Application with Vision System and KUKA

si.

communication between Perceptron and Robot via PLC

The PLC communicates to Vision-system via RS232
Robot recieves Offset-Data via bus-interface from PLC.
Will some info about the part between PLC and Robot help you?

Hi,

there is no differece at all if you use a vision system either with a kuka robot or any other robot.
If you have bit encoding, you will have six variables (ISRA for instance sends a ? bit lenght signed Integer, you have to make a divison with one hundred and this is your koordinate).

To bring the robot and the vision together you have different opportunities:

first: using the same coordinate system:

- therefor you can use a reference plate: make a picture with the camera and adjust the camera base, then measure the base with the robot (take attention using the same direktions for x and y - this makes it more convenient).

- an other way is to take one point with the camera and to teach the point with the robot (then you can calculate the offset in xyz) to calculate the orientation you have to make this for one other point.

- at least some camera systems have a functionality to transfom the basefor the robot.
for this you should consult the documentation of the vision system.

If its possible I would use the first version - it is the easiest.

I guess other vision systems obtain other opportunities - but it is allmost the same. There are two basic systems which are used by all common vison systems (one is halcon) - so the differences are not really big.

BR: stefan

But in the robot, where can I obtain the variable of xyz from vision system?

Tiago / Brazil

funny Question - this is not plug and play!

first: there are differnet kinds of interfaces to camera systems (eg. Serial ethernet, or I/O).

yxz from the vision you will find nowhere on the robot - if you don´t write a (robot-) program reading from this interface.

BR Stefan

Hi Tiago,

hope, the attached documentation will give you a small overview about vision with KUKA

OooHH! Very good Linde Paul! Thanks

Thanks stefan too!

Tiago / Brazil

But with other system like banner, festo... has kuka any software to config? Or only for DVT (kuka vision)?

Could someone please send me information on how to send vision system data into Kuka via Ethernet. I have built a vision system, and have all the data ready - but cannot find out how to send it!

Many thanks.

Martin

KUKA.Ethernet.KRL(XML) or KUKA.Ethernet.RSIXML
Depending on the data format you want to send.
E.g.: the use of EKX (Ethernet KRL XML) require a "alphanumerical output"
attached a description

Thank you, that's perfect.

It looks quite easy . .