Vision Process

Set Vision Parameters

0x4101 VISION_PARAMETER_SET

json

{
  "cameraType": "customize",
  "robot": 1,
  "vision": {
    "protocol": {
      "addDataInitialPara": "GD001",
      "addDataNum": 5,
      "angleUnit": 0,
      "endMark": "$",
      "failFlag": "NG",
      "frameHeader": "@",
      "hasTCS": true,
      "hasUCS": false,
      "separator": ",",
      "singleTarget": false,
      "successFlag": "OK",
      "timeOut": 30,
      "type": 1
    },
    "socket": {
      "IP": "192.168.1.120",
      "camera_data_type": 0,
      "portNum": 1,
      "portOne": 5050,
      "portTwo": 0,
      "server": true
    },
    "trigger": {
      "IOPort": 0,
      "duration": 1000,
      "intervals": 35,
      "triggerMode": 2,
      "triggerOnce": true,
      "triggerStr": "TRG"
    },
    "userCoordNum": 2
  },
  "visionNum": 0
}

Parameter Description:

Parameter Category	Parameter Name	Type	Description
cameraType	-	string	Camera type, default "customize"
robot	-	int	Robot number
vision.protocol	addDataInitialPara	string	Additional data initial variable
vision.protocol	addDataNum	int	Additional data count
vision.protocol	angleUnit	int	0: Degree; 1: Radian
vision.protocol	endMark	string	End mark
vision.protocol	failFlag	string	Failure send flag
vision.protocol	frameHeader	string	Frame header
vision.protocol	hasTCS	bool	Receive coordinate system: Tool
vision.protocol	hasUCS	bool	Receive coordinate system: User
vision.protocol	separator	string	Separator
vision.protocol	singleTarget	bool	Single target enable
vision.protocol	successFlag	string	Success send flag
vision.protocol	timeOut	int	Timeout
vision.protocol	type	int	0: 2D, 1: 2D+Height, 2: 3D
vision.socket	IP	string	Camera IP
vision.socket	camera_data_type	int	0: Robot coordinate, 1: Pixel coordinate
vision.socket	portNum	int	Number of ports
vision.socket	portOne	int	Port 1
vision.socket	portTwo	int	Port 2
vision.socket	server	bool	true: Server, false: Client
vision.trigger	IOPort	int	Trigger method: Bound IO port
vision.trigger	duration	int	Duration
vision.trigger	intervals	int	Trigger period
vision.trigger	triggerMode	int	1: IO, 2: Ethernet
vision.trigger	triggerOnce	bool	true: Single, false: Multiple
vision.trigger	triggerStr	string	Trigger string
vision	userCoordNum	int	Hand-eye calibration user coordinate system
-	visionNum	int	Process number, starting from 0

Query Vision Parameters

0x4102 VISION_PARAMETER_INQUIRE

json

{
  "robot": 1,
  "visionNum": 1
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number, starting from 0

Return Vision Parameter Query Result

0x4103 VISION_PARAMETER_RESPOND

json

{
  "cameraList": {
    "currentName": "customize",
    "listNum": 0
  },
  "protocol": {
    "addDataInitialPara": "GD002",
    "addDataNum": 4,
    "angleUnit": 1,
    "endMark": "*",
    "failFlag": "N",
    "frameHeader": "#",
    "hasTCS": true,
    "hasUCS": true,
    "separator": ".",
    "singleTarget": true,
    "successFlag": "OK",
    "timeOut": 31,
    "type": 2
  },
  "socket": {
    "IP": "192.168.1.14",
    "camera_data_type": 1,
    "portNum": 2,
    "portOne": 5052,
    "portTwo": 5051,
    "server": false
  },
  "trigger": {
    "IOPort": 2,
    "duration": 100,
    "intervals": 35,
    "triggerMode": 2,
    "triggerOnce": false,
    "triggerStr": "TG"
  },
  "userCoordNum": 100
}

Return Parameter Description:

Parameter Category	Parameter Name	Type	Description
cameraList	currentName	string	Current camera name
cameraList	listNum	int	Default value configuration
protocol	(Same as set)	-	Protocol parameters, see above
socket	(Same as set)	-	Socket parameters, see above
trigger	(Same as set)	-	Trigger parameters, see above
-	userCoordNum	int	User coordinate system number

