the User Variables / Settings area and modify the desired pa-
rameters.
8. Link the inputs and outputs, e.g. InputImage under the inputs with InputIma-
ge in the template. To do so, click on the input or output and drag it onto
the other input or output. The link is indicated by an arrow.
9. Double-click on the template and configure the desired patterns.

10. Click on the button and choose whether the tool should be saved com-
pletely or without images or results.
11. Select a directory and click on Save.

15.2.83 VTH36097

Message code  VTH36097

Message text  The following error occurred while saving the task: {Error message}
Message type  Acknowledgement message

316 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Possible cause(s)  Cause: Tasks directory missing (>>> Page 317)

Solution: Create directory (>>> Page 317)

Cause: Tasks directory missing

Description The Tasks directory must be located under C:\KRC\TP\VisionTech\. The

Tasks directory is not present.

Directory Directory C:\KRC\TP\VisionTech\

Precondition  “Expert” user group

The procedure for checking whether the directory is missing is as fol-
lows:

Checking instruc- 1. In the Navigator, navigate to the directory in which the directory should be
tions located.
2. Check whether the directory is present.

Solution: Create directory

Description To eliminate the problem, the directory must be created manually.

Precondition  User group: Expert

 Windows interface (Minimize HMI)
 Administrator rights in Windows

Procedure 1. Navigate to the location at which the directory is to be created.

2. Create the directory.

15.2.84 VTH36098

Message code  VTH36098

Message text  The task has no model. It is not possible to execute the task
Message type  Acknowledgement message

Possible cause(s)  Cause: No model generated for task (>>> Page 318)
Solution: Generate 3D model (>>> Page 318)

 Cause: No model generated for task (>>> Page 318)

Solution: Create a 2D model with a stationary camera (>>> Page 318)

 Cause: No model generated for task (>>> Page 319)

Solution: Create a 2D model with a robot-guided camera
(>>> Page 319)

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 317 / 435

 KUKA.VisionTech 4.0

Cause: No model generated for task

Description No model has been generated for the task. As such, the task cannot be carried
out.

Solution: Generate 3D model

Precondition  The task has been configured.

 There is only 1 component in the field of vision of the cameras.
 The NULLFRAME tool is selected.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Move the robot to the reference pose.
3. In the Tasks area, click on the button in the box of the desired task.
4. Press the Model button. Answer the query with Yes.
A model is generated and a results window with images and a table is dis-
played. Areas detected by the cameras are indicated in green in the imag-
es. The results images are displayed in miniature for a better overview. All
configured model points are listed in the table. For each model point, the
model type is specified and whether or not it has been found. The maxi-
mum and mean error when finding the model point are also specified. For
good results, the RMS error should be < 1 mm.
Generation of the model has been successfully completed when the Mod-
el button has a check mark. The position of the reference workpiece is now
known; all position data of other workpieces are relative to this position.
5. Optional: Click on the image once. The image is now displayed in its orig-
inal size. The image can be enlarged further by touching it. The image can
be increased or decreased in size using the slide controller. It is possible
to navigate within the image using the arrow keys or by dragging a finger
or stylus over the image.

Cause: No model generated for task

Description No model has been generated for the task. As such, the task cannot be carried
out.

Solution: Create a 2D model with a stationary camera

A model is only required if relative position data are used.

Precondition  The robot base is calibrated to the calibration base.

(>>> 10.16 "Calibrating a camera (stationary)" Page 73)
 The task is configured; relative position data have been selected.
 There is only 1 component in the field of vision of the camera.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. In the Tasks area, click on the button in the box of the desired task.
3. Press the Model button.
A model is generated and a results window with an image and a table is
displayed. Areas detected by the camera are indicated in green in the im-
age. The results image is displayed in miniature for a better overview.

318 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Generation of the model has been successfully completed when the Mod-
el button has a check mark. The position of the reference workpiece in the
calibration base is now known; all position data of other workpieces are
relative to this position.
4. Optional: Click on the image once. The image is now displayed in its orig-
inal size. The image can be enlarged further by touching it. The image can
be increased or decreased in size using the slide controller. It is possible
to navigate within the image using the arrow keys or by dragging a finger
or stylus over the image.

Cause: No model generated for task

Description No model has been generated for the task. As such, the task cannot be carried
out.

Solution: Create a 2D model with a robot-guided camera

Precondition  The selected workpiece base meets the following criteria:

 The XY plane of the workpiece base is located on the surface of the
component.
 The Z axis of the workpiece base points in the same direction as the Z
axis of the calibration coordinate system.

It is advisable to calibrate the workpiece base on the calibration plate.

The robot position used for image acquisition should be taught in this
workpiece base.

 The task has been configured.

 There is only 1 component in the field of vision of the camera.
 The NULLFRAME tool is selected.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. Move the robot to the reference pose.
3. In the Tasks area, click on the button in the box of the desired task.
4. Press the Model button. Answer the query with Yes.
A model is generated and a results window with an image and a table is
displayed. Areas detected by the camera are indicated in green in the im-
age. The results image is displayed in miniature for a better overview.
Generation of the model has been successfully completed when the Mod-
el button has a check mark. The position of the reference workpiece in the
workpiece base is now known; all position data of other workpieces are rel-
ative to this position.
5. Optional: Click on the image once. The image is now displayed in its orig-
inal size. The image can be enlarged further by touching it. The image can
be increased or decreased in size using the slide controller. It is possible
to navigate within the image using the arrow keys or by dragging a finger
or stylus over the image.

15.2.85 VTH36099

Message code  VTH36099

Message text  Failed to match the part instances found in the toolblocks
Message type  Acknowledgement message

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 319 / 435

 KUKA.VisionTech 4.0

Possible cause(s)  Cause: Cameras aligned with different components (>>> Page 320)
Solution: Align the camera via the smartHMI (>>> Page 320)

 Cause: Cameras aligned with different components (>>> Page 321)

Solution: Align camera via WorkVisual (>>> Page 321)

 Cause: Camera not fully or correctly calibrated (>>> Page 321)

Solution: Calibrate camera (stationary) (>>> Page 322)

 Cause: Camera not fully or correctly calibrated (>>> Page 323)

Solution: Calibrate camera (robot-guided) (>>> Page 323)

Cause: Cameras aligned with different components

Description In order to detect components, all components must be acquired by every

camera. Each of the cameras has detected different components.
The procedure for checking whether each camera detects the same com-
ponents is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

320 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: Cameras aligned with different components

Description In order to detect components, all components must be acquired by every

camera. Each of the cameras has detected different components.
The procedure for checking whether each camera detects the same com-
ponents is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Camera not fully or correctly calibrated

Description The camera is not fully or correctly calibrated. Therefore, it is not possible to
determine an object position.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 321 / 435

 KUKA.VisionTech 4.0

Solution: Calibrate camera (stationary)

During calibration, the IP address of camera must not be changed.

Precondition  Camera is mounted in a fixed position.

 Camera is connected and configured.
 Camera is aligned.
 Calibration exposure time is set.
 Calibration plate is attached. This is in the workpiece plane and in the field
of vision of the camera.

Procedure 1. In the main menu, select VisionTech > Calibration.

A freeze-frame image from the camera is displayed on the fixed sensors
tab. If the camera is calibrated, the freeze-frame image has a green frame.
If the camera is not calibrated, the freeze-frame image has a red frame.
2. 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.
3. Select the camera by tapping on the freeze-frame image.
4. Press Calibration Wizard.
5. Press Take picture. The fiducial mark (cross at the center of the calibra-
tion plate) must be visible.

Fig. 15-101: Calibration plate with fiducial mark

1 Fiducial mark 2 Origin

Recommendations:
The camera should be directly above the calibration plate.
The calibration plate should fill as much of the image of the camera
as possible.

6. Press Calibration.
7. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.

322 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

8. Select an existing calibration plane in the Calibration plane box or choose

Create new calibration plane... to create a new calibration plane:
a. Enter a name for the calibration plane in the Name box.
b. Optional: Enter a description of the calibration plane in the Descrip-
tion box.

Recommendation: The description of the calibration plane should

contain the number of the base used.

c. Select an existing base in the Base ID box or choose Measure new

base... to calibrate a new base. The base can, for example, be cali-
brated using the 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. 15-101 ).

Fig. 15-102: Base for a stationary camera

1 Stationary camera 2 Calibration plate

9. Press Save. The settings are saved.

10. Press Exit. The window closes.

Cause: Camera not fully or correctly calibrated

Description The camera is not fully or correctly calibrated. Therefore, it is not possible to
determine an object position.

Solution: Calibrate camera (robot-guided)

If a palletizing robot is used, it is not possible to calibrate moving (ro-

bot-guided) cameras.

During calibration, the IP addresses of cameras must not be

changed.

Precondition  Cameras are mounted on the robot flange.

 Cameras are connected and configured.
 Cameras are aligned.
 Calibration plate is mounted and is located in the field of vision of the cam-
eras.
 NULLFRAME tool is selected.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 323 / 435

 KUKA.VisionTech 4.0

Procedure 1. In the main menu, select VisionTech > Calibration.

Freeze-frame images from the cameras are displayed on the moving sen-
sors tab. The freeze-frame images of the cameras that have already been
calibrated have a green frame. 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 tapping the freeze-frame
images.
3. Press Calibration Wizard.
4. Move the robot to the first calibration pose and press Take picture. The
fiducial mark (cross at the center of the calibration plate) must be visible in
every pose. It is not possible to take 2 images in the same pose.

Recommendation: For the first pose, the cameras should be posi-

tioned directly above the calibration plate. In every pose, the cameras
should be at a different angle relative to the calibration plate; for this,
the robot must be moved.

5. Repeat step 4 for every pose. Record at least 6 poses. A maximum of 9

poses are possible.
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.
7. Press Calibration. The calibration process takes approx. 5 to 10 minutes.
8. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
9. Press Save. The result is saved.
10. Press Exit. The window closes.

The calibration coordinate system is defined on the basis of the fidu-

cial mark (>>> Fig. 15-101 ) and not visible to the user as a robot
base.

15.2.86 VTH36100

Message code  VTH36100

Message text  Not enough features have been detected for calibration
Message type  Acknowledgement message

Possible cause(s)  Cause: The fiducial mark is not detected in all the images
(>>> Page 325)
Solution: Align the camera with the fiducial mark (>>> Page 325)

 Cause: Cameras aligned with different features (>>> Page 325)

Solution: Align the camera via the smartHMI (>>> Page 326)

 Cause: Cameras aligned with different features (>>> Page 326)

Solution: Align camera via WorkVisual (>>> Page 326)

 Cause: Lighting is too bright or too dim (>>> Page 327)

Solution: Optimize the lighting (>>> Page 327)

324 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: The fiducial mark is not detected in all the images

Description The fiducial mark is the cross at the center of the calibration plate; it must al-
ways be visible during calibration.

Fig. 15-103: Calibration plate with fiducial mark

1 Fiducial mark 2 Origin

The procedure for checking if the fiducial mark is visible is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Calibration.

tions Freeze-frame images from the cameras are displayed on the moving sen-
sors or fixed sensors tab. The freeze-frame images of the cameras that
have already been calibrated have a green frame. In the case of cameras
that have not yet been calibrated, the freeze-frame images have a red
frame.
2. Select the calibration plate used as the calibration body.
3. Select the cameras that are to be calibrated by clicking on the freeze-
frame images.
4. Click on Calibration Wizard.
5. For a robot-guided camera: move to the calibration pose. For a stationary
camera: continue with Step 6.
6. Click on Take picture. Check whether the fiducial mark is visible.
7. In the case of a robot-guided camera, repeat steps 5 and 6 for all calibra-
tion poses.

Solution: Align the camera with the fiducial mark

Description The camera must be aligned in such a way that the fiducial mark is visible.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 325 / 435

 KUKA.VisionTech 4.0

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

326 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

Cause: Lighting is too bright or too dim

Description KUKA.VisionTech requires optimum lighting in order to detect attributes. If the

lighting is too bright or too dim, attributes cannot be detected and processed.

The user must carry out a risk analysis and is responsible for ensuring
correctly adapted lighting.

Checking instruc-  Check whether the lighting is too bright or too dim.
tions

Solution: Optimize the lighting

Description Objects must be more brightly or more dimly lit.

15.2.87 VTH36101

Message code  VTH36101

Message text  Not enough features found for determining the part's position
Message type  Acknowledgement message

Possible cause(s)  Cause: Cameras aligned with different features (>>> Page 328)
Solution: Align the camera via the smartHMI (>>> Page 328)

 Cause: Cameras aligned with different features (>>> Page 328)

Solution: Align camera via WorkVisual (>>> Page 328)

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 327 / 435

 KUKA.VisionTech 4.0

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align the camera via the smartHMI

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

 Cameras are connected and configured.
 Only for robot-guided cameras:
 The cameras are either mounted on the robot flange or on a tool that
is mounted on the robot flange.
 The cameras have the same orientation, i.e. the component is in the
same position in all the images.

Procedure 1. In the main menu, select VisionTech > Live picture.

2. Press Start. A live image is generated for each camera.
3. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
4. Tighten and secure the camera fastening screws.

Cause: Cameras aligned with different features

Description In order to detect features, all features must be acquired by every camera.
Each of the cameras has detected different features.
The procedure for checking whether each camera detects the same fea-
tures is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Live picture.
tions 2. Press Start. A live image is generated for the camera.
3. Check which feature can be seen in the live image.
4. Repeat the procedure for each camera.
5. Compare whether each camera sees the same features.

Solution: Align camera via WorkVisual

Description In order to display an object or feature in the field of vision of the camera, the
camera must be aligned.

Precondition  Object to be measured (e.g. component or calibration plate) is mounted.

328 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

 Cameras are connected and configured.

 The option package is installed in WorkVisual.
 A project is open.
 Only if the KUKA IPC is being used: The IP address of the KUKA IPC is
set in WorkVisual.

Continuous acquisition of images with one or more cameras gener-

ates a high volume of data. This can have a negative effect on the ex-
ecution of tasks. Only use the live image if the robot controller or
KUKA IPC employed is not currently in productive use.

The acquisition of images is not automatically stopped on switching

to a different window. For this, the window must be closed or image
acquisition must be stopped with the button.

Procedure 1. Expand the tree structure of the robot controller on the Hardware tab in
the Project structure window.
2. Right-click on the camera and select Camera live image. The acquisition
of live images by this camera starts automatically.
3. Optional: Click on the button. The operator control elements are hidden
and the display of the image is enlarged accordingly. To display the oper-
ator control elements again, click on the button again.
4. Stationary camera: Position the camera over the measurement object so
that the measurement object is visible in the live image of the camera.
Robot-guided cameras: Position the robot over the measurement object
so that the measurement object is visible in the live image of the cameras.
If necessary, align the cameras again.
5. Tighten and secure the camera fastening screws.

15.2.88 VTH36102

Message code  VTH36102

Message text  An error occurred while calculating all the KRC variables to be moni-
tored for KRC {KRC ID}.
Message type  Acknowledgement message

Possible cause(s)  Cause: The specified KRL variable could not be found (>>> Page 329)
Solution: Carry out cold restart (>>> Page 330)

 Cause: The specified KRL variable could not be found (>>> Page 330)
Solution: Check the WorkVisual project and transfer it again
(>>> Page 330)

 Cause: The specified KRL variable could not be found (>>> Page 330)
Solution: Reinstall KUKA.VisionTech (>>> Page 331)

Cause: The specified KRL variable could not be found

Description The specified KRL variable could not be found in the data list (DAT file). The
variable was not declared in the data list or has not be initialized.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 329 / 435

 KUKA.VisionTech 4.0

The procedure for checking the state of a variable is as follows:

Checking instruc-  Check the state of a variable with the VARSTATE() function. The
tions VARSTATE function supplies 3 return values: #DECLARED, #INITIAL-
IZED or #UNKNOWN.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: The specified KRL variable could not be found

Description The specified KRL variable could not be found in the data list (DAT file). The
variable was not declared in the data list or has not be initialized.
The procedure for checking the state of a variable is as follows:

Checking instruc-  Check the state of a variable with the VARSTATE() function. The
tions VARSTATE function supplies 3 return values: #DECLARED, #INITIAL-
IZED or #UNKNOWN.

Solution: Check the WorkVisual project and transfer it again

Description The WorkVisual project must be checked and then transferred to the robot
controller again.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller

Procedure 1. Load the active project from the robot controller.

2. Check whether the configuration in the project matches the real system
configuration. If not, correct the configuration.
3. Transfer the project back from WorkVisual to the robot controller and acti-
vate it.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

Cause: The specified KRL variable could not be found

Description The specified KRL variable could not be found in the data list (DAT file). The
variable was not declared in the data list or has not be initialized.
The procedure for checking the state of a variable is as follows:

Checking instruc-  Check the state of a variable with the VARSTATE() function. The
tions VARSTATE function supplies 3 return values: #DECLARED, #INITIAL-
IZED or #UNKNOWN.

330 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Solution: Reinstall KUKA.VisionTech

Description Reinstall KUKA.VisionTech so that all components work correctly.

It is advisable to archive all relevant data before updating a software

package.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller
 The option package is available as a KOP file.
 For installation of the option package in WorkVisual: Local administrator
rights

It is advisable to restart WorkVisual before installing the option pack-

age.

Procedure 1. Only for an update: Uninstall the previous version of the VisionTech op-
tion package in WorkVisual.
2. Install the VisionTech option package in WorkVisual.
3. Load the project from the robot controller.
4. Insert the VisionTech option package into the project.
5. Deploy the project from WorkVisual to the robot controller and activate it.
6. The request for confirmation Do you want to activate the project […]? is dis-
played on the smartHMI. The active project is overwritten during activa-
tion. If no relevant project will be overwritten: Answer the query with Yes.
7. An overview with the changes and a request for confirmation are displayed
on the smartHMI. Answer this with Yes. The option package is installed
and the robot controller carries out a reboot.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

15.2.89 VTH36103

Message code  VTH36103

Message text  An error occurred during the licensing process.
Message type  Acknowledgement message

Possible cause(s)  Cause: License key is missing or invalid (>>> Page 331)
Solution: Activate KUKA.VisionTech license key (>>> Page 332)

Cause: License key is missing or invalid

Description KUKA.VisionTech requires a valid license key for the program to work. No li-
cense key has been saved or an invalid license key has been saved.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 331 / 435

 KUKA.VisionTech 4.0

The procedure for checking whether a valid license key has been saved
is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Licensing.

tions 2. Compare the license key entered with the license key you have received.
The license key is either on a sticker in the robot controller or is enclosed
with the software.

