🛰️Standard Communication Protocol (json version)

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Interface calling method

  • TCP Socket (Server), camera at the server level. Default port 5501;
  • Message content: Text format, supports ASCII code (JSON format is recommended).

Calling method description

  1. Robot (PLC) -- > Vision
{“action”: “3D”}
Trigger 3D visual work.
  1. Vision - > Robot (PLC)
Camera detection results in feedback, parameters:
Field name
Required
Explanation
result
Yes
Integer value, return detection status:0: Location failed, no result; Other values: Recognition successful, return N results
pos
Yes
X, Y, Z, RX, RY, RZ pose information of the measured object, robot arm coordinate system, unit millimeter, degree, -180 ° ≤ RZ ≤ 180 ° (detectionOn failure, the data is set to 0.
Example
Detection successful
{“result”:2,“pos”:[100,107.3,1530,179,89,89,112,432.1,1500,,179,89,75]}
Detection failed
{“result”:0,“pos”: [0,0,0,0,0,0]}
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