Vision Position Parameter Setting

0x4104 VISION_POS_PARAMETER_SET

json

{
  "position": {
    "angleDirection": 1,
    "cameraPoint": [0.0, 0.0, 100.0, 0.0, 0.0, 0.0],
    "datumPoint": [0.0, 0.0, 0.0, 3.140, 0.0, 0.0, 0.0],
    "excursion": {
      "Xexcursion": 1.0,
      "Yexcursion": 2.0,
      "Zexcursion": 3.0,
      "angle": 4.0
    },
    "recvPointsType": 0,
    "scale": 1.0
  },
  "robot": 1,
  "visionNum": 0
}

Parameter Description:

Parameter Category	Parameter Name	Type	Description
position	angleDirection	int	Angle direction, 1 or -1
position	cameraPoint	array	First value X, second value Y, third value height, fourth value angle. If parameter type is 2D or 2D+H, stores a 4-element array [x,y,H,angle]. If 3D, stores a 6-element array [x,y,z,a,b,c].
position	datumPoint	array	Datum point x,y,z,a,b,c
position.excursion	Xexcursion	float	X direction offset
position.excursion	Yexcursion	float	Y direction offset
position.excursion	Zexcursion	float	Z direction offset
position.excursion	angle	float	Angle offset
position	recvPointsType	int	Received position type: 0: Point, 1: Trajectory
position	scale	float	Scale factor
-	robot	int	Robot number
-	visionNum	int	Process number, starting from 0

Vision Position Parameter Query

0x4105 VISION_POS_PARAMETER_INQUIRE

json

{
  "robot": 1,
  "visionNum": 1
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number, starting from 0

Return 0x4105 Query Result

0x4106 VISION_POS_PARAMETER_RESPOND

Same as: 0x4104

Query Vision Debug Point List

0x4107 VISION_DEBUGGING_POS_INQUIRE

json

{
  "robot": 1,
  "visionNum": 1,
  "conveyorNum": 1
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number, starting from 0
conveyorNum	int	Conveyor process number, starting from 1

Return Vision Debug Point List

0x4108 VISION_DEBUGGING_POS_RESPOND

json

{
  "robot": 1,
  "visionNum": 1,
  "originPos": [
    {"X": 0.0, "Y": 0.0, "Z": 0.0, "angle": 0.0},
    {"X": 0.0, "Y": 0.0, "Z": 0.0, "angle": 0.0},
    {"X": 0.0, "Y": 0.0, "Z": 0.0, "angle": 0.0}
  ],
  "currentPos": [
    {"X": 0.0, "Y": 0.0, "Z": 0.0, "angle": 0.0},
    {"X": 0.0, "Y": 0.0, "Z": 0.0, "angle": 0.0},
    {"X": 0.0, "Y": 0.0, "Z": 0.0, "angle": 0.0}
  ]
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number, starting from 0
originPos	array	Original position list
currentPos	array	Current position list

Clear Vision Debug Point List

0x4109 VISION_DEBUGGING_POS_CLEAR

json

{
  "robot": 1,
  "visionNum": 1
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number, starting from 0

Take Photo

0x410A VISION_DEBUGGING_TAKE_PICTURE

Power must be enabled before taking a photo

json

{
  "robot": 1,
  "visionNum": 0
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number

Calculate Offset

0x410B VISION_DEBUGGING_CALCULATE

Returns 0x4108

json

{
  "robot": 1,
  "visionNum": 0,
  "conveyorNum": 1
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number
conveyorNum	int	Conveyor process number

Move to This Point

0x410C VISION_DEBUGGING_POS_MOVE

json

{
  "robot": 1,
  "visionNum": 1,
  "type": 1,
  "posNum": 1
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number
type	int	0: Trial photo point, 1: Position adjustment point, 2: Grab posture datum point
posNum	int	Point number, 1-20

Calibrate Grab Posture

0x4110 VISION_GESTURE_CALIBRATION_SET

After calibration, use 0x4104 to write again

json

{
  "robot": 1,
  "visionNum": 1
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number

Return Calibration Result

0x4111 VISION_GESTURE_CALIBRATION_RESPOND

json

{
  "datumPoint": [0, 0, 0, 0, 0, 0],
  "datumPointDeg": [0, 0, 0, 0, 0, 0]
}

Parameter Name	Type	Description
datumPoint	array	Datum point in radians
datumPointDeg	array	Datum point in degrees

Clear Grab Posture Calibration

0x4116 VISION_GESTURE_CALIBRATION_CLEAR

After clearing, use 0x4104 to write again

json

{
  "robot": 1,
  "visionNum": 1
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number