Fig. 15-104: KUKA.VisionTech license KRC

The license key entered must match the license key under Vision license
key KRC.

Solution: Activate KUKA.VisionTech license key

Description The correct license key must be activated for KUKA.VisionTech to work cor-
rectly.

Procedure 1. In the main menu, select VisionTech > Licensing.

2. Enter the license key in the License key box. The license key is either on
a sticker in the robot controller or is enclosed with the software.
3. Click on Create footprint and select a directory. In the selected directory
a file is generated which links the control PC to the license. An encrypted
signature for this control PC is saved in the file.
4. Send the generated file to [email protected].
KUKA Support will use this to create a licensing file and send it to you.
5. Click on ..., select the received licensing file and confirm with OK.

15.2.90 VTH36104

Message code  VTH36104

Message text  An error occurred during the licensing process: {0}
Message type  Acknowledgement message

Possible cause(s)  Cause: License key is missing or invalid (>>> Page 332)
Solution: Activate KUKA.VisionTech license key (>>> Page 333)

Cause: License key is missing or invalid

Description KUKA.VisionTech requires a valid license key for the program to work. No li-
cense key has been saved or an invalid license key has been saved.
The procedure for checking whether a valid license key has been saved
is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Licensing.

tions 2. Compare the license key entered with the license key you have received.

332 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

The license key is either on a sticker in the robot controller or is enclosed

with the software.

Fig. 15-105: KUKA.VisionTech license KRC

The license key entered must match the license key under Vision license
key KRC.

Solution: Activate KUKA.VisionTech license key

Description The correct license key must be activated for KUKA.VisionTech to work cor-
rectly.

Procedure 1. In the main menu, select VisionTech > Licensing.

2. Enter the license key in the License key box. The license key is either on
a sticker in the robot controller or is enclosed with the software.
3. Click on Create footprint and select a directory. In the selected directory
a file is generated which links the control PC to the license. An encrypted
signature for this control PC is saved in the file.
4. Send the generated file to [email protected].
KUKA Support will use this to create a licensing file and send it to you.
5. Click on ..., select the received licensing file and confirm with OK.

15.2.91 VTH36105

Message code  VTH36105

Message text  Unable to create the footprint because the entered license key is not
valid
Message type  Acknowledgement message

Possible cause(s)  Cause: License key is missing or invalid (>>> Page 333)
Solution: Activate KUKA.VisionTech license key (>>> Page 334)

Cause: License key is missing or invalid

Description KUKA.VisionTech requires a valid license key for the program to work. No li-
cense key has been saved or an invalid license key has been saved.
The procedure for checking whether a valid license key has been saved
is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Licensing.

tions 2. Compare the license key entered with the license key you have received.
The license key is either on a sticker in the robot controller or is enclosed
with the software.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 333 / 435

 KUKA.VisionTech 4.0

Fig. 15-106: KUKA.VisionTech license KRC

The license key entered must match the license key under Vision license
key KRC.

Solution: Activate KUKA.VisionTech license key

Description The correct license key must be activated for KUKA.VisionTech to work cor-
rectly.

Procedure 1. In the main menu, select VisionTech > Licensing.

2. Enter the license key in the License key box. The license key is either on
a sticker in the robot controller or is enclosed with the software.
3. Click on Create footprint and select a directory. In the selected directory
a file is generated which links the control PC to the license. An encrypted
signature for this control PC is saved in the file.
4. Send the generated file to [email protected].
KUKA Support will use this to create a licensing file and send it to you.
5. Click on ..., select the received licensing file and confirm with OK.

15.2.92 VTH36107

Message code  VTH36107

Message text  Unable to repair the license because the license key entered is not valid
Message type  Acknowledgement message

Possible cause(s)  Cause: License key is missing or invalid (>>> Page 334)
Solution: Activate KUKA.VisionTech license key (>>> Page 335)

Cause: License key is missing or invalid

Description KUKA.VisionTech requires a valid license key for the program to work. No li-
cense key has been saved or an invalid license key has been saved.
The procedure for checking whether a valid license key has been saved
is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Licensing.

tions 2. Compare the license key entered with the license key you have received.
The license key is either on a sticker in the robot controller or is enclosed
with the software.

334 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Fig. 15-107: KUKA.VisionTech license KRC

The license key entered must match the license key under Vision license
key KRC.

Solution: Activate KUKA.VisionTech license key

Description The correct license key must be activated for KUKA.VisionTech to work cor-
rectly.

Procedure 1. In the main menu, select VisionTech > Licensing.

2. Enter the license key in the License key box. The license key is either on
a sticker in the robot controller or is enclosed with the software.
3. Click on Create footprint and select a directory. In the selected directory
a file is generated which links the control PC to the license. An encrypted
signature for this control PC is saved in the file.
4. Send the generated file to [email protected].
KUKA Support will use this to create a licensing file and send it to you.
5. Click on ..., select the received licensing file and confirm with OK.

15.2.93 VTH36108

Message code  VTH36108

Message text  Unable to create the footprint
Message type  Acknowledgement message

Possible cause(s)  Cause: License key is missing or invalid (>>> Page 335)
Solution: Activate KUKA.VisionTech license key (>>> Page 336)

Cause: License key is missing or invalid

Description KUKA.VisionTech requires a valid license key for the program to work. No li-
cense key has been saved or an invalid license key has been saved.
The procedure for checking whether a valid license key has been saved
is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Licensing.

tions 2. Compare the license key entered with the license key you have received.
The license key is either on a sticker in the robot controller or is enclosed
with the software.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 335 / 435

 KUKA.VisionTech 4.0

Fig. 15-108: KUKA.VisionTech license KRC

The license key entered must match the license key under Vision license
key KRC.

Solution: Activate KUKA.VisionTech license key

Description The correct license key must be activated for KUKA.VisionTech to work cor-
rectly.

Procedure 1. In the main menu, select VisionTech > Licensing.

2. Enter the license key in the License key box. The license key is either on
a sticker in the robot controller or is enclosed with the software.
3. Click on Create footprint and select a directory. In the selected directory
a file is generated which links the control PC to the license. An encrypted
signature for this control PC is saved in the file.
4. Send the generated file to [email protected].
KUKA Support will use this to create a licensing file and send it to you.
5. Click on ..., select the received licensing file and confirm with OK.

15.2.94 VTH36114

Message code  VTH36114

Message text  Invalid calibration pose. A calibration pose with the same coordinates
has already been approached. Please change the robot position
Message type  Acknowledgement message

Possible cause(s)  Cause: The calibration poses do not differ to an adequate extent
(>>> Page 336)
Solution: Use calibration poses that lie further away from each other
(>>> Page 337)

Cause: The calibration poses do not differ to an adequate extent

Description At least 6 different calibration poses need to be addressed in order to calibrate

a robot-guided camera. The fiducial mark (cross at the center of the calibration
plate) must be visible in every pose. It is not possible to take 2 images in the
same pose.

Recommendation: For the 1st pose, the cameras should be posi-

tioned directly above the calibration plate. In every pose, the cameras
should be at a different angle relative to the calibration plate; for this,
the robot must be moved.

336 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Solution: Use calibration poses that lie further away from each other

Description Record at least 6 new calibration poses and ensure that they are an adequate
distance from each other.

Procedure 1. In the main menu, select VisionTech > Calibration.

Freeze-frame images from the cameras are displayed on the moving sen-
sors tab. The freeze-frame images of the cameras that have already been
calibrated have a green frame. 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 tapping the freeze-frame
images.
3. Press Calibration Wizard.
4. Move the robot to the first calibration pose and press Take picture. The
fiducial mark (cross at the center of the calibration plate) must be visible in
every pose. It is not possible to take 2 images in the same pose.

Recommendation: For the first pose, the cameras should be posi-

tioned directly above the calibration plate. In every pose, the cameras
should be at a different angle relative to the calibration plate; for this,
the robot must be moved.

5. Repeat step 4 for every pose. Record at least 6 poses. A maximum of 9

poses are possible.
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.
7. Press Calibration. The calibration process takes approx. 5 to 10 minutes.
8. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
9. Press Save. The result is saved.
10. Press Exit. The window closes.

15.2.95 VTH36115

Message code  VTH36115

Message text  Invalid calibration pose. A pose with similar coordinates has already
been approached. Please change robot position
Message type  Acknowledgement message

Possible cause(s)  Cause: The calibration poses do not differ to an adequate extent
(>>> Page 337)
Solution: Use calibration poses that lie further away from each other
(>>> Page 338)

Cause: The calibration poses do not differ to an adequate extent

Description At least 6 different calibration poses need to be addressed in order to calibrate

a robot-guided camera. The fiducial mark (cross at the center of the calibration
plate) must be visible in every pose. It is not possible to take 2 images in the
same pose.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 337 / 435

 KUKA.VisionTech 4.0

Recommendation: For the 1st pose, the cameras should be posi-

tioned directly above the calibration plate. In every pose, the cameras
should be at a different angle relative to the calibration plate; for this,
the robot must be moved.

Solution: Use calibration poses that lie further away from each other

Description Record at least 6 new calibration poses and ensure that they are an adequate
distance from each other.

Procedure 1. In the main menu, select VisionTech > Calibration.

Freeze-frame images from the cameras are displayed on the moving sen-
sors tab. The freeze-frame images of the cameras that have already been
calibrated have a green frame. 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 tapping the freeze-frame
images.
3. Press Calibration Wizard.
4. Move the robot to the first calibration pose and press Take picture. The
fiducial mark (cross at the center of the calibration plate) must be visible in
every pose. It is not possible to take 2 images in the same pose.

Recommendation: For the first pose, the cameras should be posi-

tioned directly above the calibration plate. In every pose, the cameras
should be at a different angle relative to the calibration plate; for this,
the robot must be moved.

5. Repeat step 4 for every pose. Record at least 6 poses. A maximum of 9

poses are possible.
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.
7. Press Calibration. The calibration process takes approx. 5 to 10 minutes.
8. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
9. Press Save. The result is saved.
10. Press Exit. The window closes.

15.2.96 VTH36117

Message code  VTH36117

Message text  Unable to create image buffer in memory: {Error message}
Message type  Acknowledgement message

Possible cause(s)  Cause: Camera model not compatible (>>> Page 338)
Solution: Use KUKA MXG20 or VCXG-25M camera (>>> Page 339)

Cause: Camera model not compatible

Description The camera in use provides a video or image format that is not supported by
KUKA.VisionTech.

338 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Solution: Use KUKA MXG20 or VCXG-25M camera

Description Use the camera model KUKA MXG20 or KUKA VCXG-25M that is intended
for use with KUKA.VisionTech.

15.2.97 VTH36118

Message code  VTH36118

Message text  No image buffer available: {Error message}
Message type  Acknowledgement message

Possible cause(s)  Cause: Camera model not compatible (>>> Page 339)
Solution: Use KUKA MXG20 or VCXG-25M camera (>>> Page 339)

Cause: Camera model not compatible

Description The camera in use provides a video or image format that is not supported by
KUKA.VisionTech.

Solution: Use KUKA MXG20 or VCXG-25M camera

Description Use the camera model KUKA MXG20 or KUKA VCXG-25M that is intended
for use with KUKA.VisionTech.

15.2.98 VTH36119

Message code  VTH36119

Message text  Unable to write the data to the image buffer: {Error message}
Message type  Acknowledgement message

Possible cause(s)  Cause: Camera model not compatible (>>> Page 339)
Solution: Use KUKA MXG20 or VCXG-25M camera (>>> Page 339)

Cause: Camera model not compatible

Description The camera in use provides a video or image format that is not supported by
KUKA.VisionTech.

Solution: Use KUKA MXG20 or VCXG-25M camera

Description Use the camera model KUKA MXG20 or KUKA VCXG-25M that is intended
for use with KUKA.VisionTech.

15.2.99 VTH36121

Message code  VTH36121

Message text  There is no emergency license available

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 339 / 435

 KUKA.VisionTech 4.0

Message type  Acknowledgement message

Possible cause(s)  Cause: No further emergency license available (>>> Page 340)
Solution: Contact KUKA Support (>>> Page 340)

 Cause: No further emergency license available (>>> Page 340)

Solution: Activate KUKA.VisionTech license key (>>> Page 340)

Cause: No further emergency license available

Description All available emergency licenses have already been used up. A total of 5
emergency licenses are available. An emergency license is valid for 3 days.
On expiry, emergency licenses cannot be reactivated. For this reason, they
should only be used in an actual emergency.

Solution: Contact KUKA Support

Description Contact the relevant Support department to rectify errors.

Cause: No further emergency license available

Description All available emergency licenses have already been used up. A total of 5
emergency licenses are available. An emergency license is valid for 3 days.
On expiry, emergency licenses cannot be reactivated. For this reason, they
should only be used in an actual emergency.

Solution: Activate KUKA.VisionTech license key

Description The correct license key must be activated for KUKA.VisionTech to work cor-
rectly.

Procedure 1. In the main menu, select VisionTech > Licensing.

2. Enter the license key in the License key box. The license key is either on
a sticker in the robot controller or is enclosed with the software.
3. Click on Create footprint and select a directory. In the selected directory
a file is generated which links the control PC to the license. An encrypted
signature for this control PC is saved in the file.
4. Send the generated file to [email protected].
KUKA Support will use this to create a licensing file and send it to you.
5. Click on ..., select the received licensing file and confirm with OK.

15.2.100 VTH36138

Message code  VTH36138

Message text  An unknown error occurred while saving a sensor image: {Detailed er-
ror message}
Message type  Acknowledgement message

340 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Possible cause(s)  Cause: Camera is tied up in another process (>>> Page 341)
Solution: End the current process first (>>> Page 342)

 Cause: Camera is tied up in another process (>>> Page 342)

Solution: Disconnect camera from power supply and reconnect
(>>> Page 343)

 Cause: Camera is tied up in another process (>>> Page 344)

Solution: Carry out cold restart (>>> Page 345)

 Cause: Sensor cable defective or not connected correctly

(>>> Page 345)
Solution: Exchange sensor cable or connect it correctly
(>>> Page 346)

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-109: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 341 / 435

 KUKA.VisionTech 4.0

Fig. 15-110: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: End the current process first

Description Cancel the ongoing process or wait until it has ended.

The procedure is determined by the current process.

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-111: KUKA MXG20 camera – LEDs

342 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-112: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

Fig. 15-113: KUKA MXG20 camera – overview

1 LEDs

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 343 / 435

 KUKA.VisionTech 4.0

2 Data/PoE interface
3 Process interface / power supply

Fig. 15-114: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-115: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

344 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Fig. 15-116: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: Sensor cable defective or not connected correctly

Description The sensor cable that runs from the camera to the robot controller or to the
IPC is faulty or not connected correctly.
The cameras can be connected to the following interfaces of the KR C4 robot
controller:
 X64.1 - B1
 X64.2 - B2
 X64.3 - B3
If a cable inlet on the KR C4 is used instead of interface X64:
 A13.1 - B1
 A13.2 - B2
 A13.3 - B3
If the KR C4 compact robot controller is used:
 PoE1 - B1

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 345 / 435

 KUKA.VisionTech 4.0

 PoE2 - B2
 PoE3 - B3
If a KUKA IPC is used:
 CH1 - B1
 CH2 - B2
 CH3 - B3
 CH4 - B4
The procedure for checking whether the sensor cable is defective is as
follows:

Precondition  The power supply for the sensor is switched off.

Checking instruc- 1. Check whether the connectors are correctly connected. Particular atten-
tions tion must be paid to:
 Pins pushed in
 Corrosion
 Scorched contacts
 Connector insert pushed back
 Socket pushed back
 Connector on correct slot
2. Check whether the cable is mechanically damaged. Causes of squashed
cables or wires can include the following:
 Cable straps too tight
 Clips too tight
 Trapped when closing a cover
 Bend radius too tight
3. Check whether the cable still conducts electricity. Particular attention must
be paid to:
 Cross-connection of individual wires
 Short-circuit of individual wires with the ground conductor
 Correct wiring in accordance with circuit diagram

Solution: Exchange sensor cable or connect it correctly

Precondition  The robot controller is switched off.

Procedure 1. Disconnect defective sensor cable.

2. Route and connect a new sensor cable correctly with the energy supply
system.

The energy supply system ensures that the cables are guided with
minimum stress despite the high load on the sensor cable caused by
the robot motion.

15.2.101 VTH36140

Message code  VTH36140

Message text  An invalid number of markers has been detected. Please ensure that
the tool block only detects one marker.
Message type  Acknowledgement message

346 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Possible cause(s)  Cause: No reference feature or more than 1 reference feature in the
field of vision of the camera (>>> Page 347)
Solution: Place only 1 reference feature in the field of vision of the cam-
era (>>> Page 347)

Cause: No reference feature or more than 1 reference feature in the field of vision of the cam-
era

Description During execution of the verification task for verifying the calibration, there is no
reference feature (marker) or more than 1 reference feature in the field of vi-
sion of the camera. There must be precisely 1 reference feature in the field of
vision of the camera.

Solution: Place only 1 reference feature in the field of vision of the camera

Description Place only 1 reference feature (marker) in the field of vision of the camera and
perform calibration verification again.

15.2.102 VTH36141

Message code  VTH36141

Message text  Calibration referencing was terminated with the following error: No
marker found. Please ensure that exactly one marker is detected.
Message type  Acknowledgement message

Possible cause(s)  Cause: No reference feature or more than 1 reference feature in the
field of vision of the camera (>>> Page 347)
Solution: Place only 1 reference feature in the field of vision of the cam-
era (>>> Page 347)

Cause: No reference feature or more than 1 reference feature in the field of vision of the cam-
era

Description During execution of the verification task for verifying the calibration, there is no
reference feature (marker) or more than 1 reference feature in the field of vi-
sion of the camera. There must be precisely 1 reference feature in the field of
vision of the camera.

