So, hopefully this is a pretty minor question, but since I've "inherited" a KRC4 using VisionTech 3.0, and I've never used VT before, and I won't be able to get hands-on with this robot until I arrive at the customer site and have very little time to get everything working, I'm trying to get all my ducks in a row beforehand.
I have a fixed camera with a large FOV, on the order of 36in (1m) square. And the customer did not buy a KUKA calibration plate (KUKA doesn't make one that big anyway). Now, the VisionTech manual says I can print out my own calibration grid, as long as the squares are accurately sized. So I said "no problem," opened up my Cognex In-Sight software, and created a custom-sized grid.
And then I noticed something. If you look at the first two attachments, you'll see that the VT manual shows a grid whose fiducials have Z+ pointing away from the camera. But the Cognex grid (3rd attachment) is "flipped" , relatively, around either X or Y -- if I lay the Cognex grid under my camera, it is only visible if I have Z+ pointing up, towards the camera, which is exactly the opposite of what the VT manual shows.
Both grids are right-hand rule, just "mirrored" around one axis in the way they're printed.
Now, my gut instinct is that this should be simple to deal with -- I simply set up my Base frame for VT to match the grid I'm using, and everything else should just fall into place. But I've been bitten by this kind of thing before, so I'll ask: has anyone had any experience using VT with a Cognex-style grid? Are there any undocumented expectations by VT that require a grid like the one in the VT manual, or can I successfully use the Cognex grid just by making my Base match the grid I'm using?