Trial Photo

0x4112 VISION_TRY_TAKE_PICTURE

json

{
  "visionNum": 1,
  "robot": 1
}

Parameter Name	Type	Description
visionNum	int	Process number
robot	int	Robot number

Return Photo Result

0x4113 VISION_TAKE_PICTURE_RESPOND

json

{
  "cameraData": "",
  "cameraPoint": [0, 0, 0, 0, 0, 0]
}

Parameter Name	Type	Description
cameraData	string	Camera data
cameraPoint	array	Camera point. 6 values for 3D camera, otherwise 4

Vision IP Parameter Query

0x4114 VISION_IPPARAM_INQUIRE

json

{
  "visionNum": 1,
  "robot": 1,
  "server": true
}

Parameter Name	Type	Description
visionNum	int	Process number
robot	int	Robot number
server	bool	true: Server, false: Client

Return 0x4114 Query Result

0x4115 VISION_IPPARAM_RESPOND

json

{
  "visionNum": 1,
  "robot": 1,
  "server": true,
  "IP": "192.168.1.120"
}

Parameter Name	Type	Description
visionNum	int	Process number
robot	int	Robot number
server	bool	true: Server, false: Client
IP	string	IP address

Vision Calibration Parameter Setting

0x4117 VISION_CALIBRATION_PARAM_SET

json

{
  "robot": 1,
  "visionNum": 1,
  "calibration": {
    "point_num": 9,
    "calibrated": false,
    "point": [
      {
        "pixel_pos": [1, 2, 3, 4, 5, 6, 7],
        "robot_pos": [1, 2, 3, 4, 5, 6, 7]
      },
      {
        "pixel_pos": [1, 2, 3, 4, 5, 6, 7],
        "robot_pos": [1, 2, 3, 4, 5, 6, 7]
      }
    ]
  }
}

Parameter Description:

Parameter Category	Parameter Name	Type	Description
-	robot	int	Robot number
-	visionNum	int	Process number
calibration	point_num	int	Number of calibration points
calibration	calibrated	bool	Whether calibrated
calibration.point	pixel_pos	array	Pixel coordinates
calibration.point	robot_pos	array	Robot coordinates

Vision Calibration Parameter Query

0x4118 VISION_CALIBRATION_PARAM_INQUIRE

json

{
  "robot": 1,
  "visionNum": 1
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number

Return 0x4118 Query Result

0x4119 VISION_CALIBRATION_PARAM_RESPOND

json

{
  "calibration": {
    "calibrated": false,
    "point": [
      {
        "pixel_pos": [0, 0, 0, 0, 0, 0, 0],
        "pixel_pos_deg": [0, 0, 0, 0, 0, 0, 0],
        "robot_pos": [0, 0, 0, 0, 0, 0, 0],
        "robot_pos_deg": [0, 0, 0, 0, 0, 0, 0]
      }
    ],
    "point_num": 6
  },
  "robot": 1,
  "visionNum": 0
}

Return Parameter Description:

Parameter Category	Parameter Name	Type	Description
calibration	calibrated	bool	Whether calibrated
calibration	point_num	int	Number of calibration points
calibration.point	pixel_pos	array	Pixel coordinates in radians
calibration.point	pixel_pos_deg	array	Pixel coordinates in degrees
calibration.point	robot_pos	array	Robot coordinates in radians
calibration.point	robot_pos_deg	array	Robot coordinates in degrees
-	robot	int	Robot number
-	visionNum	int	Process number

Mark This Point for Calibration

0x411A VISION_CALIBRATION_MARK_POINT

json

{
  "robot": 1,
  "visionNum": 1,
  "point_num": 1
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number
point_num	int	Calibration point number

Return Response Data for Marking Calibration Point

0x411B VISION_CALIBRATION_MARK_RESPOND

json

{
  "robot": 1,
  "visionNum": 0,
  "point_num": 1,
  "pixel_pos": [1, 2, 3, 4, 5, 6, 7],
  "robot_pos": [1, 2, 3, 4, 5, 6, 7],
  "pixel_pos_deg": [1, 2, 3, 40, 50, 60, 7],
  "robot_pos_deg": [1, 2, 3, 40, 50, 60, 7]
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Vision process number
point_num	int	Calibration point number
pixel_pos	array	Pixel coordinates
robot_pos	array	Robot coordinates
pixel_pos_deg	array	Pixel coordinates in degrees
robot_pos_deg	array	Robot coordinates in degrees