Solution: Place only 1 reference feature in the field of vision of the camera

Description Place only 1 reference feature (marker) in the field of vision of the camera and
perform calibration verification again.

15.2.103 VTH36144

Message code  VTH36144

Message text  A timeout occurred during calibration referencing

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 347 / 435

 KUKA.VisionTech 4.0

Message type  Acknowledgement message

Possible cause(s)  Cause: No reference feature or more than 1 reference feature in the
field of vision of the camera (>>> Page 348)
Solution: Place only 1 reference feature in the field of vision of the cam-
era (>>> Page 348)

Cause: No reference feature or more than 1 reference feature in the field of vision of the cam-
era

Description During execution of the verification task for verifying the calibration, there is no
reference feature (marker) or more than 1 reference feature in the field of vi-
sion of the camera. There must be precisely 1 reference feature in the field of
vision of the camera.

Solution: Place only 1 reference feature in the field of vision of the camera

Description Place only 1 reference feature (marker) in the field of vision of the camera and
perform calibration verification again.

15.2.104 VTH36145

Message code  VTH36145

Message text  The selected sensor cannot be configured since it is in an invalid con-
nection state.
Message type  Acknowledgement message

Possible cause(s)  Cause: Camera is tied up in another process (>>> Page 348)
Solution: End the current process first (>>> Page 349)

 Cause: Camera is tied up in another process (>>> Page 349)

Solution: Disconnect camera from power supply and reconnect
(>>> Page 350)

 Cause: Camera is tied up in another process (>>> Page 351)

Solution: Carry out cold restart (>>> Page 352)

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

348 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

LEDs

Fig. 15-117: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-118: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: End the current process first

Description Cancel the ongoing process or wait until it has ended.

The procedure is determined by the current process.

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 349 / 435

 KUKA.VisionTech 4.0

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-119: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-120: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

350 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Fig. 15-121: KUKA MXG20 camera – overview

1 LEDs
2 Data/PoE interface
3 Process interface / power supply

Fig. 15-122: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 351 / 435

 KUKA.VisionTech 4.0

LEDs

Fig. 15-123: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-124: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

352 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

15.2.105 VTH36146

Message code  VTH36146

Message text  The connection settings of the sensor cannot be updated.
Message type  Acknowledgement message

Possible cause(s)  Cause: Camera is tied up in another process (>>> Page 353)
Solution: End the current process first (>>> Page 354)

 Cause: Camera is tied up in another process (>>> Page 354)

Solution: Disconnect camera from power supply and reconnect
(>>> Page 355)

 Cause: Camera is tied up in another process (>>> Page 356)

Solution: Carry out cold restart (>>> Page 357)

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-125: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 353 / 435

 KUKA.VisionTech 4.0

Fig. 15-126: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: End the current process first

Description Cancel the ongoing process or wait until it has ended.

The procedure is determined by the current process.

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-127: KUKA MXG20 camera – LEDs

354 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

Fig. 15-128: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

Fig. 15-129: KUKA MXG20 camera – overview

1 LEDs

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 355 / 435

 KUKA.VisionTech 4.0

2 Data/PoE interface
3 Process interface / power supply

Fig. 15-130: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Cause: Camera is tied up in another process

Description The camera is busy. Another process is ongoing.

Checking instruc-  Check whether the camera is currently sending or receiving data.
tions

LEDs

Fig. 15-131: KUKA MXG20 camera – LEDs

Item LED Description

1 Status  Green: Connection is active.
 Flashing green: Data are being received
 Flashing red: Data are being sent
2 Power Green: Camera is switched on

356 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Fig. 15-132: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

LEDs LED Description

Green  Lit up green: Connection is active.
 Flashing green: Data are being received
Yellow  Lit up yellow: Error
 Flashing yellow: Data are being sent

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

15.2.106 VTH36150

Message code  VTH36150

Message text  Cannot save while a program is selected in the robot interpreter.
Message type  Acknowledgement message

Possible cause(s)  Cause: Program is selected. (>>> Page 357)

Solution: Cancel program (>>> Page 358)

Cause: Program is selected.

Description A program is selected.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 357 / 435

 KUKA.VisionTech 4.0

Checking instruc-  Check the status of the robot interpreter in the status bar.
tions Icon Color Description
Gray No program is selected.

Yellow The block pointer is situated on the first line

of the selected program.

Green The program is selected and is being exe-

cuted.

Red The selected and started program has been

stopped.

Black The block pointer is situated at the end of

the selected program.

Solution: Cancel program

Description Select the active program.

Precondition  T1, T2 or AUT mode

Procedure 1. Select Edit > Cancel program.

or: In the status bar, touch the Robot interpreter status indicator. A win-
dow opens. Select Cancel program.

When the program is deselected, modifications are accepted without

a request for confirmation!

If the program is running, it must be stopped before it can be deselected.

15.2.107 VTH36156

Message code  VTH36156

Message text  An error occurred while saving the general sensor settings: {Error mes-
sage}
Message type  Acknowledgement message

Possible cause(s)  Cause: Directory with sensor configuration is write-protected

(>>> Page 358)
Solution: Remove write protection of directory (>>> Page 359)

Cause: Directory with sensor configuration is write-protected

Description The directory in which the sensor configuration is to be saved is write-protect-

ed.
The write protection was set up by making manual adjustments to the file sys-
tem.

358 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Directory Directory C:\KRC\TP\VisionTech\

The procedure for checking whether the directory is write-protected is

as follows:

Precondition  “Expert” user group

Checking instruc- 1. In the main menu, select Start-up > Service > Minimize HMI.
tions The smartHMI is minimized and the Windows interface is displayed.
2. Navigate to the directory.
3. Right-click and select Settings.
4. Check whether the check box Write-protected is deactivated.

Solution: Remove write protection of directory

Description Remove the write protection of the directory

15.2.108 VTH36157

Message code  VTH36157

Message text  An unexpected error occurred
Message type  Acknowledgement message

Possible cause(s)  Cause: An unexpected runtime error occurred in the software or hard-
ware (>>> Page 359)
Solution: Carry out cold restart (>>> Page 359)

 Cause: An unexpected runtime error occurred in the software or hard-

ware (>>> Page 359)
Solution: Correct the configuration with WorkVisual. (>>> Page 360)

Cause: An unexpected runtime error occurred in the software or hardware

Description A runtime error has occurred in the software or in the connected hardware
(e.g. camera) and the process cannot be executed.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: An unexpected runtime error occurred in the software or hardware

Description A runtime error has occurred in the software or in the connected hardware
(e.g. camera) and the process cannot be executed.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 359 / 435

 KUKA.VisionTech 4.0

Solution: Correct the configuration with WorkVisual.

Procedure  Correct the configuration with WorkVisual.

15.2.109 VTH36168

Message code  VTH36168

Message text  An error occurred while activating an emergency license
Message type  Acknowledgement message

Possible cause(s)  Cause: No further emergency license available (>>> Page 360)
Solution: Contact KUKA Support (>>> Page 360)

 Cause: Vision server is not correctly installed (>>> Page 360)

Solution: Reinstall KUKA.VisionTech (>>> Page 360)

 Cause: No further emergency license available (>>> Page 361)

Solution: Activate KUKA.VisionTech license key (>>> Page 361)

Cause: No further emergency license available

Description All available emergency licenses have already been used up. A total of 5
emergency licenses are available. An emergency license is valid for 3 days.
On expiry, emergency licenses cannot be reactivated. For this reason, they
should only be used in an actual emergency.

Solution: Contact KUKA Support

Description Contact the relevant Support department to rectify errors.

Cause: Vision server is not correctly installed

Description It was not possible to install the vision server correctly. Errors occurred during
the installation routine.

Solution: Reinstall KUKA.VisionTech

Description Reinstall KUKA.VisionTech so that all components work correctly.

It is advisable to archive all relevant data before updating a software

package.

Precondition  User group “Expert”

 T1 or T2 mode
 No program is selected.
 Network connection between PC and robot controller
 The option package is available as a KOP file.
 For installation of the option package in WorkVisual: Local administrator
rights

360 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

It is advisable to restart WorkVisual before installing the option pack-

age.

Procedure 1. Only for an update: Uninstall the previous version of the VisionTech op-
tion package in WorkVisual.
2. Install the VisionTech option package in WorkVisual.
3. Load the project from the robot controller.
4. Insert the VisionTech option package into the project.
5. Deploy the project from WorkVisual to the robot controller and activate it.
6. The request for confirmation Do you want to activate the project […]? is dis-
played on the smartHMI. The active project is overwritten during activa-
tion. If no relevant project will be overwritten: Answer the query with Yes.
7. An overview with the changes and a request for confirmation are displayed
on the smartHMI. Answer this with Yes. The option package is installed
and the robot controller carries out a reboot.

Information about procedures in WorkVisual is contained in the

WorkVisual documentation.

LOG file A LOG file is created under C:\KRC\ROBOTER\LOG.

Cause: No further emergency license available

Description All available emergency licenses have already been used up. A total of 5
emergency licenses are available. An emergency license is valid for 3 days.
On expiry, emergency licenses cannot be reactivated. For this reason, they
should only be used in an actual emergency.

Solution: Activate KUKA.VisionTech license key

Description The correct license key must be activated for KUKA.VisionTech to work cor-
rectly.

Procedure 1. In the main menu, select VisionTech > Licensing.

2. Enter the license key in the License key box. The license key is either on
a sticker in the robot controller or is enclosed with the software.
3. Click on Create footprint and select a directory. In the selected directory
a file is generated which links the control PC to the license. An encrypted
signature for this control PC is saved in the file.
4. Send the generated file to [email protected].
KUKA Support will use this to create a licensing file and send it to you.
5. Click on ..., select the received licensing file and confirm with OK.

15.2.110 VTH36169

Message code  VTH36169

Message text  Calibration referencing was terminated with the following error: More
than one marker detected. Please ensure that the tool block only de-
tects one marker.
Message type  Acknowledgement message

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 361 / 435

 KUKA.VisionTech 4.0

Possible cause(s)  Cause: No reference feature or more than 1 reference feature in the
field of vision of the camera (>>> Page 362)
Solution: Place only 1 reference feature in the field of vision of the cam-
era (>>> Page 362)

Cause: No reference feature or more than 1 reference feature in the field of vision of the cam-
era

Description During execution of the verification task for verifying the calibration, there is no
reference feature (marker) or more than 1 reference feature in the field of vi-
sion of the camera. There must be precisely 1 reference feature in the field of
vision of the camera.

Solution: Place only 1 reference feature in the field of vision of the camera

Description Place only 1 reference feature (marker) in the field of vision of the camera and
perform calibration verification again.

15.2.111 VTH36170

Message code  VTH36170

Message text  The entered name is empty. Please choose a different name
Message type  Acknowledgement message

Possible cause(s)  Cause: Name of a task is empty (>>> Page 362)

Solution: Assign a valid name (>>> Page 362)

Cause: Name of a task is empty

Description The name of a task does not contain characters or only contains blank spaces.
The name of a task must contain at least one character that is not a blank
space. The characters \ / : * ? " < > | must not be used.
The procedure for checking whether the name of a task contains either
no characters or only blank spaces is as follows:

Checking instruc- 1. In the main menu, select VisionTech > Task configuration.
tions 2. Check in the Tasks area to see if an invalid name has been used.

Solution: Assign a valid name

Description The name of the task must be changed.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. In the Tasks area, click on the button in the box of the desired task.
3. Change the name of the task in the Name box.
4. Click on Save.
The name of the task has been changed.

362 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

15.2.112 VTH36171

Message code  VTH36171

Message text  The selected set of sensors cannot be calibrated. Please change your
selection
Message type  Acknowledgement message

Possible cause(s)  Cause: Stationary and robot-guided camera selected (>>> Page 363)
Solution: Select suitable cameras (>>> Page 363)

Cause: Stationary and robot-guided camera selected

Description A stationary camera and a robot-guided camera were selected for calibration.
Stationary cameras and robot-guided cameras cannot be calibrated simulta-
neously.

Solution: Select suitable cameras

Description Select suitable cameras for calibration.

Procedure 1. In the main menu, select VisionTech > Calibration.

2. Switch to the tab Fixed sensors or Moving sensors.
3. Select the cameras that are to be calibrated by pressing the freeze-frame
image.
Only select cameras for calibration that can be found on the same tab.

15.2.113 VTH36172

Message code  VTH36172

Message text  An unexpected error occurred
Message type  Notification message

Possible cause(s)  Cause: An unexpected runtime error occurred in the software or hard-
ware (>>> Page 363)
Solution: Carry out cold restart (>>> Page 364)

 Cause: An unexpected runtime error occurred in the software or hard-

ware (>>> Page 364)
Solution: Correct the configuration with WorkVisual. (>>> Page 364)

Cause: An unexpected runtime error occurred in the software or hardware

Description A runtime error has occurred in the software or in the connected hardware
(e.g. camera) and the process cannot be executed.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 363 / 435

 KUKA.VisionTech 4.0

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: An unexpected runtime error occurred in the software or hardware

Description A runtime error has occurred in the software or in the connected hardware
(e.g. camera) and the process cannot be executed.

Solution: Correct the configuration with WorkVisual.

Procedure  Correct the configuration with WorkVisual.

15.2.114 VTH36175

Message code  VTH36175

Message text  One of the sensors is not calibrated.
Message type  Acknowledgement message

Possible cause(s)  Cause: Camera not fully or correctly calibrated (>>> Page 364)
Solution: Calibrate camera (stationary) (>>> Page 364)

 Cause: Camera not fully or correctly calibrated (>>> Page 366)

Solution: Calibrate camera (robot-guided) (>>> Page 366)

Cause: Camera not fully or correctly calibrated

Description The camera is not fully or correctly calibrated. Therefore, it is not possible to
determine an object position.

Solution: Calibrate camera (stationary)

During calibration, the IP address of camera must not be changed.

Precondition  Camera is mounted in a fixed position.

 Camera is connected and configured.
 Camera is aligned.
 Calibration exposure time is set.
 Calibration plate is attached. This is in the workpiece plane and in the field
of vision of the camera.

Procedure 1. In the main menu, select VisionTech > Calibration.

364 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

A freeze-frame image from the camera is displayed on the fixed sensors

tab. If the camera is calibrated, the freeze-frame image has a green frame.
If the camera is not calibrated, the freeze-frame image has a red frame.
2. 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.
3. Select the camera by tapping on the freeze-frame image.
4. Press Calibration Wizard.
5. Press Take picture. The fiducial mark (cross at the center of the calibra-
tion plate) must be visible.

Fig. 15-133: Calibration plate with fiducial mark

1 Fiducial mark 2 Origin

Recommendations:
The camera should be directly above the calibration plate.
The calibration plate should fill as much of the image of the camera
as possible.

6. Press Calibration.
7. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
8. Select an existing calibration plane in the Calibration plane box or choose
Create new calibration plane... to create a new calibration plane:
a. Enter a name for the calibration plane in the Name box.
b. Optional: Enter a description of the calibration plane in the Descrip-
tion box.

Recommendation: The description of the calibration plane should

contain the number of the base used.

c. Select an existing base in the Base ID box or choose Measure new

base... to calibrate a new base. The base can, for example, be cali-
brated using the 3-point method.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 365 / 435

 KUKA.VisionTech 4.0

If an existing calibration plane is selected, the result is overwritten.

The base used must be calibrated to the calibration plate
(>>> Fig. 15-133 ).

Fig. 15-134: Base for a stationary camera

1 Stationary camera 2 Calibration plate

9. Press Save. The settings are saved.

10. Press Exit. The window closes.

Cause: Camera not fully or correctly calibrated

Description The camera is not fully or correctly calibrated. Therefore, it is not possible to
determine an object position.

Solution: Calibrate camera (robot-guided)

If a palletizing robot is used, it is not possible to calibrate moving (ro-

bot-guided) cameras.

During calibration, the IP addresses of cameras must not be

changed.

Precondition  Cameras are mounted on the robot flange.

 Cameras are connected and configured.
 Cameras are aligned.
 Calibration plate is mounted and is located in the field of vision of the cam-
eras.
 NULLFRAME tool is selected.

Procedure 1. In the main menu, select VisionTech > Calibration.

Freeze-frame images from the cameras are displayed on the moving sen-
sors tab. The freeze-frame images of the cameras that have already been
calibrated have a green frame. 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 tapping the freeze-frame
images.
3. Press Calibration Wizard.
4. Move the robot to the first calibration pose and press Take picture. The
fiducial mark (cross at the center of the calibration plate) must be visible in
every pose. It is not possible to take 2 images in the same pose.

366 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Recommendation: For the first pose, the cameras should be posi-

tioned directly above the calibration plate. In every pose, the cameras
should be at a different angle relative to the calibration plate; for this,
the robot must be moved.

5. Repeat step 4 for every pose. Record at least 6 poses. A maximum of 9

poses are possible.
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.
7. Press Calibration. The calibration process takes approx. 5 to 10 minutes.
8. Once the calibration process has been completed, the result is displayed.
For an adequate degree of accuracy, the result should be < 1 mm.
9. Press Save. The result is saved.
10. Press Exit. The window closes.

The calibration coordinate system is defined on the basis of the fidu-

cial mark (>>> Fig. 15-133 ) and not visible to the user as a robot
base.

15.2.115 VTH36177

Message code  VTH36177

Message text  The robot is in the overhead singularity. The wrist root point (= center
point of axis A5) is located vertically above axis A1 of the robot.
Message type  Acknowledgement message

Possible cause(s)  Cause: The robot is in the overhead singularity (>>> Page 367)
Solution: Tilt axis 2 or axis 3 (>>> Page 368)

Cause: The robot is in the overhead singularity

Description  In the overhead singularity, the wrist root point (= center point of axis A5)
is located vertically above axis A1 of the robot.
 The position of axis A1 cannot be determined unambiguously by means of
reverse transformation and can thus take any value.

