Vision Process

Trial Capture (0x8125)

Description: Upper computer sends, trial capture

Command: 0x8125

Request Parameters

Parameter	Type	Required	Description	Value Range
cali_camera_angle	bool	Yes	Whether to record workpiece rotation angle	true: Record, false: Do not record
robot	int	Yes	Current robot	[1, 4]
visionNum	int	Yes	Process number	[0, 98]

Request Example

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

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Capture Result (0x8126)

Description: Controller returns capture result

Command: 0x8126

Response Parameters

Parameter	Type	Required	Description	Value Range
cameraPoint	double[6]	Yes	Camera coordinate point	-
protocol.type	int	Yes	Data parsing type	0: 2D, 1: 2D + height, 2: 3D
camera_angle	double	Yes	Workpiece rotation angle	[-180, 180]
cameraData	string	Yes	Received data	-

Response Example

{
  "cameraPoint": [0, 0, 0, 0, 0, 0],
  "protocol":
  {
    "type": 0
  },
  "camera_angle": 0,
  "cameraData": ""
}