Hanwha HCR-5, User Manual

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Chapter 12 Device Settings
172
12.2 Using a Vision System
You can register the vision to be linked to the robot and configure necessary settings.
In the main menu, press
Device Setting
>
Vision System
.
To interwork with the vision, the following two steps are required.

Vision System Setting
- Communication Setting: To send and receive data to and from the vision
system, data is exchanged via TCP/IP communication. The vision system
should be set up to use TCP/IP communication.
- Exchange Data Format (Protocol) Setting: To exchange data with the robot
system, the type and format of the data sent from the vision system should be
set as follows.

Data Communication Protocol
The data format consists of a string, which is set up to be transmitted by the
vision system in the following conventions.
TJG : Result value from object recognition in the vision. 1(Success) or 0(Fail)
X : X coordinate value of object recognized by the vision
Y : Y coordinate value of object recognized by the vision
TH
: Rotation theta value of object recognized by the vision
CR, LF : Separator for the end of data
Comma(,)
: Separator for each item
TJG , X , Y , TH CR LF