Fig. 15-135: Overhead singularity (α1 position)

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 367 / 435

 KUKA.VisionTech 4.0

Solution: Tilt axis 2 or axis 3

Description Tilt axis 2 or axis 3 to move the robot out of the overhead singularity.

Precondition  The jog mode “Jog keys” is active.

 Operating mode T1

Procedure 1. Select Axes as the coordinate system for the jog keys.
2. Set jog override.
3. Hold down the enabling switch.
Axes A1 to A6 are displayed next to the jog keys.
4. Press the Plus or Minus jog key to move an axis in the positive or negative
direction.

The position of the robot during jogging can be displayed: select Dis-
play > Actual position in the main menu.

15.2.116 VTH36178

Message code  VTH36178

Message text  The robot is in the extended position singularity. The wrist root point (=
center point of axis A5) is located in the extension of axes A2 and A3 of
the robot.
Message type  Acknowledgement message

Possible cause(s)  Cause: The robot is in the extended position singularity (α2 position)
(>>> Page 368)
Solution: Tilt axis 3 (>>> Page 369)

Cause: The robot is in the extended position singularity (α2 position)

Description  In the extended position, the wrist root point (= center point of axis A5) is
located in the extension of axes A2 and A3 of the robot.
 The robot is at the limit of its work envelope.
 Although reverse transformation does provide unambiguous axis angles,
low Cartesian velocities result in high axis velocities for axes A2 and A3.

368 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Fig. 15-136: Extended position (α2 position)

Solution: Tilt axis 3

Description Tilt axis 3 to move the robot out of the extended position singularity.

Precondition  The jog mode “Jog keys” is active.

 Operating mode T1

Procedure 1. Select Axes as the coordinate system for the jog keys.
2. Set jog override.
3. Hold down the enabling switch.
Axes A1 to A6 are displayed next to the jog keys.
4. Press the Plus or Minus jog key to move an axis in the positive or negative
direction.

The position of the robot during jogging can be displayed: select Dis-
play > Actual position in the main menu.

15.2.117 VTH36179

Message code  VTH36179

Message text  The robot is in the wrist axis singularity. Axes A4 and A6 are parallel to
one another.
Message type  Acknowledgement message

Possible cause(s)  Cause: The robot is in wrist axis singularity (α5 position)
(>>> Page 369)
Solution: Tilt axis 5 (>>> Page 370)

Cause: The robot is in wrist axis singularity (α5 position)

Description  In the wrist axis singularity position, the axes A4 and A6 are parallel to one
another and axis A5 is within the range ±0.01812°.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 369 / 435

 KUKA.VisionTech 4.0

 The position of the two axes cannot be determined unambiguously by re-

verse transformation.
 There is an infinite number of possible axis positions for axes A4 and A6
with identical axis angle sums.

Fig. 15-137: Wrist axis singularity (α5 position)

Solution: Tilt axis 5

Description Tilt axis 5 to move the robot out of wrist axis singularity.

Precondition  The jog mode “Jog keys” is active.

 Operating mode T1

Procedure 1. Select Axes as the coordinate system for the jog keys.
2. Set jog override.
3. Hold down the enabling switch.
Axes A1 to A6 are displayed next to the jog keys.
4. Press the Plus or Minus jog key to move an axis in the positive or negative
direction.

The position of the robot during jogging can be displayed: select Dis-
play > Actual position in the main menu.

15.2.118 VTH37001

Message code  VTH37001

Message text  The inline form could not be opened because the vision server is not ac-
cessible.
Message type  Acknowledgement message

Possible cause(s)  Cause: Unable to establish connection to vision server (>>> Page 371)
Solution: Disconnect camera from power supply and reconnect
(>>> Page 371)

370 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

 Cause: Unable to establish connection to vision server (>>> Page 372)

Solution: Carry out cold restart (>>> Page 372)

 Cause: Unable to establish connection to vision server (>>> Page 372)

Solution: Contact KUKA Support (>>> Page 372)

Cause: Unable to establish connection to vision server

Description No connection can be established to the vision server.

Solution: Disconnect camera from power supply and reconnect

Description Restart the camera. To do so, disconnect the camera from the power supply
and then reconnect it.

Fig. 15-138: KUKA MXG20 camera – overview

1 LEDs
2 Data/PoE interface
3 Process interface / power supply

Fig. 15-139: KUKA VCXG-25M camera – overview

1 Process interface / power supply

2 Data/PoE interface
3 Green LED
4 Yellow LED

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 371 / 435

 KUKA.VisionTech 4.0

Cause: Unable to establish connection to vision server

Description No connection can be established to the vision server.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: Unable to establish connection to vision server

Description No connection can be established to the vision server.

Solution: Contact KUKA Support

Description Contact the relevant Support department to rectify errors.

15.2.119 VTH37002

Message code  VTH37002

Message text  The inline form could not be opened.
Message type  Acknowledgement message

Possible cause(s)  Cause: An unexpected runtime error occurred in the software or hard-
ware (>>> Page 372)
Solution: Carry out cold restart (>>> Page 372)

 Cause: An unexpected runtime error occurred in the software or hard-

ware (>>> Page 373)
Solution: Correct the configuration with WorkVisual. (>>> Page 373)

Cause: An unexpected runtime error occurred in the software or hardware

Description A runtime error has occurred in the software or in the connected hardware
(e.g. camera) and the process cannot be executed.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

372 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Cause: An unexpected runtime error occurred in the software or hardware

Description A runtime error has occurred in the software or in the connected hardware
(e.g. camera) and the process cannot be executed.

Solution: Correct the configuration with WorkVisual.

Procedure  Correct the configuration with WorkVisual.

15.2.120 VTH37003

Message code  VTH37003

Message text  The inline form could not be opened because the following error oc-
curred: {Error message}
Message type  Acknowledgement message

Possible cause(s)  Cause: An unexpected runtime error occurred in the software or hard-
ware (>>> Page 373)
Solution: Carry out cold restart (>>> Page 373)

 Cause: An unexpected runtime error occurred in the software or hard-

ware (>>> Page 373)
Solution: Correct the configuration with WorkVisual. (>>> Page 373)

Cause: An unexpected runtime error occurred in the software or hardware

Description A runtime error has occurred in the software or in the connected hardware
(e.g. camera) and the process cannot be executed.

Solution: Carry out cold restart

Precondition  “Expert” user group

Procedure 1. In the main menu, select Shutdown. A window opens.

2. Select the start type Cold start.
3. Close the window. The selected start type is applied.

Cause: An unexpected runtime error occurred in the software or hardware

Description A runtime error has occurred in the software or in the connected hardware
(e.g. camera) and the process cannot be executed.

Solution: Correct the configuration with WorkVisual.

Procedure  Correct the configuration with WorkVisual.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 373 / 435

 KUKA.VisionTech 4.0

15.2.121 VTH37004

Message code  VTH37004

Message text  The inline form could not be opened because no vision tasks have been
created. Add one or more vision tasks to the project.
Message type  Acknowledgement message

Possible cause(s)  Cause: No task configured (>>> Page 374)

Solution: Configure a 2D task (>>> Page 374)

 Cause: No task configured (>>> Page 377)

Solution: Configure a 3D task (>>> Page 377)

Cause: No task configured

Description No task is configured. In order to be able to open an inline form, a task must
be configured.

Solution: Configure 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.
For 2D tasks, only 1 camera is needed; the calibration is carried out at the
workpiece level.

Precondition  A 2D task has been created.

 The following inputs and outputs are preconfigured in the tool block:

Input Type Description

InputImage ICogImage Input image on which the image process-
ing task is carried out
NumberOf- INT Number of components to be detected by
Parts means of the image processing

If using the tool block templates (KUKA V1):

Output Type Description

PartResults List<CogTrans- Positions of the found components in
form2DLinear> image coordinates
Scores List<Double> Accuracy with which the components
were detected
Graphic CogGraphic- Graphic showing the results of the image
Collection processing task

If using the tool block templates (KUKA V2):

Output Type Description

Results VisionTech- List of the generated results
Result-
This list contains the positions of the
Collection2D
workpieces found, the accuracy (score),
the result graphics and the object attri-
butes.

374 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

 The following outputs can optionally be preconfigured:

Output Type Description

Error Exception Exceptions or errors that occur during
execution of the image processing 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 semico-
lon since this is used as an internal sepa-
rator.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. In the task overview, press Import tool block.
3. Select the directory in which the tool block file is located.
4. Select the tool block file and confirm with OK. The file is imported into Vi-
sionTech and can then be used for all tasks.
5. In the Tasks area, click on the button in the box of the desired task.
6. In the No. of parts area, select the number of components to be found.
7. In the Tool block box, select the tool block file that was imported for the
camera selected in the Available sensors box.
8. Next to the Tool block box, press the button. A window opens with
the live image display.
9. Select the calibration plane in the Calibration plane box.
10. Optional: Enter the exposure time or set it using the plus/minus keys or the
slider control.
11. Press Apply. The settings are saved.
Configuration of the task has been successfully completed when the icon
in the task configuration changes to green.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 375 / 435

 KUKA.VisionTech 4.0

Description

Fig. 15-140: Configuring a 2D task

Item Description
1 Back to Overview
2 Name of the task
The name is freely selectable.
3 Position data
(>>> 11.2.1 "Relative and absolute position data" Page 82)
Note: This box is only relevant for 2D tasks with a stationary cam-
era.
4 List of all available cameras that can be used for this task
5 List of all imported tool block files
6 Switches to the live image display in which the following settings
are possible:
 Set exposure time
 0 … 200 ms
 Select calibration plane
 Take images from this camera
7 Deletes the selected camera from this task
8 Adds the selected camera to this task
9 Generate model
 Check box active: Model has been successfully generated.
 Check box not active: No model has yet been generated.
 Inactive: Model is not relevant (with absolute position data)
10 Select the number of parts

376 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Item Description
11 State of the task
 Green: Task has been successfully configured.
 Red: Task is not configured.
12 Test task
 Active: The task can be tested.
 Inactive: The task cannot be tested. No model has yet been
generated, or the task is not configured.

The following buttons are available:

Button Description
Save picture(s) Acquires an image with the selected camera and
saves it
Save Saves the task configuration
Cancel Aborts the task configuration without saving

Cause: No task configured

Description No task is configured. In order to be able to open an inline form, a task must
be configured.

Solution: Configure 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:

Input Type Description

InputImage ICogImage Input image on which the image process-
ing task is carried out
NumberOf- INT Number of components to be detected by
Parts means of the image processing

Output Type Description

Graphic CogGraphic- Graphic showing the results of the image
Collection processing task
Features List<Cog3D- List of features found by means of the
Crsp2D3D> image processing

 The following outputs can optionally be preconfigured:

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 377 / 435

 KUKA.VisionTech 4.0

Output Type Description

Error Exception Exceptions or errors that occur during
execution of the image processing 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 semico-
lon since this is used as an internal sepa-
rator.

Procedure 1. In the main menu, select VisionTech > Task configuration.

2. In the task overview, press Import tool block.
3. Select the directory in which the tool block file is located.
4. Select the tool block file and confirm with OK. The file is imported into Vi-
sionTech and can then be used for all tasks.
5. In the Tasks area, click on the button in the box of the desired task.
6. In the No. of parts area, select the number of components to be found.

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.

7. Repeat steps 2 to 4 for further tool block files used.

8. In the Tool block box, select the tool block files that were imported for the
cameras selected in the Available sensors box.
9. Next to the Tool block box, press the button. A window opens with
the live image display.
10. Optional: Enter the exposure time or set it using the plus/minus keys or the
slider control.
11. Press Apply. The setting is saved.
Configuration of the task has been successfully completed when the icon
in the task configuration changes to green.

378 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 15 Messages

Description

Fig. 15-141: Configuring a 3D task

Item Description
1 Back to Overview
2 Name of the task
The name is freely selectable.
3 Generate model
 Check box active: Model has been successfully generated.
 Check box not active: No model has yet been generated.
4 List of all available cameras that can be used for this task
5 List of all imported tool block files
6 Switches to the live image display in which the following settings
are possible:
 Set exposure time
 0 … 200 ms
 Take images from this camera
7 Deletes the selected camera from this task
8 Adds the selected camera to this task
9 Select the number of parts
10 State of the task
 Green: Task has been successfully configured.
 Red: Task is not configured.
11 Test task
 Active: The task can be tested.
 Inactive: The task cannot be tested. No model has yet been
generated, or the task is not configured.

The following buttons are available:

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 379 / 435

 KUKA.VisionTech 4.0

Button Description
Save picture(s) Acquires an image with the selected camera and
saves it
Save Saves the task configuration
Cancel Aborts the task configuration without saving

380 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 16 Maintenance

16 Maintenance

16.1 Maintenance symbols

t

Maintenance
The overview may contain maintenance symbols that are not relevant
symbols for the maintenance work on this product. The maintenance illustra-
tions provide an overview of the relevant maintenance work.

Oil change

Lubricate with grease gun

Lubricate with brush

Lubricate with spray grease

Tighten screw/nut

Check component, visual inspection

Clean component

Exchange battery

Exchanging the toothed belt

Check toothed belt tension

Fig. 16-1: Maintenance points

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 381 / 435

 KUKA.VisionTech 4.0

Interval Item Activity

Depending 1 Depending on the degree of fouling, clean the lens
on the and the protective lens hood with a dry, dust-free
degree of microfiber cloth.
fouling
1 year at 1 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.

382 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 17 Repair

17 Repair

17.1 Exchanging the switch

Precondition  The robot controller is switched off and secured to prevent unauthorized
persons from switching it on again.
 The power cable is de-energized.

Procedure 1. Disconnect the switch from the power supply.

2. Unplug the connecting cables.
3. Plug in the connecting cables on the new switch.
4. Connect the new switch to the power supply.

17.2 Exchanging the camera

Precondition  The robot controller is switched off and secured to prevent unauthorized
persons from switching it on again.
 The power cable is de-energized.

Procedure 1. Unplug the connecting cables.

2. Remove the camera.
3. Install the new camera.
4. Plug in the connecting cables on the new camera.
5. Switch on the new camera.
6. Calibrate the new camera.
7. Assign the new camera to the tasks.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 383 / 435

 KUKA.VisionTech 4.0

384 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 18 Troubleshooting

18 Troubleshooting
T

Error Remedy
“Power” LED on the KUKA Check that the plugged and screwed
s


t
MXG20 camera does not connections along the connecting cable
light up are fitted securely.
 Check the connecting cable for dam-
age.
Neither LED “P1” nor LED Check whether voltage is present at the
“P2” lights up power connection (V1 or V2).
LED “P1” or LED “P2” lights Check that the DIP switches are set cor-
up red on the switch rectly. 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: 11.12.2017 Version: KST VisionTech 4.0 V2 385 / 435

 KUKA.VisionTech 4.0

386 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 19 Decommissioning, storage and dispos...

19 Decommissioning, storage and disposal

19.1 Decommissioning
s

Precondition  The robot controller is switched off.

Procedure 1. Disconnect the cameras and switch from the power supply.
2. Unplug the connecting cables.
3. Prepare the cameras and switch for storage or transportation.

19.2 Storage

Precondition If the cameras and switch are to be put into long-term storage, the following
points must be observed:
 The place of storage must be as dry and dust-free as possible.
 Avoid temperature fluctuations.
 Avoid condensation.
 Observe and comply with the permissible temperature ranges for storage.
 Select a storage location in which the packaging materials cannot be dam-
aged.
 Only store the cameras and switch indoors.

Procedure  Cover the cameras and switch with ESD protection foil and seal it against
dust.

19.3 Disposal

When the cameras and switch reach the end of their useful life, dispose of
them as electrical scrap without disassembling.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 387 / 435

 KUKA.VisionTech 4.0

388 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

20 Appendix
2

20.1 Tool block templates (KUKA V1)

x

Various tool block templates are available for creating VisionTech applications
in WorkVisual. Most applications can be created using the templates.

For 2D applications, use of the KUKA V2 tool block templates is rec-

ommended (>>> 20.2 "Tool block templates (KUKA V2)" Page 402).
The KUKA V1 2D templates are still retained for reasons of compati-
bility only.

2D templates In a 2D application, an image processing task is generally executed in 2 steps.

In the 1st step, the parts are located (in some cases, only the rough position).
The templates LocatePartsKnownPosition and LocatePartsOneStage can be
used for this.
In the 2nd step, further operations are carried out with the parts that have been
located, e.g. the fine position is determined or a check is made to see if certain
features are present. The templates in the Snippets directory can be used for
this. These templates use tool blocks from the Utilities directory during execu-
tion.
 LocatePartsKnownPosition
(>>> 20.1.1 "LocatePartsKnownPosition" Page 390)
 LocatePartsOneStage
(>>> 20.1.2 "LocatePartsOneStage" Page 390)
 Snippets
(>>> 20.1.3 "Snippets" Page 390)
 Utilities
(>>> 20.1.4 "Utilities (2D)" Page 396)

3D templates  LocatePart3D
(>>> 20.1.5 "LocatePart3D" Page 397)
 Features
(>>> 20.1.6 "Features" Page 397)
 Utilities
(>>> 20.1.7 "CrspCollector" Page 397)

Utilities  GraphicCollector
(>>> 20.1.8 "GraphicCollector" Page 397)
 StringCollector
(>>> 20.1.9 "StringCollector" Page 398)
 ListOperators
(>>> 20.1.10 "ListOperators" Page 398)
 Logic
(>>> 20.1.11 "Logic" Page 401)

The templates contain script code that defines the behavior of the cor-
responding tool block. Some of the templates have inputs/outputs or
contain tools that are addressed by name by the script code. The
names end with an underscore.
Do not delete or rename these inputs/outputs and tools, as this may result in
errors during execution of the tool block.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 389 / 435

 KUKA.VisionTech 4.0

20.1.1 LocatePartsKnownPosition

Description 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 lim-
ited to the known rough position.
The template contains a PatMax tool (Part_UseOneCopyPerPartInstance)
for each part that is to be located. This tool must be configured and copied for
each additional part. The search area of the copied parts must be adapted ac-
cordingly.

Inputs
Name Type Description
InputImage CogImage8- Input image in which the search for the
Grey parts is to be carried out. This input
must be linked to the corresponding
input of the search tools.