Move to This Point

0x411C VISION_CALIBRATION_MOVE_TO_POINT

json

{
  "robot": 1,
  "visionNum": 1,
  "point_num": 1
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number
point_num	int	Calibration point number

Clear This Point Data

0x411D VISION_CALIBRATION_REMOVE_POINT

json

{
  "robot": 1,
  "visionNum": 1,
  "point_num": 1
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number
point_num	int	Calibration point number

Auto Calibration Run and Calculate

0x411E VISION_CALIBRATION_AUTO_RUN_AND_CALCULATION

json

{
  "robot": 1,
  "visionNum": 1,
  "caculate_type": 0
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number
caculate_type	int	0: Eye-in-hand

Auto Calibration: Return Pixel Coordinates

0x4120 VISION_CALIBRATION_CAMERA_DATA_RESPOND

json

{
  "robot": 1,
  "visionNum": 1,
  "point_num": 1,
  "pixel_pos": [1, 2, 3, 4, 5, 6, 7],
  "pixel_pos_deg": [1, 2, 3, 40, 50, 60, 7]
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number
point_num	int	Point number
pixel_pos	array	Pixel coordinates
pixel_pos_deg	array	Pixel coordinates in degrees

Calibration Calculation Result

0x4121 VISION_CALIBRATION_CALC_RESPOND

json

{
  "robot": 1,
  "visionNum": 1,
  "result": false
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number
result	bool	true: Success, false: Error

Cancel Auto Calibration

0x4122 VISION_CALIBRATION_CANCEL_CALCULATION

json

{
  "robot": 1,
  "visionNum": 1
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number

Set Vision Range

0x3F04 VISION_RANGE_SET

json

{
  "robot": 1,
  "visionNum": 0,
  "visionRange": {
    "maxX": "0",
    "maxY": "1.1",
    "maxZ": "222",
    "minX": "0.003",
    "minY": "0",
    "minZ": "0"
  }
}

Parameter Description:

Parameter Name	Type	Description
robot	int	Robot number, 1~4
visionNum	int	Process number, 0~8
visionRange.maxX	string	X maximum, empty string "" if not set
visionRange.maxY	string	Y maximum
visionRange.maxZ	string	Z maximum
visionRange.minX	string	X minimum
visionRange.minY	string	Y minimum
visionRange.minZ	string	Z minimum

Query Vision Range

0x3F05 VISION_RANGE_INQUIRE

json

{
  "robot": 1,
  "visionNum": 0
}

Parameter Name	Type	Description
robot	int	Robot number
visionNum	int	Process number

Return Vision Range Query Result

0x3F06 VISION_RANGE_RESPOND

json

{
  "maxX": "",
  "maxY": "1.1",
  "maxZ": "222",
  "minX": "0.003",
  "minY": "0",
  "minZ": "0"
}

Parameter Name	Type	Description
maxX	string	X maximum, empty string "" if not set
maxY	string	Y maximum
maxZ	string	Z maximum
minX	string	X minimum
minY	string	Y minimum
minZ	string	Z minimum

Position Calibration Protocol

0x4128 VISION_RANGE_CALIBRATION_POS_INQUIRE

json

{
  "robotid": 1,
  "craftid": 0
}

Parameter Name	Type	Description
robotid	int	Robot number, 1~4
craftid	int	Process number, 0~99

Response to 0x4128

0x4129 VISION_RANGE_CALIBRATION_POS_RESPOND

json

{
  "robotid": 1,
  "craftid": 0,
  "pos": [0, 0, 0, 0, 0, 0, 0]
}

Parameter Name	Type	Description
robotid	int	Robot number
craftid	int	Process number
pos	array	Current position

#########################Below: Not available in 2207 version#############################

Save Calibration Result

Save the tool hand result of the 2nd type of auto calibration

0x4123 VISION_CALIBRATION_SAVE_RESULT

json

{
  "robot": 1,
  "tool_num": 1,
  "tool_hand": [0, 0, 0, 0, 0, 0]
}

Parameter Name	Type	Description
robot	int	Robot number
tool_num	int	Tool number
tool_hand	array	Tool hand data

