Doosan A0509 Installation Manual page 80

Format pos
 pos: Separator indicating the start of measurement data (prefix)
 x: X coordinate value of the object measured using vision sensor
 y: Y coordinate value of the object measured using vision sensor
 angle: Rotation angle value of the object measured using vision sensor
 var1...varN: Information measured using vision sensor (e.g., object dimension / defect check
value)
Example) pos,254.5,-38.1,45.3,1,50.1 (description: x=254.5, y=-38.1, angle=145.3, var1=1, var2=50.1)
Robot Program Setting

Once the physical communication connection between the vision sensor and robot is completed and
the vision sensor itself is set up, a program must be set up to allow the vision sensor and robot
program to be linked. The Doosan Robot Language (DRL) enables the connection, communication
and control of the external vision sensor, and it is possible to set up the program in Task Writer.
Details and comprehensive examples of Doosan Robot Language (DRL) external vision sensor
functions are provided in the programming manual.
Doosan Robotics Installation(A-Series) