Instructions - Vision Commands

Vision Start

Description: After executing the vision start instruction, the controller connects to the camera.

Instruction Name: VISION_RUN

Parameter	Type	Required	Description
ID	int	Yes	Process number, value range [1,99]
logout	bool	Yes	Whether commented out: true=the instruction will not be executed in the job file; false=not commented out, executable
type	int	Yes	VISION_RUN is 79 in the enum type list
userParamInt	int	No	Customer-defined for secondary development, currently meaningless
userParamString	string	No	Customer-defined for secondary development, currently meaningless

JSON Example:

{
  "ID": 14,
  "logout": false,
  "type": 79,
  "userParamInt": 0,
  "userParamString": ""
}

---

Vision Trigger

Description: After executing the vision trigger instruction, it waits for the return value (position data sent) from the vision server. After receiving the position data, it continues to execute the next instruction.

Instruction Name: VISION_TRG

Parameter	Type	Required	Description
ID	int	Yes	Process number, value range [1,99]
logout	bool	Yes	Whether commented out: true=the instruction will not be executed in the job file; false=not commented out, executable
type	int	Yes	VISION_TRG is 80 in the enum type list
userParamInt	int	No	Customer-defined for secondary development, currently meaningless
userParamString	string	No	Customer-defined for secondary development, currently meaningless

JSON Example:

{
  "ID": 23,
  "logout": false,
  "type": 80,
  "userParamInt": 0,
  "userParamString": ""
}

---

Get Vision Position Count

Description: Records the number of points sent by the camera and stores the point count into the selected variable.

Instruction Name: VISION_POSNUM

Parameter	Type	Required	Description
ID	int	Yes	Process number, value range [1,99]
M_STRPOSNUM	object	Yes	Global numeric variable, global int variable or bound variable, value range [1,990]
logout	bool	Yes	Whether commented out: true=the instruction will not be executed in the job file; false=not commented out, executable
type	int	Yes	VISION_POSNUM is 81 in the enum type list
userParamInt	int	No	Customer-defined for secondary development, currently meaningless
userParamString	string	No	Customer-defined for secondary development, currently meaningless

M_STRPOSNUM Structure:

{"data": 0.0, "secondvalue": 1, "value": 4, "varname": "GI[GI001]"}

JSON Example:

{
  "ID": 31,
  "M_STRPOSNUM": {"data": 0.0, "secondvalue": 1, "value": 4, "varname": "GI[GI001]"},
  "logout": false,
  "type": 81,
  "userParamInt": 0,
  "userParamString": ""
}

---

Get Vision Position

Description: Executing this instruction stores the point information sent by the camera into a variable.

Instruction Name: VISION_POS

Parameter	Type	Required	Description
ID	int	Yes	Process number, value range [1,99]
dataVariable	object	Yes	First additional numeric variable, global int variable or bound variable, value range [1,990]
logout	bool	Yes	Whether commented out: true=the instruction will not be executed in the job file; false=not commented out, executable
posidname	string	No	Point variable name, e.g. "GP$GI001"
posidtype	int	No	Whether the posidname node is a bound point or a point: 0=point; 1=bound point
type	int	Yes	VISION_POS is 82 in the enum type list
userParamInt	int	No	Customer-defined for secondary development, currently meaningless
userParamString	string	No	Customer-defined for secondary development, currently meaningless

dataVariable Structure:

{"data": 0.0, "secondvalue": 1, "value": 9, "varname": "GS[I001]"}

JSON Example:

{
  "ID": 38,
  "dataVariable": {"data": 0.0, "secondvalue": 1, "value": 9, "varname": "GS[I001]"},
  "logout": false,
  "posidname": "GP$GI001",
  "posidtype": 1,
  "type": 82,
  "userParamInt": 0,
  "userParamString": ""
}

---

Clear Vision Position Information

Description: Clears the point information sent by the camera in the current process number.

Instruction Name: VISION_CLEAR

Parameter	Type	Required	Description
ID	int	Yes	Process number, value range [1,99]
logout	bool	Yes	Whether commented out: true=the instruction will not be executed in the job file; false=not commented out, executable
type	int	Yes	VISION_CLEAR is 83 in the enum type list
userParamInt	int	No	Customer-defined for secondary development, currently meaningless
userParamString	string	No	Customer-defined for secondary development, currently meaningless

JSON Example:

{
  "ID": 17,
  "logout": false,
  "type": 83,
  "userParamInt": 0,
  "userParamString": ""
}

---

Vision End

Description: Ends the vision process, the controller disconnects from the camera.

