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2. User Configuration

All parameters you need to adapt to your setup are KAREL variables of the W_LIBRARY program. Adjust them according to your needs before running the example.

To access the KAREL variables, select the corresponding PC file W_LIBRARY, then go to Data → Type (bottom bar) → Karel Vars.

Karel Vars for W_LIBRARY

Note

The variables are uninitialized until you run W_LIBRARY once. See Installation & Setup → Initialize the KAREL variables.

User configurable KAREL variables

The following variables (prefix w_) can be adjusted under Data → Karel Vars after selecting the KAREL program W_LIBRARY.

Variable Default Note
w_client_tag C1: Host Comm client tag configured for the vision device (see Socket messaging).
w_use_case camera_on_robot Either camera_on_robot or camera_not_on_robot.
w_calib_target zvzj002 ID of calibration target (zvzj001, zvzj002, zvzj003, zvzj004).
w_calib_job calibration.u3p uniVision job for calibration.
w_exch_reg_1 60 Primary output register (R) for BOOLEAN / INTEGER / REAL.
w_exch_reg_2 61 Secondary output register (R).
w_exch_reg_3 62 Tertiary output register (R).
w_pose_exch_reg 60 Output pose register (PR).
w_string_exch_reg 60 Output string register (SR).
w_detect_pose_reg 65 Detection pose register (PR) — keep in sync with the PR referenced by the TP programs.
w_use_ptp_reg 63 Register (R) used to switch W_MOVE between PTP (1) and LIN (0).
w_group_no 1 Robot group number.

Warning

Variables with a wi_ prefix are internal and must not be changed.

Calibration poses (W_CALIB_POSES)

Variable Note
w_calib_poses Array of up to eleven XYZWPR calibration poses (minimum five required). Set under Data → Karel Pos.

The KAREL library exchanges registers to write the results of the commands. Please check whether these registers conflict with your own register usage and change them if required.

Set the calibration and detection poses

Set up a maximum of eleven calibration poses (at least five). Depending on the use case, the detection pose is handled differently:

  • Camera on robot: The detection pose is set during calibration and is also used for validation.
  • Camera not on robot: The detection pose must be set by the user. It also serves as the retreat pose after the calibration movement. During this movement you remove the calibration plate from the robot and place it on the object plane; the same pose is used for validation.
  • Both cases: Set the detection pose in a global register. By default, pose register 65 (PR[65]) is used, as shown in the provided example programs W_SINGLE_DETECT and W_MULTI_DETECT.

Select the KAREL file W_LIBRARY → Data → Karel Pos → W_CALIB_POSES.

W_CALIB_POSES

Set the detection pose. By default, pose register PR[65] is used. If PR[65] is used for other purposes, you can pick another PR, but then you need to update the TP programs accordingly. If you change the detection pose register, also update the w_detect_pose_reg KAREL variable.

Detection pose PR[65]

Note

For the general calibration concepts — which calibration target to use, how to choose and vary the poses, and how to read the reprojection error — see the Wenglor Robot Server overview in the wenglor robot vision manual. They are not repeated here.