Hand-Eye Calibration: Calculate Transformation Matrix from Socket Data

0x4124 VISION_CALIBRATION_CALCULATE_BY_SOCKET_DATA

json

{
  "robot": 1,
  "vision_num": 1,
  "calculation_type": 0,
  "base_robot_pos": [0, 0, 0, 0, 0, 0],
  "mark_pos": [
    {
      "robot_pos": [0, 0, 0, 0, 0, 0],
      "camera_pos": [0, 0, 0, 0, 0, 0]
    }
  ]
}

Parameter Description:

Parameter Category	Parameter Name	Type	Description
-	robot	int	Robot number
-	vision_num	int	Process number, starting from 0
-	calculation_type	int	0: Eye-in-hand fixed posture hand-eye calibration 1: Eye-in-hand variable posture hand-eye calibration 2: Eye-to-hand hand-eye calibration
-	base_robot_pos	array	Cartesian coordinates
mark_pos	robot_pos	array	Cartesian coordinates
mark_pos	camera_pos	array	Camera coordinates

Vision Calibration Result Response

0x4125 VISION_CALIBRATION_CALCULATE_BY_SOCKET_DATA_RESPOND

json

{
  "robot": 1,
  "vision_num": 1,
  "result": true,
  "matrix": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
}

Parameter Name	Type	Description
robot	int	Robot number
vision_num	int	Process number, starting from 0
result	bool	true: Success, false: Error
matrix	array	Transformation matrix

01.Custom-Instructions

01.Teach-Pendant-Impl

02.Controller-Impl

01.Getting-Started

03.API-Examples

01.Basic

02.Advanced

01.Getting-Started

02.API-Examples

01.Getting-Started

02.API-Examples

01.Basic

02.Advanced

02.Port-6000-Communication

01.Motion-Control

02.State-Control

03.Processes

06.Laser-Cutting

04.Job-Files

05.External-Control

06.Others

01.System

02.Robot

01.Parameters

03.Program

02.Instruction-CRUD

04.Peripherals-Communication

05.Processes

Vision Process ​

Set Vision Parameters ​

Query Vision Parameters ​

Return Vision Parameter Query Result ​

Vision Position Parameter Setting ​

Vision Position Parameter Query ​

Return 0x4105 Query Result ​

Query Vision Debug Point List ​

Return Vision Debug Point List ​

Clear Vision Debug Point List ​

Take Photo ​

Calculate Offset ​

Move to This Point ​

Calibrate Grab Posture ​

Return Calibration Result ​

Clear Grab Posture Calibration ​

Trial Photo ​

Return Photo Result ​

Vision IP Parameter Query ​

Return 0x4114 Query Result ​

Vision Calibration Parameter Setting ​

Vision Calibration Parameter Query ​

Return 0x4118 Query Result ​

Mark This Point for Calibration ​

Return Response Data for Marking Calibration Point ​

Move to This Point ​

Clear This Point Data ​

Auto Calibration Run and Calculate ​

Auto Calibration: Return Pixel Coordinates ​

Calibration Calculation Result ​

Cancel Auto Calibration ​

Set Vision Range ​

Query Vision Range ​

Return Vision Range Query Result ​

Position Calibration Protocol ​

Response to 0x4128 ​

Save Calibration Result ​

Hand-Eye Calibration: Calculate Transformation Matrix from Socket Data ​

Vision Calibration Result Response ​

Vision Process

Set Vision Parameters

Query Vision Parameters

Return Vision Parameter Query Result

Vision Position Parameter Setting

Vision Position Parameter Query

Return 0x4105 Query Result

Query Vision Debug Point List

Return Vision Debug Point List

Clear Vision Debug Point List

Take Photo

Calculate Offset

Move to This Point

Calibrate Grab Posture

Return Calibration Result

Clear Grab Posture Calibration

Trial Photo

Return Photo Result

Vision IP Parameter Query

Return 0x4114 Query Result

Vision Calibration Parameter Setting

Vision Calibration Parameter Query

Return 0x4118 Query Result

Mark This Point for Calibration

Return Response Data for Marking Calibration Point

Move to This Point

Clear This Point Data

Auto Calibration Run and Calculate

Auto Calibration: Return Pixel Coordinates

Calibration Calculation Result

Cancel Auto Calibration

Set Vision Range

Query Vision Range

Return Vision Range Query Result

Position Calibration Protocol

Response to 0x4128

Save Calibration Result

Hand-Eye Calibration: Calculate Transformation Matrix from Socket Data

Vision Calibration Result Response