Instruction Name: VISION_END

Parameter	Type	Required	Description
ID	int	Yes	Process number, value range [1,99]
logout	bool	Yes	Whether commented out: true=the instruction will not be executed in the job file; false=not commented out, executable
type	int	Yes	VISION_END is 84 in the enum type list
userParamInt	int	No	Customer-defined for secondary development, currently meaningless
userParamString	string	No	Customer-defined for secondary development, currently meaningless

JSON Example:

{
  "ID": 1,
  "logout": false,
  "type": 84,
  "userParamInt": 0,
  "userParamString": ""
}

---

Get Vision Trajectory Position

Description: When the camera sends multiple points, different point storage methods can be selected to execute the trajectory.

Instruction Name: VISION_TRACE

Parameter	Type	Required	Description
ID	int	Yes	Process number, value range [1,99]
M_POINTSTORAGENUM	object	Yes	Point storage count, int type global or local variable or bound variable
dataVariable	object	No	First additional data variable, int/double/string type global or local variable or bound variable; when not in use: {"data":0.0,"secondvalue":0,"value":0,"varname":""}
logout	bool	Yes	Whether commented out: true=the instruction will not be executed in the job file; false=not commented out, executable
pointStoragePosType	int	Yes	Point storage location: 0=external point queue; 1=variable
posidname	string	Yes	First variable for point storage, global or local point variable or bound variable
posidtype	int	Yes	Whether the posidname node is a bound point or a point: 0=point; 1=bound point
type	int	Yes	VISION_TRACE is 236 in the enum type list
userParamInt	int	No	Customer-defined for secondary development, currently meaningless
userParamString	string	No	Customer-defined for secondary development, currently meaningless

JSON Example:

{
  "ID": 17,
  "M_POINTSTORAGENUM": {"data": 0.0, "secondvalue": 1, "value": 4, "varname": "GI[GI001]"},
  "dataVariable": {"data": 0.0, "secondvalue": 1, "value": 9, "varname": "GS[GI001]"},
  "logout": false,
  "pointStoragePosType": 1,
  "posidname": "P$GI001",
  "posidtype": 1,
  "type": 236,
  "userParamInt": 0,
  "userParamString": ""
}

---

On-Fly Start

Description: When the robot tool moves past the photo point, it quickly triggers the camera to take a photo. During the photo process, the object or camera is in motion.

Instruction Name: ONFLY_INIT

Parameter	Type	Required	Description
Delay	object	Yes	Record coordinate delay, global or local double type manually entered value or int/double type variable or bound variable, value range [0,1000]
axisNum	object	No	Axis, string type manually entered value or int type global or local variable or bound variable
_posIdType	int	Yes	Whether the phonePos node is a point variable or bound point variable: 0=point variable; 1=bound point variable
IOPort	object	No	IO port, int type or bound variable type, value range [1,1000]
IOValue	object	No	Port value, bool type manually entered value or variable or bound variable
cameraTriggerDelayTime	object	Yes	Camera trigger delay, double type manually entered value or int type, value range [0,1000]
craftID	object	Yes	Process number, int type, value range [1,99]
logout	bool	Yes	Whether commented out: true=the instruction will not be executed in the job file; false=not commented out, executable
triggerAngleSpacing	object	No	Trigger angle spacing, double type manually entered value or int/double type global or local variable or bound variable, value range [-360,360]
triggerCount	object	No	Trigger count, int type manually entered value or global or local bound variable or variable, value range [0,10]; when not in use: {"data":0.0,"secondvalue":0,"value":1,"varname":"[-]"}
triggerStartPos	object	No	Trigger start position, double type manually entered value or global or local int/double type variable or bound variable
phonePos	string	Yes	Photo point, string type, global or local P point or E point variable or bound variable
radius	object	Yes	Photo point range radius, value range [0.001,1000]
type	int	Yes	ONFLY_INIT is 239 in the enum type list
userParamInt	int	No	Customer-defined for secondary development, currently meaningless
userParamString	string	No	Customer-defined for secondary development, currently meaningless
visionCraftID	object	No	Vision process number

When triggerType=0

{
  "Delay": {"data": 0.0, "secondvalue": 1, "value": 4, "varname": "GI[GI001]"},
  "_posIdType": 1,
  "cameraTriggerDelayTime": {"data": 0.0, "secondvalue": 1, "value": 5, "varname": "GD[I001]"},
  "craftID": {"data": 0.0, "secondvalue": 0, "value": 1, "varname": "I001"},
  "logout": false,
  "phonePos": "P$GI001",
  "radius": {"data": 0.0, "secondvalue": 1, "value": 4, "varname": "GI[I001]"},
  "triggerType": 0,
  "type": 239,
  "userParamInt": 0,
  "userParamString": "",
  "visionCraftID": {"data": 0.0, "secondvalue": 1, "value": 1, "varname": "I[GI001]"}
}