Outputs
Name Type Description
PartResults_ List <CogTrans- Positions of the parts located
form2DLinear>
Score_ List <double> Score with which the parts were
located
Graphics_ CogGraphicCol- Result graphics
lection

20.1.2 LocatePartsOneStage

Description This template is suitable for parts which are defined by relatively coarse struc-
tures, e.g. complete panels. The search area is the entire image. The PatMax
tool provided must be configured in such a way that all expected parts can be
located.

Inputs
Name Type Description
InputImage CogImage8- Input image in which the search for the
Grey parts is to be carried out. This input
must be linked to the corresponding
input of the search tools.
NumberOf- Int32 Maximum number of parts that are to
Parts be returned. If the PatMax tool finds
more parts than desired, only the con-
figured number of results is output.

Outputs
Name Type Description
PartResults_ List <CogTrans- Positions of the parts located
form2DLinear>
Score_ List <double> Score with which the parts were
located
Graphics_ CogGraphicCol- Result graphics
lection

20.1.3 Snippets

These tool blocks are executed on the parts located using the 2D templates.
A loop is used for this and is executed once for each part that is located.

390 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

 LoopLocatedParts
(>>> 20.1.3.1 "LoopLocatedParts" Page 391)

SampleLoops These tool blocks are derived from LoopLocatedParts and are executed in
the 2nd step of processing.
 LoopFineLocateParts
(>>> 20.1.3.2 "LoopFineLocateParts" Page 392)
 LoopPickZoneCheck
(>>> 20.1.3.3 "LoopPickZoneCheck" Page 393)
 LoopPresenceCheck
(>>> 20.1.3.4 "LoopPresenceCheck" Page 394)

LoopCompo- These tool blocks can be added to the tools ProcessFixturedParts and Loop-
nents LocatedParts in order to perform a fine search or a pick zone check.
 LocateSingleCircle
(>>> 20.1.3.5 "LocateSingleCircle" Page 394)
 LocateSinglePattern
(>>> 20.1.3.6 "LocateSinglePattern" Page 395)
 PickZoneCheck
(>>> 20.1.3.7 "PickZoneCheck" Page 395)

20.1.3.1 LoopLocatedParts

Description LoopLocatedParts is the basis for all tool blocks located in the directory
1_SampleLoops.
If the input SelectedIndex_ < 0, the tools contained in this tool block are exe-
cuted once for each element contained in PartResults. If a tool block to be ex-
ecuted has an input LoopIndex_, this is set with the current loop index before
execution.
If the input SelectedIndex_ ≥ 0, the tool block is only executed once. The input
SelectedIndex_ is forwarded to the inputs LoopIndex_ of the contained tool
blocks.
In this way, the input SelectedIndex_ can be used to force execution of the tool
block for 1 specific part. This can be useful during debugging.

Inputs
Name Type Description
InputImage CogImage8- Input image in which the parts are
Grey located in the 1st step.
PartResults List <Cog- Positions of the parts located
Transform-
If these values are used in the loop,
2DLinear>
they must be linked to the correspond-
ing tools.
PartScores List <double> Score with which the parts were
located
If these values are used in the loop,
they must be linked to the correspond-
ing tools.
Selected- Int32 Selection index for 1 specific part
Index_
If the input < 0, this tool block is exe-
cuted in the loop for all parts.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 391 / 435

 KUKA.VisionTech 4.0

Outputs
Name Type Description
PartResults List <Cog- Starting positions of the parts located
Transform-
This output is optional, depending on
2DLinear>
what is executed in the loop.
Score List <double> Score with which the parts were
located. The output is optional.

20.1.3.2 LoopFineLocateParts

Description This tool block carries out a fine search of the parts located in the 1st step. De-
pending on the input SelectedIndex_, this search is carried out for all located
parts (< 0) or for a single selected part (≥ 0).
Every time the loop is executed, all tools contained in the tool block are exe-
cuted:
 Fixture
Defines the coordinate system for the part to be investigated. All subse-
quent tools use this coordinate system.
 ProcessFixturedPart
Executes the loop component LocateSinglePattern
(>>> 20.1.3.6 "LocateSinglePattern" Page 395). The position (PartResult)
and the score of the fine search are output in a list. The position can be
transferred either in the Fixture coordinate system of the current part or in
the Pixel coordinate system.
 ListCollectorPartResults
Collects the PartResults lists when the loop is executed and joins them to-
gether.
 ListCollectorScores
Collects the Score lists when the loop is executed and joins them together.
 GraphicCollector
Collects the result graphics when the loop is executed and joins them to-
gether.
The collected PartResults, Scores and Graphics are transferred to the corre-
sponding outputs.

Inputs
Name Type Description
InputImage CogImage8- Input image in which the parts are
Grey located in the 1st step.
PartResults List <Cog- Positions of the parts located in the 1st
Transform- step
2DLinear>
PartScores List <double> Score with which the parts were
located
Selected- Int32 Selection index for 1 specific part
Index_
If the input < 0, this tool block is exe-
cuted in the loop for all parts.

Outputs
Name Type Description
PartResults List <Cog- Output positions of the parts located in
Transform- the fine search
2DLinear>

392 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

Name Type Description

Score List <double> Score of the fine search
Graphics CogGraphic- Result graphics of the fine search
Collection

20.1.3.3 LoopPickZoneCheck

Description This tool block carries out a pick zone check of the parts located in the 1st step.
Depending on the input SelectedIndex_, this check is carried out for all located
parts (< 0) or for a single selected part (≥ 0).
Every time the loop is executed, all tools contained in the tool block are exe-
cuted:
 Fixture
Defines the coordinate system for the part to be investigated. All subse-
quent tools use this coordinate system.
 ProcessFixturedPart
Executes the loop component PickZoneCheck (>>> 20.1.3.7 "Pick-
ZoneCheck" Page 395). The information about whether the part can be
picked is returned to the output PickZoneClear.
 ListFilterPartResults
SelectedIndex_ is used to select an element in PartResults. This is added
to the output list if PickZoneClear has the value TRUE.
 ListFilterScores
SelectedIndex_ is used to select an element in PartScores. This is added
to the output list if PickZoneClear has the value TRUE.
 GraphicCollector
Collects the result graphics when the loop is executed and joins them to-
gether. It also accepts graphics for which PickZoneClear has the value
FALSE.
The collected PartResults, Scores and Graphics are transferred to the corre-
sponding outputs.

Inputs
Name Type Description
InputImage CogImage8- Input image in which the parts are
Grey located in the 1st step.
PartResults List <Cog- Positions of the parts for which the pick
Transform- zone check is to be carried out.
2DLinear>
PartScores List <double> Scores that belong to the input posi-
tions
Selected- Int32 Selection index for 1 specific part
Index_
If the input < 0, this tool block is exe-
cuted in the loop for all parts.

Outputs
Name Type Description
PartResults List <Cog- Filtered input positions for which the
Transform- pick zone is free
2DLinear>
Score List <double> Filtered input scores for which the pick
zone is free
Graphics CogGraphic- Result graphics of the pick zone check
Collection

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 393 / 435

 KUKA.VisionTech 4.0

20.1.3.4 LoopPresenceCheck

Description This tool block carries out a check of the parts located in the 1st step. The
presence of certain features on the parts is checked. Depending on the input
SelectedIndex_, this check is carried out for all located parts (< 0) or for a sin-
gle selected part (≥ 0).
Every time the loop is executed, all tools contained in the tool block are exe-
cuted:
 Fixture
Defines the coordinate system for the part to be investigated. All subse-
quent tools use this coordinate system.
 ProcessFixturedPart
Executes the loop component LocateSinglePattern
(>>> 20.1.3.6 "LocateSinglePattern" Page 395). The information about
whether the feature is present is returned to the output Found.
 ListCreatorPresenceFlags
Incrementally collects the Found flags in the output list.
 GraphicCollector
Collects the result graphics when the loop is executed and joins them to-
gether. It also accepts graphics for which PickZoneClear has the value
FALSE.
The collected PresenceFlags and Graphics are transferred to the correspond-
ing outputs.

Inputs
Name Type Description
InputImage CogImage8- Input image in which the parts are
Grey located in the 1st step.
PartResults List <Cog- If SelectedIndex_ < 0, the number of
Transform- positions contained in this input list
2DLinear> determines the number of times the
loop is executed.
PartScores List <double> The input is not used.
Selected- Int32 Selection index for 1 specific part
Index_
If the input < 0, this tool block is exe-
cuted in the loop for all parts.

Outputs
Name Type Description
Pres- List <bool> List with flags. These flags specify
enceFlags whether the feature that is to be
checked has been found for the part in
question.
Graphics CogGraphic- Result graphics
Collection

20.1.3.5 LocateSingleCircle

Description This tool block executes a CogFindCircleTool and creates a position based on
the calculated center of the circle. In this position, the angle has the value 0,
while scaling and aspect each have the value 1. The position is calculated both
in the coordinate system of the selected part and in the Pixel coordinate sys-
tem. It is returned to the corresponding outputs. The score is always set to 1.
If no circle could be determined, the output Found_ is set to FALSE and the
output lists (PartResult_, PartResultPixelSpace_ and Score_) are empty.

394 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

Inputs
Name Type Description
InputImage CogImage8- Input image in which the search for a
Grey circle is to be carried out.

Outputs Name Type Description

PartResult_ List <Cog- List containing the position of the circle
Transform- found, specified in the current coordi-
2DLinear> nate system of the input image.
PartResult- List <Cog- List containing the position of the circle
PixelSpace_ Transform- found, specified in the Pixel coordinate
2DLinear> system.
Score_ List <double> List containing the score. If the circle
has been found, Score has the value 1.
Found_ bool TRUE: Circle found.
Graphics CogGraphic- Result graphic (circle found)
Collection

20.1.3.6 LocateSinglePattern

Description This tool block executes a PatMax tool. The position (PartResult) of the pattern
is calculated in part coordinates and Pixel coordinates. The coordinates and
the score are returned to the corresponding outputs. If the pattern being
searched for was not found (Found_ has the value FALSE), the output lists are
empty.

Inputs
Name Type Description
InputImage CogImage8- Input image in which the search for a
Grey pattern is to be carried out.

Outputs
Name Type Description
PartResult_ List <Cog- List containing the position of the pat-
Transform- tern found, specified in the current
2DLinear> coordinate system of the input image.
PartResult- List <Cog- List containing the position of the pat-
PixelSpace_ Transform- tern found, specified in the Pixel coordi-
2DLinear> nate system.
Score_ List <double> List containing the score. If the pattern
has been found, Score has the value 1.
Found_ bool TRUE: Pattern has been found
Graphics CogGraphic- Result graphic
Collection

20.1.3.7 PickZoneCheck

Description This tool block performs a pick zone check in a search area. The check is car-
ried out on the basis of the histogram inside the search area. The mean gray
value (mean) and the contrast (standard deviation) are measured. A check is
then made to see if these values are within a specified range.

Inputs
Name Type Description
InputImage CogImage8- Input image in which the pick zone
Grey check is to be carried out.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 395 / 435

 KUKA.VisionTech 4.0

Outputs
Name Type Description
PickZone- Bool TRUE: The pick zone check was suc-
Clear_ cessful, i.e. the pick zone is free.
Graphics CogGraphic- Result graphic
Collection

20.1.4 Utilities (2D)

2DPose These Utility tool blocks are specific to 2D applications.

 PoseCreator
(>>> 20.1.4.1 "PoseCreator" Page 396)
 PoseInspector
(>>> 20.1.4.2 "PoseInspector" Page 396)

20.1.4.1 PoseCreator

This tool block uses the input values to create a 2D position that is output at
the output Pose_.

Inputs
Name Type Description
X_ double X translation value of the position to be
created
Y_ double Y translation value of the position to be
created
A_Rad_ double Rotational value of the position to be
created (arc in radians)
Default value: 0
Scaling_ double Scaling value of the position to be cre-
ated
Default value: 1
Aspect_ double X/Y scaling ratio of the position to be
created
Default value: 1

Outputs
Name Type Description
Pose_ CogTrans- 2D position created from the input val-
form2DLinear ues

20.1.4.2 PoseInspector

This tool block outputs the individual values of a position at the outputs.

Inputs
Name Type Description
Pose_ CogTrans- 2D position whose values are to be
form2DLinear output.

Outputs
Name Type Description
X_ double X translation value of the position
Y_ double Y translation value of the position

396 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

Name Type Description

A_Rad_ double Rotational value of the position in radi-
ans
A_Deg_ double Rotational value of the position in
degrees
Scaling_ double Scaling value of the position
Aspect_ double X/Y scaling ratio value of the position

20.1.5 LocatePart3D

With this template, the search procedure is subdivided into 2 steps:

 Coarse search
The position of the parts in the picture is determined.
 Fine search
Individual features are located which are required for 3D position determi-
nation of the part. The features are identified by a consecutive index. The
index is positioned at the start of the name of the feature tool block. The
numbering starts at zero and must be consecutive. Numbering is largely
automatic, however. The fine search is run once for each instance found
in the coarse search.

The PatMax tool and the FindLine tool must not be renamed. The fea-
tures must be evenly distributed over the component.

20.1.6 Features

These tool blocks are executed on the parts found using the tool block
LocatePart3D.
 CircleFeature
Feature which describes a circle in 3D.
 LineFeature
Line feature, without a start and end point.
 LineSegFeature
Straight line feature; normally represents points on a straight edge of the
part that is to be located. Has a start point and end point, which are defined
by the search area of the FindLine tool.
 PointFeaturePM
Point feature which is located with a PatMax tool.

20.1.7 CrspCollector

Collects the data from the FeatureCrsp outputs of 3D feature tool blocks and
makes these available at the output as a list of Crsps. In addition, the result
images of the Crsps are collected and forwarded in the Graphic output.

20.1.8 GraphicCollector

This tool block copies graphics of the inputs of type CogGraphicCollection to

an output list. It is possible to create any number of inputs of this type. The col-
lected output list is output at the output CollectedGraphics_.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 397 / 435

 KUKA.VisionTech 4.0

The removal of open inputs is recommended, as they otherwise retain

their old value. This value is transferred during execution.

Inputs
Name Type Description
LoopIndex_ Int32 0: A new, empty output list is created.
any CogGraphic- Input lists to be joined together. It is
Collection possible to create any number of inputs
of this type.

Outputs
Name Type Description
Collected- CogGraphic- Output list with the collected graphics
Graphics_ Collection

20.1.9 StringCollector

Description This tool block converts the values at its inputs to strings and joins them to-
gether in an output string. The individual strings are separated by a space. The
output string is output at the output UserData. The data types Int32, Double,
Bool and String are supported at the inputs. In the case of values of data type
Double, 5 decimal places are generated; the decimal separator is a point.

The removal of open inputs is recommended, as they otherwise retain

their old value. This value is transferred during execution.

Inputs
Name Type Description
any Int32, Double, Input data that are to be converted into
Bool, String a string and joined together. It is possi-
ble to create any number of these
inputs.

Outputs
Name Type Description
UserData String Output string with the collected values

20.1.10 ListOperators

 ListCollector
(>>> 20.1.10.1 "ListCollector" Page 399)
 ListConnector
(>>> 20.1.10.2 "ListConnector" Page 399)
 ListCount
(>>> 20.1.10.3 "ListCount" Page 399)
 ListCreator
(>>> 20.1.10.4 "ListCreator" Page 399)
 ListFilter
(>>> 20.1.10.5 "ListFilter" Page 400)
 ListItemSelector
(>>> 20.1.10.6 "ListItemSelector" Page 400)
 StringFromLists
(>>> 20.1.10.7 "StringFromLists" Page 401)

398 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

20.1.10.1ListCollector

Description The tool block joins together lists received in sequence. The merged list is out-
put at the output OutputList_.

Inputs
Name Type Description
LoopIndex_ Int32  0: The input list is adopted as the output
list.
 >0: The elements of the input list are ap-
pended to the output list.
ListToAdd IList Input list whose elements are appended to the
output list.

Outputs
Name Type Description
OutputList_ IList Merged output list

20.1.10.2ListConnector

Description The tool block joins together lists received in parallel. The merged list is output
at the output OutputList_. The input lists are copied into the output list in the
order of the inputs. It is possible to create any number of lists as inputs.

The input lists must contain data of the same type, otherwise execu-
tion is canceled with an error.

Inputs
Name Type Description
any IList Input list whose elements are collected in the
output list. It is possible to create any number
of these inputs.

Outputs
Name Type Description
OutputList_ IList Merged output list

20.1.10.3ListCount

Description The tool block outputs the number of elements contained in the input list.

Inputs
Name Type Description
any IList Input list
Note: Only one input is supported.

Outputs
Name Type Description
any Int32 Number of elements contained in the input list.

20.1.10.4ListCreator

The tool block collects in a list, in sequence, the objects present at the input
ItemToAdd_. This list is output at the output OutputList_.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 399 / 435

 KUKA.VisionTech 4.0

Inputs
Name Type Description
ItemToAdd Object Element that is to be appended to the output
list.
LoopIndex_ Int32  0: Before execution, a new, empty output
list is generated.
 >0: The input element is appended to the
existing output list.

Outputs Name Type Description

OutputList_ IList Output list

20.1.10.5ListFilter

In accordance with the input EnableAdd_, the tool block copies elements in se-
quence from the input list ListToFilter_ to the output list FilteredList_. Elements
are only copied if the input EnableAdd_ has the value TRUE. Every time the
tool block is executed, the input list element can be appended to the output list
using the input LoopIndex_.

Inputs
Name Type Description
ListToFilter_ IList Input list to be filtered.
EnableAdd_ Bool TRUE: The input list element with the index
LoopIndex_ is copied to the output list.
LoopIndex_ Int32  0: Before execution, a new, empty output
list is generated.
 >0: The input element is appended to the
existing output list (dependent on the input
EnableAdd_).

Outputs
Name Type Description
FilteredList_ IList Filtered input list

20.1.10.6ListItemSelector

Description The tool block outputs a selected element from the input list InputList_. The
index of the element is selected using the input SelectedIndex_. If this value
is outside the permissible range (< 0 or greater than the list), an error is gen-
erated.