When triggerType=1

{
  "Delay": {"data": 0.0, "secondvalue": 1, "value": 4, "varname": "GI[GI001]"},
  "IOPort": {"data": 0.0, "secondvalue": 0, "value": 1, "varname": "DIN[I003]"},
  "IOValue": {"data": 0.0, "secondvalue": 1, "value": 6, "varname": "GB[I001]"},
  "cameraTriggerDelayTime": {"data": 0.0, "secondvalue": 1, "value": 5, "varname": "GD[I001]"},
  "craftID": {"data": 0.0, "secondvalue": 0, "value": 1, "varname": "I001"},
  "logout": false,
  "triggerType": 1,
  "type": 239,
  "userParamInt": 0,
  "userParamString": "",
  "visionCraftID": {"data": 0.0, "secondvalue": 1, "value": 1, "varname": "I[GI001]"}
}

When triggerType=2

{
  "Delay": {"data": 0.0, "secondvalue": 1, "value": 4, "varname": "GI[GI001]"},
  "axisNum": {"data": 0.0, "secondvalue": 0, "value": 7, "varname": "J6"},
  "cameraTriggerDelayTime": {"data": 0.0, "secondvalue": 1, "value": 5, "varname": "GD[I001]"},
  "craftID": {"data": 0.0, "secondvalue": 0, "value": 1, "varname": "I001"},
  "logout": false,
  "triggerAngleSpacing": {"data": 0.0, "secondvalue": 1, "value": 5, "varname": "GD[GI001]"},
  "triggerCount": {"data": 0.0, "secondvalue": 1, "value": 1, "varname": "I[I001]"},
  "triggerStartPos": {"data": 0.0, "secondvalue": 0, "value": 1, "varname": "I003"},
  "triggerType": 2,
  "type": 239,
  "userParamInt": 0,
  "userParamString": "",
  "visionCraftID": {"data": 0.0, "secondvalue": 1, "value": 1, "varname": "I[GI001]"}
}

---

On-Fly End

Description: Ends the vision process, the controller disconnects from the camera.

Instruction Name: VISION_END

Parameter	Type	Required	Description
craftID	object	Yes	Process number, int type, value range [1,99]
logout	bool	Yes	Whether commented out: true=the instruction will not be executed in the job file; false=not commented out, executable
type	int	Yes	VISION_END is 240 in the enum type list
userParamInt	int	No	Customer-defined for secondary development, currently meaningless
userParamString	string	No	Customer-defined for secondary development, currently meaningless

JSON Example:

{
  "craftID": {"data": 0.0, "secondvalue": 0, "value": 4, "varname": "GI006"},
  "logout": false,
  "type": 240,
  "userParamInt": 0,
  "userParamString": ""
}

---

Get On-Fly Status

Description: Gets whether the on-fly task is enabled and stores the obtained status into the selected variable.

Instruction Name: ONFLY_GET_STATUS

Parameter	Type	Required	Description
Result	object	Yes	Result, global or local bool variable or local variable
craftID	object	Yes	Process number, int type manually entered value or global or local variable or bound variable, value range [1,99]
logout	bool	Yes	Whether commented out: true=the instruction will not be executed in the job file; false=not commented out, executable
type	int	Yes	ONFLY_GET_STATUS is 241 in the enum type list
userParamInt	int	No	Customer-defined for secondary development, currently meaningless
userParamString	string	No	Customer-defined for secondary development, currently meaningless

JSON Example:

{
  "Result": {"data": 0.0, "secondvalue": 0, "value": 6, "varname": "GB001"},
  "craftID": {"data": 0.0, "secondvalue": 1, "value": 4, "varname": "GI[GI001]"},
  "logout": false,
  "type": 241,
  "userParamInt": 0,
  "userParamString": ""
}

---

On-Fly Calculate Tool

Description: On-fly calculate tool is used when the robot arm grips the workpiece and there may be an eccentric position, and the workpiece has a rotation angle. By calculating and switching to a new tool, the workpiece center is placed at the loading position point without eccentricity or rotation.

Instruction Name: ONFLY_CALC_TOOL

Parameter	Type	Required	Description
craftID	object	Yes	Process number, int type manually entered value or global or local variable or bound variable, value range [1,99]
grabTool	object	Yes	Gripping tool, int type manually entered value or global or local variable or bound variable, value range [1,999]
logout	bool	Yes	Whether commented out: true=the instruction will not be executed in the job file; false=not commented out, executable
newTool	object	Yes	New tool, int type manually entered value or global or local variable or bound variable, value range [1,999]
type	int	Yes	ONFLY_CALC_TOOL is 242 in the enum type list
userParamInt	int	No	Customer-defined for secondary development, currently meaningless
userParamString	string	No	Customer-defined for secondary development, currently meaningless

JSON Example:

{
  "craftID": {"data": 0.0, "secondvalue": 1, "value": 4, "varname": "GI[GI001]"},
  "grabTool": {"data": 0.0, "secondvalue": 1, "value": 1, "varname": "I[GI001]"},
  "logout": false,
  "newTool": {"data": 0.0, "secondvalue": 1, "value": 4, "varname": "GI[I006]"},
  "type": 242,
  "userParamInt": 0,
  "userParamString": ""
}