Exactly 1 output must be created before this tool block is used. This
output must correspond to the type of the elements contained in the
list.

Inputs
Name Type Description
InputList_ IList Input list from which an element is to be out-
put.
Selected- Int32 Index of the input list element that is to be out-
Index_ put.

Outputs
Name Type Description
any IList Selected input list element

400 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

20.1.10.7StringFromLists

Description The tool block generates a string from the list elements present at the inputs.
It is possible to create any number of inputs. All input lists must have the same
number of elements.
First, the elements with the index 0 from all input lists are joined together, then
the elements with the index 1, and so on. The individual partial strings are sep-
arated by a vertical line. The input lists may contain data of the types Bool,
Int32, Double and String. In the case of values of type Double, 5 decimal plac-
es are generated; the decimal separator is a point.

Inputs
Name Type Description
any Bool, Int32, Input lists whose elements are to be
Double, String converted to a string. It is possible to
create any number of inputs.

Outputs
Name Type Description
OutputString_ String Output string

20.1.11 Logic

 AND
(>>> 20.1.11.1 "AND" Page 401)
 OR
(>>> 20.1.11.2 "OR" Page 402)
 RangeChecker
(>>> 20.1.11.3 "RangeChecker" Page 402)

20.1.11.1AND

Description The tool block performs logic ANDing of all input values. It is possible to link
any number of inputs with the tool block. Inputs of data types Bool and Int32
are supported.

The removal of open inputs is recommended, as they otherwise retain

their old value. This value is transferred during execution.

Inputs
Name Type Description
any Int32, Bool Input data to be linked using the logic AND
operation. It is possible to create any number
of these inputs.
In the case of an input of type Int32:
 ≠0: TRUE
 0: FALSE

Outputs
Name Type Description
And_ Bool Result of the AND operation on all inputs
NAnd_ Bool Inverted result of the AND operation on all
inputs

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 401 / 435

 KUKA.VisionTech 4.0

20.1.11.2OR

Description The tool block performs logic ORing of all input values. It is possible to link any
number of inputs with the tool block. Inputs of data types Bool and Int32 are
supported.

The removal of open inputs is recommended, as they otherwise retain

their old value. This value is transferred during execution.

Inputs
Name Type Description
any Int32, Bool Input data to be linked using the logic OR
operation. It is possible to create any number
of these inputs.
In the case of an input of type Int32:
 ≠0: TRUE
 0: FALSE

Outputs
Name Type Description
Or_ Bool Result of the OR operation on all inputs
NOr_ Bool Inverted result of the OR operation on all
inputs

20.1.11.3RangeChecker

Description The tool block checks whether the value of the input Value_ is within the range
defined by the inputs RangeMin_ and RangeMax_.

Inputs
Name Type Description
Range- Double Lower limit for the value of the input
Min_
The value can be created as a constant in the
tool block or linked to an output of a different
tool.
Range- Double Upper limit for the value of the input
Max_
The value can be created as a constant in the
tool block or linked to an output of a different
tool.
Value_ Double Input value that is compared with the limit val-
ues

Outputs
Name Type Description
InRange_ Bool TRUE: The value of the input Value_ is within
the range defined by the inputs RangeMin_
and RangeMax_.
NotIn- Bool Inverted result of the output InRange_
Range_

20.2 Tool block templates (KUKA V2)

The KUKA V2 tool block templates are a further development of the KUKA V1
tool block templates for 2D applications. These templates contain descriptions

402 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

of the functionality and inputs/outputs of the tool block as well as providing the
option of saving notes in the template (Comments tab).
The KUKA V2 templates group information about recognized objects together
to form VisionTechResult2D objects, while the KUKA V1 templates contain
multiple lists with individual pieces of information.

Data structures  VisionTechResult2D

(>>> 20.2.1 "VisionTechResult2D" Page 404)
 VisionTechResultCollection2D
This data structure is a list of objects of type VisionTechResult2D.

Basic Tools These templates can be used to recognize objects in an image with a single-
step search process. The results are saved in a data structure of type
VisionTechResultCollection2D and can thus be processed further by tools and
tool blocks.
 BlobAlign
(>>> 20.2.3 "BlobAlign" Page 405)
 PmAlign
(>>> 20.2.4 "PmAlign" Page 406)

Loops A loop is executed for every result from the data structure of type
VisionTechResultCollection2D. A loop always consists of the template Loop-
FixturedResult and at least one tool or an additional tool block template. This
tool or the tool block template must be integrated into the LoopFixturedResult
template. The tool block templates in the LoopComponents folder can be used
for this.
 LoopFixturedResult
(>>> 20.2.5 "LoopFixturedResult" Page 407)
 LoopComponents
 BarCodeReading
(>>> 20.2.6 "BarCodeReading" Page 407)
 PickZoneCheck
(>>> 20.2.7 "PickZoneCheck" Page 408)
 FineLocate
(>>> 20.2.8 "FineLocate" Page 409)
 Measurement
(>>> 20.2.9 "Measurement" Page 410)
 PresenceCheck
(>>> 20.2.10 "PresenceCheck" Page 412)

Utilities This folder contains tool blocks with general functions.

 AttributeAssembler
(>>> 20.2.11 "AttributeAssembler" Page 414)
 AttributeValueExtractor
(>>> 20.2.12 "AttributeValueExtractor" Page 414)
 PartSorter
(>>> 20.2.13 "PartSorter" Page 415)
 ResultCollector
(>>> 20.2.14 "ResultCollector" Page 415)
 ResultCreator
(>>> 20.2.15 "ResultCreator" Page 416)

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 403 / 435

 KUKA.VisionTech 4.0

 ToolBlock
(>>> 20.2.16 "Tool block" Page 416)
 Development
 ResultViewer
(>>> 20.2.17 "ResultViewer" Page 416)
 Logic
 AND
(>>> 20.2.18 "AND" Page 417)
 OR
(>>> 20.2.19 "OR" Page 417)
 RangeChecker
(>>> 20.2.20 "RangeChecker" Page 418)

20.2.1 VisionTechResult2D

Description This data structure contains all the information relating to a found workpiece.

Properties
Name Type Description
Graphics CogGraphic- Contains all results graphics (type
Collection ICogGraphic) of the workpiece found,
e.g. contours, search area.
Object- Object- Collection of the object attributes
Attributes Attribute- (type ObjectAttribute)
Collection
The object attributes consist of a
name (type String) and a value (type
Object).
ObjectId Int32 Consecutive number of the workpiece
The number must be unique in con-
junction with the type ID.
ObjectPosition CogTransform- Position of the workpiece
2DLinear
ObjectScore Double Accuracy with which the workpiece
was detected
TypeId Int32 Type ID of the workpiece found
This can be used to distinguish
between different workpiece types.

Methods
Name Type Description
Clone VisionTech- Generates a copy of the workpiece
Result2D
Dispose Void Enables the resources used

20.2.2 2DTopLevel

Description Tool block template of the top level for 2D tasks used by VisionTech. This tool
block makes the required structure available for communication with the robot
controller.

404 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

Inputs
Name Type Description
InputImage ICogImage Input image
NumberOf- Int32 Number of components to be
Parts detected by means of the image
processing
Input1 … 5 Bool, Int32, Float, Inputs 1 to 5
(optional) Double, String
These inputs can be used in the
KRL program or during testing of a
task to set application-specific
inputs in the tool block.
These inputs can be created by the
user.
Note: Subprograms can be used to
transfer parameters to these inputs.
Further information can be found in
(>>> 13.25 "Subprograms for trans-
ferring input parameters"
Page 128).

Outputs
Name Type Description
Results VisionTechResult- Results list
Collection2D
Error Exception Exceptions or errors that occur dur-
ing execution of the image process-
ing task
UserData String User-specific data forwarded to
KRL by VisionTech

20.2.3 BlobAlign

Description This template saves the results of the tool Cognex.CogBlobTool in a data
structure of type VisionTechResultCollection2D which it makes available at an
output for further use. The tool Cognex.CogBlobTool can be configured as de-
scribed by Cognex.
The following parameters can be modified in the script of the template:

Name Description
TypeID Defines the type ID of the results found
PatternColor Color of the graphics to be generated
LineWidth Line thickness of the graphics to be generated
AddPointMarker- TRUE: Marking of the center of gravity of the BLOB
Graphics is added to the graphics
AddBoundingBox- TRUE: Display of the rectangle surrounding the
Graphics BLOB is added to the graphics
AddSearchRegion- TRUE: Display of the search area in which BLOBs
Graphics are searched for is added to the graphics
AddBoundary- TRUE: Display of the contours of the BLOB is added
Graphics to the graphics
AddObject- TRUE: Display of the object ID and type ID at the
IdentifierGraphics center of gravity of the BLOB is added to the graph-
ics

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 405 / 435

 KUKA.VisionTech 4.0

Name Description
AreaSize- TRUE: The size (in pixels) of the BLOBs found is
AsAttribute added as an object attribute
KeyArea Name of the object attribute (size of the BLOBs
found)

Do not delete or rename the inputs and outputs of the template, as

this may result in errors during execution of the tool block.

Inputs
Name Type Description
InputImage ICogImage Input image
NumberOf- Int32 Number of components to be detected
Parts by means of the image processing

Outputs
Name Type Description
Results VisionTech- Results that have been found
Result-
The results contain positions of the
Collection2D
workpieces found, result graphics,
accuracies, etc.

20.2.4 PmAlign

Description This template is an expansion of the template CogPMAlignTool. The function-

ality is the same, but PmAlign saves the results in a data structure of type
VisionTechResultCollection2D.
Various settings relating directly to use in VisionTech can be made on the Vi-
sionTech tab:
 Type ID: Defines the ID for the results found by the tool
 Visible graphics: Defines which graphics are added to a result and then
displayed on the smartHMI
 Graphic colors: Defines the colors of the graphics that are added to a re-
sult and then displayed on the smartHMI

Do not delete or rename the inputs and outputs of the template, as

this may result in errors during execution of the tool block.

Inputs
Name Type Description
InputImage CogImage8- Input image
Grey
NumberOf- Int32 Number of components to be detected
Parts by means of the image processing

Outputs
Name Type Description
Results VisionTech- Results that have been found
Result-
The results contain positions of the
Collection2D
workpieces found, result graphics,
accuracies, etc.

406 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

20.2.5 LoopFixturedResult

Description This template is the basis for all tool blocks that are to be executed once for
each result of a previously executed tool block. A coordinate system is defined
that is based on the position of the individual result. The internal tool block Pro-
cessFixtureResult is then executed. In this tool block, the result can be modi-
fied or new results can be generated.
If a tool block is to be executed for each result without first defining a coordi-
nate system, the Fixture tool can be deleted. This tool is an integral part of the
LoopFixturedResult template.
If additional results are to be generated, the internal tool block can provide
multiple outputs with the data structure VisionTechResult2D or
VisionTechResultCollection2D. The values of these outputs are added to the
list of results at the Results output.

Do not delete or rename the inputs and outputs of the template, as

this may result in errors during execution of the tool block.

Inputs
Name Type Description
InputImage ICogImage Input image
Results VisionTech- Results for which the internal tool block
Result- is to be executed
Collection2D
Selected- Int32 Index of the result for which the internal
ResultIndex tool block is to be executed
 <0: The internal tool block is execut-
ed for every result in the input list.
 ≥0: The internal tool block is only
executed for the result with the de-
fined index.

Outputs
Name Type Description
Results VisionTech- Results that have been modified or
Result- generated. The value of this output is
Collection2D automatically generated and should not
be linked to the inputs or outputs of
other tools or tool blocks.

20.2.6 BarCodeReading

Description This template uses the tool Cognex.CogBarcodeTool and adds information as
an object attribute to a result of type VisionTechResult2D about whether it was
possible to read a barcode in the defined area. The read content of the bar-
code is also saved in an object attribute. The tool Cognex.CogBarcodeTool
can be configured as described by Cognex.
The following parameters can be modified in the script of the template:

Name Description
PatternColor- Color of the search area if the search for a barcode is
Good successful

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 407 / 435

 KUKA.VisionTech 4.0

Name Description
PatternColor- Color of the search area if the search for a barcode is
Bad not successful
AddSearch- TRUE: The search area is added to the results as a
RegionGraphics graphic

Inputs
Name Type Description
InputImage ICogImage Input image
Result VisionTech- Result to which information is to be
Result2D added
KeyBarcodeS- String Key to be used for storing the informa-
tatus tion about whether the barcode was
readable
KeyBarcode- String Key to be used for storing the informa-
Value tion that was read in the barcode

Outputs
Name Type Description
Result VisionTech- Result to which the information was
Result2D added

20.2.7 PickZoneCheck

Description This template uses the Cognex.CogHistogramTool template and checks the
pick zones next to a workpiece. The Cognex.CogHistogramTool template can
be configured as described by Cognex.
Normally, the average brightness of an area in which a workpiece is present,
or into which a workpiece protrudes, differs from a homogeneous background.
In these cases, a collision of the robot with foreign bodies or other workpieces
within a pick zone can be avoided by means of this check.
It is possible to arrange multiple instances of this template in sequence in or-
der to check several pick zones per workpiece. The overall pick zone of a
workpiece is only deemed to be free if all checks indicate a free pick zone.
The following parameters can be modified in the script of the template:

Name Description
PatternColor- Color of the pick zone if it is free
Good
PatternColor- Color of the pick zone if it is not free
Bad
PatternColor- Color of the pick zone if it is partially outside the image
OutsideImage
FlagSearch- TRUE: The pick zone is added to the result as a
Region graphic

Inputs
Name Type Description
InputImage ICogImage Input image
Result VisionTech- Result that is to be checked
Result2D
KeyPickZone- String Name of the object attribute in which
Clear the information is saved regarding
whether the pick zone was free

408 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

Outputs
Name Type Description
Result VisionTech- Result, generated from the inputs, to
Result2D which the information was added

20.2.8 FineLocate

Description In order to determine a feature in or on the workpiece that is important for pro-
cessing with the robot, the position of a previously detected workpiece can be
modified. The following templates are available for this application:
 LocateSinglePattern_FL
This template uses the tool Cognex.CogPmAlignTool. Rotation and posi-
tion of the new pattern are saved in the result of type VisionTechResult2D.
 LocateSingleCircle_FL
This template uses the tool Cognex.CogFineCircleTool to locate the cen-
ter of a circle. As a circle does not contain information about the rotational
position of the workpiece, only the translation of the workpiece is moved
to the center of the circle and the rotational information remains un-
changed.
 LocateSingleBlob_FL
This template uses the tool Cognex.CogBlobTool to locate a contiguous
freeform object. The translational information is determined using the cen-
ter of gravity. The rotation is defined by the principal extension axis of the
BLOB.
The following parameters can be modified in the script of these templates:

Name Description
PatternColor Color of the graphics to be generated
LineWidth Line thickness of the graphics to be generated
AddObject- TRUE: Display of the object ID and type ID is added
IdentifierGraphics to the graphics

Parameters that are only available in the template LocateSinglePattern_FL:

Name Description
AddCenterPoint- TRUE: Marking of the origin of the pattern is added
MarkerGraphics to the graphics
AddTrainRegion- TRUE: Display of the training range is added to the
Graphics graphics
AddMatch- TRUE: Display of the contour of the pattern is added
FeaturesGraphics to the graphics

Parameters that are only available in the template LocateSingleCircle_FL:

Name Description
AddCenterPoint- TRUE: Marking of the center of the circle is added to
MarkerGraphics the graphics
AddCircleGraphics TRUE: Display of the fitted circle is added to the
graphics
AddCircleCaliper- TRUE: Display of the individual caliper gauge graph-
Graphics ics is added to the graphics

Parameters that are only available in the template LocateSingleBlob_FL:

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 409 / 435

 KUKA.VisionTech 4.0

Name Description
AddPointMarker- TRUE: Marking of the center of gravity of the BLOB
Graphics is added to the graphics
AddBoundingBox- TRUE: Display of the rectangle surrounding the
Graphics BLOB is added to the graphics
AddBoundary- TRUE: Display of the contours of the BLOB is added
Graphics to the graphics

Inputs
Name Type Description
InputImage ICogImage Input image
Result VisionTech- Result that is to be checked
Result2D

Outputs
Name Type Description
Result VisionTech- Result to which information was
Result2D added

20.2.9 Measurement

Description The templates in the Measurement folder can be used to perform various cal-
culations.
 FeatureDistance
(>>> 20.2.9.1 "FeatureDistance" Page 410)
 LocateSingle templates
(>>> 20.2.9.2 "LocateSingle templates" Page 411)
 PixelToMetricsConverter
(>>> 20.2.9.3 "PixelToMetricsConverter" Page 412)

20.2.9.1 FeatureDistance

Description This template can be used to determine the distance between 2 points in mm.
For this, the coordinates of the start and end points in pixels are required. The
result is saved as an object attribute of type VisionTechResult2D.
The following parameters can be modified in the script of the template:

Name Description
GraphicColor Color of the graphics to be generated
LineWidth Line thickness of the graphics to be added
InputsSpaceName Coordinate system in which the start and end points
are specified
 Pixel coordinate system: "#" (default)
 Workpiece coordinate system: "."
AddPoint- TRUE: Marking of the start and end points of the
MarkerGraphics measurement is added to the graphics
AddDistance- TRUE: Line connecting the points is added to the
LineGraphics graphics

The input image must have the format PNG and be generated by
KUKA.VisionTech 3.1, as it will not otherwise have the required infor-
mation about the camera calibration.

410 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

Inputs
Name Type Description
InputImage ICogImage Input image
Result VisionTech- Current result
Result2D
KeyFeature- String Name of the object attribute in which
Distance the distance between the two points is
saved
X1 Double X coordinate of the start point (in pix-
els)
Y1 Double Y coordinate of the start point (in pix-
els)
X2 Double X coordinate of the end point (in pixels)
Y2 Double Y coordinate of the end point (in pixels)

Outputs
Name Type Description
Result VisionTech- Result to which the distance was
Result2D added

20.2.9.2 LocateSingle templates

Description In order to determine the distance between 2 workpiece features in mm, the
pixel coordinates of the origins of these features are required. There are 3 tem-
plates available for this; each template covers a different case.
 LocateSinglePattern_M
This template uses the tool Cognex.CogPmAlignTool. The X/Y position of
the feature is made available at the outputs. The value of the result re-
mains unchanged.
 LocateSingleCircle_M
This template uses the tool Cognex.CogFineCircleTool. The X/Y position
of the center of the circle is made available at the outputs. The value of the
result remains unchanged.
 LocateSingleBlob_M
This template uses the tool Cognex.CogBlobTool. The X/Y position of the
center of gravity of the BLOB is made available at the outputs. The value
of the result remains unchanged.
The following parameters can be modified in the script of these templates:

Name Description
PatternColor Color of the graphics to be generated
LineWidth Line thickness of the graphics to be generated
AddObject- TRUE: Display of the object ID and type ID is added
IdentifierGraphics to the graphics

Parameters that are only available in the template LocateSinglePattern_M:

Name Description
AddCenterPoint- TRUE: Marking of the origin of the pattern is added
MarkerGraphics to the graphics
AddTrainRegion- TRUE: Display of the training range is added to the
Graphics graphics
AddMatch- TRUE: Display of the contour of the pattern is added
FeaturesGraphics to the graphics

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 411 / 435

 KUKA.VisionTech 4.0

Parameters that are only available in the template LocateSingleCircle_M:

Name Description
AddCenterPoint- TRUE: Marking of the center of the circle is added to
MarkerGraphics the graphics
AddCircleGraphics TRUE: Display of the fitted circle is added to the
graphics
AddCircleCaliper- TRUE: Display of the individual caliper gauge graph-
Graphics ics is added to the graphics

Parameters that are only available in the template LocateSingleBlob_M:

Name Description
AddPointMarker- TRUE: Marking of the center of gravity of the BLOB
Graphics is added to the graphics
AddBoundingBox- TRUE: Display of the rectangle surrounding the
Graphics BLOB is added to the graphics
AddBoundary- TRUE: Display of the contours of the BLOB is added
Graphics to the graphics

Inputs
Name Type Description
InputImage ICogImage Input image
Result VisionTech- Current result
Result2D

Outputs
Name Type Description
Result VisionTech- Result that was not modified
Result2D
XCenter Double X coordinate of the feature in pixels
YCenter Double Y coordinate of the feature in pixels

20.2.9.3 PixelToMetricsConverter

Description This template can be used to convert values specified in pixels to a metric unit.
The unit depends on the calibration plate used, but is generally mm.

The input image must have the format PNG and be generated by
KUKA.VisionTech 3.1, as it will not otherwise have the required infor-
mation about the camera calibration.

Inputs
Name Type Description
InputImage ICogImage Input image
PixelValue Double Pixel value to be converted

Outputs
Name Type Description
MetricValue Double Result of conversion to a metric unit

20.2.10 PresenceCheck

Description This template is used to check whether a specific feature is present. The po-
sition of the workpiece is determined using a template from the Basic Tools
folder. Relative to this position, the system checks whether there is a feature

412 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

in or on the workpiece. The result of the check is added to the workpiece as

an object attribute of type Bool. The following templates are available for this
application:
 LocateSinglePattern_PC
This template uses the tool Cognex.CogPmAlignTool to check whether a
specific pattern is present.
 LocateSingleCircle_PC
This template uses the tool Cognex.CogFineCircleTool to check whether
there is a circle at a specific position.
 LocateSingleBlob_PC
This template uses the tool Cognex.CogBlobTool to check whether a spe-
cific BLOB is present.
The following parameters can be modified in the script of these templates:

Name Description
PatternColor Color of the graphics to be generated
LineWidth Line thickness of the graphics to be generated
AddObject- TRUE: Display of the object ID and type ID is added
IdentifierGraphics to the graphics

Parameters that are only available in the template LocateSinglePattern_PC:

Name Description
AddCenterPoint- TRUE: Marking of the origin of the pattern is added
MarkerGraphics to the graphics
AddTrainRegion- TRUE: Display of the training range is added to the
Graphics graphics
AddMatch- TRUE: Display of the contour of the pattern is added
FeaturesGraphics to the graphics

Parameters that are only available in the template LocateSingleCircle_PC:

Name Description
AddCenterPoint- TRUE: Marking of the center of the circle is added to
MarkerGraphics the graphics
AddCircleGraphics TRUE: Display of the fitted circle is added to the
graphics
AddCircleCaliper- TRUE: Display of the individual caliper gauge graph-
Graphics ics is added to the graphics

Parameters that are only available in the template LocateSingleBlob_PC:

Name Description
AddPointMarker- TRUE: Marking of the center of gravity of the BLOB
Graphics is added to the graphics
AddBoundingBox- TRUE: Display of the rectangle surrounding the
Graphics BLOB is added to the graphics
AddBoundary- TRUE: Display of the contours of the BLOB is added
Graphics to the graphics

Inputs
Name Type Description
InputImage ICogImage Input image
Result VisionTech- Result that is to be checked
Result2D

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 413 / 435

 KUKA.VisionTech 4.0

Name Type Description

KeyBlobFound String Name of the object attribute
KeyCircleFound added to the result
KeyPatternFound

Outputs
Name Type Description
Result VisionTech- Result to which information was
Result2D added

20.2.11 AttributeAssembler

Description This tool block adds object attributes to a result with the data structure
VisionTechResult2D. Name and value of the object attributes are defined via
the inputs. Inputs can be generated automatically by dragging the output of a
tool or tool block onto this tool block. Alternatively, inputs can be generated via
the context menu. If a new input is added, this input is interpreted as the value
for a new object attribute and the corresponding input for the name of the ob-
ject attribute is automatically generated.
The object attributes are added to the attribute ObjectAttributes of the data
structure VisionTechResult2D. An object attribute with the serial number X is
only added if both NameX and ValueX exist as inputs.
If the object attributes are to be used in KRL, a maximum of 5 attributes can
be transferred. Each value is converted into a string and transferred. The
length of the name and value of the object attribute is limited to 100 characters.

Inputs
Name Type Description
Result VisionTech- Current result to which object attri-
Result2D butes are to be added
Name1 … N String Name of object attribute 1 ... N
Value1 … N - Value of object attribute 1 ... N

Outputs
Name Type Description
Result VisionTech- Result to which object attributes
Result2D have been added

20.2.12 AttributeValueExtractor

Description This tool block reads values from object attributes and automatically provides
them as an output. Any number of object attributes can be read. If an object
attribute that is to be read has been removed from this tool block, the output is
also deleted and vice versa.

Inputs
Name Type Description
Result VisionTech- Result from which the object attri-
Result2D butes are to be read

414 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

Outputs
Name Type Description
AttributeName - Output that is generated automatically
1…N
This output contains the value of the object
attribute 1 … N that is to be read. The name of
the output corresponds to the name of the
object attribute.

20.2.13 PartSorter

Description This tool block sorts the results in the data structure
VisionTechResultCollection2D by the X or Y coordinate in ascending or de-
scending order. This enables the robot to clear and sort workpieces, for exam-
ple.

Inputs
Name Type Description
Results VisionTechResult- Unsorted collection of results
Collection2D
Orientation System.Win-  Horizontal: The results are sort-
dows.Forms.Ori- ed by the X coordinate
entation  Vertical: The results are sorted
by the Y coordinate
SortDirection System.Compo-  Ascending: Sorting in ascending
nentModel.List- order
SortDirection  Descending: Sorting in de-
scending order

Outputs
Name Type Description
Results VisionTechResult- Sorted collection of results
Collection2D

20.2.14 ResultCollector

Description This tool block groups multiple results lists together as a single results list. Re-
sults can be dragged onto the tool block. There can be any number of inputs
and their names can be chosen freely. The results lists are arranged consec-
utively. The grouped results list thus contains the results of the first results list
first, then the results of the second results list, and so on.
The results are displayed in a tree structure on the Results tab. Here it is pos-
sible to select which results are to be displayed as a graphic. This display of
the graphics has no effect on the generated results list.

Inputs
Name Type Description
InputImage ICogImage Input image
Results1 … N VisionTechResult2D or Results list 1 … N
VisionTechResult-
Collection2D

Outputs
Name Type Description
Results VisionTechResult- Results list generated from the val-
Collection2D ues of the inputs

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 415 / 435

 KUKA.VisionTech 4.0

20.2.15 ResultCreator

Description This tool block generates a results list with data structure
VisionTechResultCollection2D from the values of the inputs. This ensures
compatibility with older tool blocks created using the KUKA V1 templates. This
also makes it possible to expand the older tool blocks with new functionalities
from the KUKA V2 templates.
The number of positions of the workpieces found and the accuracy with which
the workpieces were detected must be identical. This number specifies the
number of results at the Results output. There can be any number of graphics.
The graphics are assigned to every result.
The following setting can be made on the Settings tab:
 Type ID: ID for the results found by the tool. This ID can be overwritten us-
ing the input TypeID.

Inputs
Name Type Description
InputImage ICogImage Input image
TypeID Int32 Type ID for the results to be gener-
ated
Default value: -1
PartResults_ IEnumerable Workpiece positions for the results
<CogTransform- to be generated
2DLinear>
Scores_ IEnumerable Accuracy with which the work-
<Double> pieces were detected for the results
that are to be generated
Graphics_ CogGraphic- Graphics for the results to be gen-
Collection erated

Outputs
Name Type Description
Results VisionTechResult- Results list generated from the val-
Collection2D ues of the inputs

20.2.16 Tool block

Description This tool block is an empty standard tool block for user-specific use. There can
be any number of inputs and outputs.
Unlike the standard tool block CogToolBlock, this tool block contains the Com-
ments tab. Furthermore, when a script is generated, a reference to the file Ku-
kaRoboter.VisionTech.Cognex.VisionProExtensions.dll is automatically set.
All data structures of the KUKA V2 templates are located in this file.

20.2.17 ResultViewer

This tool block is intended for development and enables simple error
analysis. Use of this tool block during production is not recommend-
ed, as it can have an adverse effect on the processing power.

Description This tool block displays results and result lists. Both can be dragged onto the
tool block to create matching inputs. There can be any number of inputs and
their names can be chosen freely. The name of the input is used in the display
of the grouped results.

416 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

The results are displayed in a tree structure on the Results tab. Here it is pos-
sible to select which results are to be displayed as a graphic.

Inputs
Name Type Description
InputImage ICogImage Input image
Results1 … N VisionTechResult2D or Results list 1 … N
VisionTechResult-
Collection2D

20.2.18 AND

Description The tool block performs logic ANDing of all input values. It is possible to link
any number of inputs with the tool block. Inputs of data types Bool and Int32
are supported. Unconnected inputs are ignored.

If data types that are not supported are used for the inputs, the result
at the And output automatically has the value FALSE.

Inputs
Name Type Description
any Int32, Bool Input data to be linked using the logic AND
operation. It is possible to create any number
of these inputs.
In the case of an input of type Int32:
 ≠0: TRUE
 0: FALSE

Outputs
Name Type Description
And Bool Result of the AND operation on all inputs
NAnd Bool Inverted result of the AND operation on all
inputs

20.2.19 OR

Description The tool block performs logic ORing of all input values. It is possible to link any
number of inputs with the tool block. Inputs of data types Bool and Int32 are
supported. Unconnected inputs are ignored.

Inputs
Name Type Description
any Int32, Bool Input data to be linked using the logic OR
operation. It is possible to create any number
of these inputs.
In the case of an input of type Int32:
 ≠0: TRUE
 0: FALSE

Outputs
Name Type Description
Or_ Bool Result of the OR operation on all inputs
NOr Bool Inverted result of the OR operation on all
inputs

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 417 / 435

 KUKA.VisionTech 4.0

20.2.20 RangeChecker

Description The tool block checks whether the value of the input Value is within the range
defined by the inputs RangeMin and RangeMax.

Inputs
Name Type Description
RangeMin Double Lower limit for the value of the input
The value can be created as a constant in the
tool block or linked to an output of a different tool
block.
RangeMax Double Upper limit for the value of the input
The value can be created as a constant in the
tool block or linked to an output of a different tool
block.
Value Double Input value that is compared with the limit values

Outputs
Name Type Description
InRange Bool TRUE: The value of the input Value is within the
range defined by the inputs RangeMin and
RangeMax.
NotIn- Bool Inverted result of the output InRange
Range

20.3 I/O management of the cameras

20.3.1 Configuring outputs

Procedure  Select the desired signal source for each output in the I/O management
area.

Description of There are 3 outputs at the process interface of the KUKA MXG20 camera
KUKA MXG20 (Line1 … Line3) that can be configured by the user. These outputs can be as-
signed internal signals via the software.
As standard, the outputs are assigned the following signals:
 Line1: Timer1Active
 Line2: Off
 Line3: Off

Signal source Signal type Description

Off Looped through Output is deactivated
Line0 Looped through Camera is waiting for a signal at the input (Line0)
ExposureActive Internal Active as long as the exposure is active
ReadoutActive Internal Active as long as the image on the camera is being
read
TriggerReady Internal Active as long as the camera is ready to process
incoming Trigger signals
TriggerSkipped Internal Active as long as the camera is unable to process
incoming Trigger signals
TriggerOverlapped Internal Active as long as the exposure and reading from
the camera are active
UserOutput1 User-defined Active as long as the output is set manually via the
software

418 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

Signal source Signal type Description

UserOutput2 User-defined Active as long as the output is set manually via the
software
UserOutput3 User-defined Active as long as the output is set manually via the
software
Timer1Active User-defined Active as long as the selected timer is active
Timer2Active User-defined Active as long as the selected timer is active
Timer3Active User-defined Active as long as the selected timer is active
SequencerOutput0 User-defined Active as long as the selected sequencer output is
active
SequencerOutput1 User-defined Active as long as the selected sequencer output is
active
SequencerOutput2 User-defined Active as long as the selected sequencer output is
active

Description of There is one output at the process interface of the KUKA VCXG-25 camera
KUKA VCXG-25 (Line3) that can be configured by the user. This output can be assigned inter-
nal signals via the software.
As standard, the output is assigned the signal Timer1Active.

Signal source Signal type Description

Off Looped through Output is deactivated
ExposureActive Internal Active as long as the exposure is active
ReadoutActive Internal Active as long as the image on the camera is being
read
TriggerReady Internal Active as long as the camera is ready to process
incoming Trigger signals
UserOutput1 User-defined Active as long as the output is set manually via the
software

20.3.2 Configuring timers

Procedure  Under Timer configuration in the I/O management area, carry out the
desired settings for each timer.

Description of A timer can be used to control the internal signals. The timers can be activated
KUKA MXG20 with the signal sources Timer1Active, Timer2Active and Timer3Active.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 419 / 435

 KUKA.VisionTech 4.0

Name Description
Trigger Signal that starts the timer
source:
 Off: Trigger source is deactivated.
 Action1: Selected action signal
 ExposureEnd: Signal edge at end of exposure
 ExposureStart: Signal edge at start of exposure
 FrameEnd: Signal edge at end of reading of an image
 FrameStart: Signal edge at start of reading of an im-
age
 Line0: Signal edge at input
 Software: Software trigger
 TriggerSkipped: TiggerSkipped signal
Trigger acti- Mode in which the trigger source starts the timer
vation:
 AnyEdge: Falling or rising signal edge
 FallingEdge: Falling signal edge
 LevelHigh: Signal state "High"
 LevelLow: Signal state "Low"
 RisingEdge: Rising signal edge
Duration Length of time the timer is active
[ms]:
Delay [ms]: Interval between input of the trigger signal and activation
of the timer

Further information can be found in the document

UsersGuide_VisiLine_IP_v16e. Following installation of Vision-
Tech, the document is located in the program folder under KUKA\Vi-
sionTech 4.0\Documentation. Information about the KUKA MXG20 camera
can be found under the designation VLG-20M.I.

Description of A timer can be used to control the internal signals. The timer can be activated
VCXG-25M with the signal source Timer1Active.

Name Description
Trigger Signal that starts the timer
source:
 Off: Trigger source is deactivated.
 Action1: Selected action signal
 ExposureEnd: Signal edge at end of exposure
 ExposureStart: Signal edge at start of exposure
 FrameTransferSkipped: FrameTransferSkipped sig-
nal
 Line0: Signal edge at input
 Software: Software trigger
 TriggerSkipped: TiggerSkipped signal
Trigger acti- Mode in which the trigger source starts the timer
vation:
 AnyEdge: Falling or rising signal edge
 FallingEdge: Falling signal edge
 RisingEdge: Rising signal edge

420 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 20 Appendix

Name Description
Duration Length of time the timer is active
[ms]:
Delay [ms]: Interval between input of the trigger signal and activation
of the timer

Further information can be found in the document

Quickstart_Kuka_VCXG25M.K40_v11e. Following installation of
VisionTech, the document is located in the program folder under
KUKA\VisionTech 4.0\Documentation.

20.4 Tightening torques

Tightening The following tightening torques (Nm) are valid for screws and nuts where no
torques other specifications are given.
The specified values apply to lightly oiled black (e.g. phosphated) and coated
(e.g. mech. galv., zinc flake plating) screws and nuts.

Strength class
Thread 8.8 10.9 12.9
M1.6 0.17 Nm 0.24 Nm 0.28 Nm
M2 0.35 Nm 0.48 Nm 0.56 Nm
M2.5 0.68 Nm 0.93 Nm 1.10 Nm
M3 1.2 Nm 1.6 Nm 2.0 Nm
M4 2.8 Nm 3.8 Nm 4.4 Nm
M5 5.6 Nm 7.5 Nm 9.0 Nm
M6 9.5 Nm 12.5 Nm 15.0 Nm
M8 23.0 Nm 31.0 Nm 36.0 Nm
M10 45.0 Nm 60.0 Nm 70.0 Nm
M12 78.0 Nm 104.0 Nm 125.0 Nm
M14 125.0 Nm 165.0 Nm 195.0 Nm
M16 195.0 Nm 250.0 Nm 305.0 Nm
M20 370.0 Nm 500.0 Nm 600.0 Nm
M24 640.0 Nm 860.0 Nm 1030.0 Nm
M30 1330.0 Nm 1700.0 Nm 2000.0 Nm

Strength class
Thread 8.8 10.9
ISO7991 ISO7380, ISO07381
Allen screw Fillister head
screw
M3 0.8 Nm 0.8 Nm
M4 1.9 Nm 1.9 Nm
M5 3.8 Nm 3.8 Nm

Strength class
Thread 10.9
ISO7984
pan head screws
M4 2.8 Nm

Tighten M5 domed cap nuts with a torque of 4.2 Nm.

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 421 / 435

 KUKA.VisionTech 4.0

422 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 21 KUKA Service

21 KUKA Service
2

21.1 Requesting support

v

Introduction This documentation provides information on operation and operator control,

and provides assistance with troubleshooting. For further assistance, please
contact your local KUKA subsidiary.

Information The following information is required for processing a support request:

 Description of the problem, including information about the duration and
frequency of the fault
 As comprehensive information as possible about the hardware and soft-
ware components of the overall system
The following list gives an indication of the information which is relevant in
many cases:
 Model and serial number of the kinematic system, e.g. the manipulator
 Model and serial number of the controller
 Model and serial number of the energy supply system
 Designation and version of the system software
 Designations and versions of other software components or modifica-
tions
 Diagnostic package KRCDiag
Additionally for KUKA Sunrise: Existing projects including applications
For versions of KUKA System Software older than V8: Archive of the
software (KRCDiag is not yet available here.)
 Application used
 External axes used

21.2 KUKA Customer Support

Availability KUKA Customer Support is available in many countries. Please do not hesi-
tate to contact us if you have any questions.

Argentina Ruben Costantini S.A. (Agency)

Luis Angel Huergo 13 20
Parque Industrial
2400 San Francisco (CBA)
Argentina
Tel. +54 3564 421033
Fax +54 3564 428877
[email protected]

Australia KUKA Robotics Australia Pty Ltd

45 Fennell Street
Port Melbourne VIC 3207
Australia
Tel. +61 3 9939 9656
[email protected]
www.kuka-robotics.com.au

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 423 / 435

 KUKA.VisionTech 4.0

Belgium KUKA Automatisering + Robots N.V.

Centrum Zuid 1031
3530 Houthalen
Belgium
Tel. +32 11 516160
Fax +32 11 526794
[email protected]
www.kuka.be

Brazil KUKA Roboter do Brasil Ltda.

Travessa Claudio Armando, nº 171
Bloco 5 - Galpões 51/52
Bairro Assunção
CEP 09861-7630 São Bernardo do Campo - SP
Brazil
Tel. +55 11 4942-8299
Fax +55 11 2201-7883
[email protected]
www.kuka-roboter.com.br

Chile Robotec S.A. (Agency)

Santiago de Chile
Chile
Tel. +56 2 331-5951
Fax +56 2 331-5952
[email protected]
www.robotec.cl

China KUKA Robotics China Co., Ltd.

No. 889 Kungang Road
Xiaokunshan Town
Songjiang District
201614 Shanghai
P. R. China
Tel. +86 21 5707 2688
Fax +86 21 5707 2603
[email protected]
www.kuka-robotics.com

Germany KUKA Roboter GmbH

Zugspitzstr. 140
86165 Augsburg
Germany
Tel. +49 821 797-1926
Fax +49 821 797-41 1926
[email protected]
www.kuka.com

424 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 21 KUKA Service

France KUKA Automatisme + Robotique SAS

Techvallée
6, Avenue du Parc
91140 Villebon S/Yvette
France
Tel. +33 1 6931660-0
Fax +33 1 6931660-1
[email protected]
www.kuka.fr

India KUKA Robotics India Pvt. Ltd.

Office Number-7, German Centre,
Level 12, Building No. - 9B
DLF Cyber City Phase III
122 002 Gurgaon
Haryana
India
Tel. +91 124 4635774
Fax +91 124 4635773
[email protected]
www.kuka.in

Italy KUKA Roboter Italia S.p.A.

Via Pavia 9/a - int.6
10098 Rivoli (TO)
Italy
Tel. +39 011 959-5013
Fax +39 011 959-5141
[email protected]
www.kuka.it

Japan KUKA Robotics Japan K.K.

YBP Technical Center
134 Godo-cho, Hodogaya-ku
Yokohama, Kanagawa
240 0005
Japan
Tel. +81 45 744 7691
Fax +81 45 744 7696
[email protected]

Canada KUKA Robotics Canada Ltd.

6710 Maritz Drive - Unit 4
Mississauga
L5W 0A1
Ontario
Canada
Tel. +1 905 670-8600
Fax +1 905 670-8604
[email protected]
www.kuka-robotics.com/canada

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 425 / 435

 KUKA.VisionTech 4.0

Korea KUKA Robotics Korea Co. Ltd.

RIT Center 306, Gyeonggi Technopark
1271-11 Sa 3-dong, Sangnok-gu
Ansan City, Gyeonggi Do
426-901
Korea
Tel. +82 31 501-1451
Fax +82 31 501-1461
[email protected]

Malaysia KUKA Robot Automation (M) Sdn Bhd

South East Asia Regional Office
No. 7, Jalan TPP 6/6
Taman Perindustrian Puchong
47100 Puchong
Selangor
Malaysia
Tel. +60 (03) 8063-1792
Fax +60 (03) 8060-7386
[email protected]

Mexico KUKA de México S. de R.L. de C.V.

Progreso #8
Col. Centro Industrial Puente de Vigas
Tlalnepantla de Baz
54020 Estado de México
Mexico
Tel. +52 55 5203-8407
Fax +52 55 5203-8148
[email protected]
www.kuka-robotics.com/mexico

Norway KUKA Sveiseanlegg + Roboter

Sentrumsvegen 5
2867 Hov
Norway
Tel. +47 61 18 91 30
Fax +47 61 18 62 00
[email protected]

Austria KUKA Roboter CEE GmbH

Gruberstraße 2-4
4020 Linz
Austria
Tel. +43 7 32 78 47 52
Fax +43 7 32 79 38 80
[email protected]
www.kuka.at

426 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 21 KUKA Service

Poland KUKA Roboter CEE GmbH Poland

Spółka z ograniczoną odpowiedzialnością
Oddział w Polsce
Ul. Porcelanowa 10
40-246 Katowice
Poland
Tel. +48 327 30 32 13 or -14
Fax +48 327 30 32 26
[email protected]

Portugal KUKA Robots IBÉRICA, S.A.

Rua do Alto da Guerra n° 50
Armazém 04
2910 011 Setúbal
Portugal
Tel. +351 265 729 780
Fax +351 265 729 782
[email protected]
www.kuka.com

Russia KUKA Robotics RUS

Werbnaja ul. 8A
107143 Moskau
Russia
Tel. +7 495 781-31-20
Fax +7 495 781-31-19
[email protected]
www.kuka-robotics.ru

Sweden KUKA Svetsanläggningar + Robotar AB

A. Odhners gata 15
421 30 Västra Frölunda
Sweden
Tel. +46 31 7266-200
Fax +46 31 7266-201
[email protected]

Switzerland KUKA Roboter Schweiz AG

Industriestr. 9
5432 Neuenhof
Switzerland
Tel. +41 44 74490-90
Fax +41 44 74490-91
[email protected]
www.kuka-roboter.ch

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 427 / 435

 KUKA.VisionTech 4.0

Spain KUKA Robots Ibérica, S.A.

Pol. Industrial
Torrent de la Pastera
Carrer del Bages s/n
08800 Vilanova i la Geltrú (Barcelona)
Spain
Tel. +34 93 8142-353
[email protected]

South Africa Jendamark Automation LTD (Agency)

76a York Road
North End
6000 Port Elizabeth
South Africa
Tel. +27 41 391 4700
Fax +27 41 373 3869
www.jendamark.co.za

Taiwan KUKA Robot Automation Taiwan Co., Ltd.

No. 249 Pujong Road
Jungli City, Taoyuan County 320
Taiwan, R. O. C.
Tel. +886 3 4331988
Fax +886 3 4331948
[email protected]
www.kuka.com.tw

Thailand KUKA Robot Automation (M)SdnBhd

Thailand Office
c/o Maccall System Co. Ltd.
49/9-10 Soi Kingkaew 30 Kingkaew Road
Tt. Rachatheva, A. Bangpli
Samutprakarn
10540 Thailand
Tel. +66 2 7502737
Fax +66 2 6612355
[email protected]
www.kuka-roboter.de

Czech Republic KUKA Roboter Austria GmbH

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
[email protected]

428 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 21 KUKA Service

Hungary KUKA Robotics Hungaria Kft.

Fö út 140
2335 Taksony
Hungary
Tel. +36 24 501609
Fax +36 24 477031
[email protected]

USA KUKA Robotics Corporation

51870 Shelby Parkway
Shelby Township
48315-1787
Michigan
USA
Tel. +1 866 873-5852
Fax +1 866 329-5852
[email protected]
www.kukarobotics.com

UK KUKA Robotics UK Ltd

Great Western Street
Wednesbury West Midlands
WS10 7LL
UK
Tel. +44 121 505 9970
Fax +44 121 505 6589
[email protected]
www.kuka-robotics.co.uk

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 429 / 435

 KUKA.VisionTech 4.0

430 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 Index

Index
Numbers Documentation, industrial robot 11
2D model, generating 90
2D model, moving camera 90 E
2D model, stationary camera 90 EKI 12
2D task, configuring 87 EMC Directive 27, 29, 30
2D task, testing 91 Emergency license, activating 56
2DTopLevel, 2D template 404 EN 60204-12006/A12009 39
3D model, generating 95 Ethernet KRL, configuring 66
3D task, configuring 92 Example programs 131
3D task, testing 95 Exposure time, setting (smartHMI) 71
89/336/EEC 27, 29, 30 Exposure time, setting (WorkVisual) 71

A F
AND, Utility 401, 417 FeatureDistance, 2D template 410
Appendix 389 Features, 3D templates 397
Application examples 24 FineLocate, 2D templates 409
Areas of application 15 Functions 15
AttributeAssembler, utility 414
AttributeValueExtractor, utility 414 G
General safety measures 39
B GenICam 12
BarCodeReading, 2D template 407 GigE 12
BLOB 12 GraphicCollector, Utility 397
BlobAlign, 2D template 405
I
C Image processing task, setting up 84
Calibration plane, deleting 75 Images, acquisition (WorkVisual) 84
Calibration plates 24 Images, taking (moving) 83
Calibration pose 12 Images, taking (stationary) 81
Camera, calibrating (stationary) 73 Inline forms 97
Camera, configuring timers 419 Installation 51
Camera, exchange 383 Installation via smartHMI 51
Camera, outputs, configuration 418 Installation via WorkVisual 52
Cameras, aligning (smartHMI) 70 Installing via WorkVisual 52
Cameras, aligning (WorkVisual) 70 Intended use 13
Cameras, calibrating (moving) 75 Interfaces 41
Cameras, configuring (smartHMI) 66 Interfaces, KR C4, connecting cables 42
Cameras, configuring offline (WorkVisual) 69 Interfaces, KR C4 compact, connecting cables
Cameras, configuring online (WorkVisual) 68 45
Cameras, I/O management 418 Interfaces, KUKA IPC, connecting cables 46
Cancel, program 358 Introduction 11
Communication 15
Configuration 81 K
Connecting cables 24, 32, 41 KLI 12
Connecting cables, KR C4 32, 43 Knowledge, required 13
Connecting cables, KR C4 compact 33, 45 KONI 12
Connecting cables, KUKA IPC 33, 46 KUKA Customer Support 423
CrspCollector, Utility (3D) 397 KUKA GigE switch 18
KUKA GigE switch, technical data 29
D KUKA IPC, configuring 65
Decommissioning 387 KUKA IPC, executing VisionTech 54
Defining the points on the robot 118 KUKA IPC, generating setup 54
Depalletizing 12 KUKA lenses 23, 30
Deracking 12 KUKA MXG20 camera 21
Dimensions, extension 35 KUKA MXG20 camera, technical data 27
Dimensions, MXG20 camera 34 KUKA Service 423
Dimensions, VCXG-25M camera 35 KUKA VCXG-25M camera 22
Disposal 387 KUKA VCXG-25M camera, technical data 28

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 431 / 435

 KUKA.VisionTech 4.0

KUKA IPC 17 Planning 41

KUKA IPC, setting the IP address 65 Plates and labels 35
PmAlign, 2D template 406
L PoE 12
Lens, focusing (smartHMI) 72 PoseCreator, Utility (2D) 396
Lens, focusing (WorkVisual) 72 PoseInspector, Utility (2D) 396
Lens, Pentax C1614-M, technical data 31 Position data, absolute 82
Lens, Pentax C2514-M, technical data 31 Position data, relative 82
Lens, Pentax C3516-M, technical data 31 PresenceCheck, 2D templates 412
Lens, Pentax C5028-M, technical data 32 Product description 15
Lens, Pentax C7528-M, technical data 32 Program, canceling 358
Lens, Ricoh CC1214A-2M, technical data 30 Programming, inline forms 97
License, activating 55 Programming, subprograms 109
License, repairing 56 Programming, templates 97
License, uninstalling 57 Purpose 13
Licenses 12
Licensing 51 R
Licensing, image processing environment 54 RangeChecker, Utility 402, 418
Licensing, KUKA IPC 54 Reference pose 12
Licensing, robot controller 54 Reference position 12
ListCollector, Utility 399 Reference position, determining 79
ListConnector, Utility 399 Regulations 39
ListCount, Utility 399 Repair 383
ListCreator, Utility 399 Restrictions 15
ListFilter, Utility 400 Result structures 109
ListItemSelector, Utility 400 ResultCollector, utility 415
ListOperators, Utilities 398 ResultCreator, utility 416
LocatePart3D, 3D template 397 ResultViewer, utility 416
LocatePartsKnownPosition, 2D template 390
LocatePartsOneStage, 2D template 390 S
LocateSingle templates 411 Safety 39
LocateSingleCircle, snippet 394 Safety instructions 11
LocateSinglePattern, snippet 395 Safety of machinery 39
Logic, Utilities 401 smartHMI 12
LoopFineLocateParts, snippet 392 Snippets, 2D template 390
LoopFixturedResult, 2D template 407 Standards 39
LoopLocatedParts, snippet 391 Start-up 61
LoopPickZoneCheck, snippet 393 Storage 387
LoopPresenceCheck, snippet 394 StringCollector, Utility 398
StringFromLists, Utility 401
M Subprograms 109
Maintenance 381 Support request 423
Maintenance symbols 381 Switch, exchange 383
Measurement, 2D templates 410 System requirements 51
Menus 59
Messages 133 T
Target group 13
N Task, creating (moving) 83
Networking 61 Task, creating (stationary) 81
Technical data 27
O Templates 97, 101
Operation 59 Terms used 12
OR, Utility 402, 417 Tightening torques 421
Overview, VisionTech 15 Tool block 12
Tool block file, creating 85
P Tool block file, loading 86
PartSorter, utility 415 Tool block file, transferring 87
Pentax C815B lens, technical data 30 Tool block templates (KUKA V1) 389
PickZoneCheck, 2D template 408 Tool block templates (KUKA V2) 402
PickZoneCheck, snippet 395 Tool block, utility 416
PixelToMetricsConverter, 2D template 412 Trademarks 11

432 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 Index

Training 13 W
Transportation 49 Warnings 11
Troubleshooting 385 Wrist root point 367, 368

U
Uninstalling via smartHMI 52
Uninstalling via WorkVisual 53
Updating via WorkVisual 52
Utilities, 2D templates 396

V
Verification task, configuring 77
Verification, configuring 76
VisionTechResult2D, data structure 404
VT_2DMoving, template 104
VT_2DStationary, template 101
VT_2DVerifyStationary, template 106
VT_3DMoving, template 104
VT_CHECKPOSE (subprogram) 116
VT_CHECKPOSITION (subprogram) 115
VT_CHECKRESULT (subprogram) 113
VT_CLEAR (subprogram) 114
VT_CLEARBUFFER (subprogram) 123
VT_CLOSECONNECTION (subprogram) 114
VT_ContainsAttribute (subprogram) 124
VT_DIRECT (subprogram) 120
VT_GetBoolFromAttrName (subprogram) 126
VT_GetCharFromAttrName (subprogram) 125
VT_GETCORRECTIONFRAME (subprogram)
113
VT_GetIntFromAttrName (subprogram) 124
VT_GetRealFromAttrName (subprogram) 125
VT_GETRESULTS (subprogram) 121
VT_GETTASKRESULTS (subprogram) 119
VT_GETTASKRESULTS_IR (subprogram) 119
VT_GETUSERDATA (subprogram) 118
VT_GETVERIFICATIONRESULT (subprogram)
122
VT_GETVERIFYRESULT_IR (subprogram) 122
VT_INIT (subprogram) 111
VT_IsAttributeValSet (subprogram) 126
VT_OPENCONNECTION (subprogram) 111
VT_SETEXPOSURE (subprogram) 123
VT_SetInputAsBool (subprogram) 128
VT_SetInputAsInt (subprogram) 128
VT_SetInputAsReal (subprogram) 129
VT_SetInputAsString (subprogram) 129
VT_StringToBool (subprogram) 127
VT_StringToInt (subprogram) 127
VT_StringToReal (subprogram) 128
VT_TASKTRIGGER (subprogram) 112
VT_TASKTRIGGER_ADRUN (subprogram) 112
VT_TASKTRIGGER_REFBASE (subprogram)
112
VT_VERIFICATIONTRIGGER (subprogram)
121
VT_WAITFORRESULT (subprogram) 114
VTRESULT, structure 109
VTRESULTATTRIBUTE, structure 111
VTVERIFYRESULT, structure 110

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 433 / 435

 KUKA.VisionTech 4.0

434 / 435 Issued: 11.12.2017 Version: KST VisionTech 4.0 V2

 KUKA.VisionTech 4.0

Issued: 11.12.2017 Version: KST VisionTech 4.0 V2 435 / 435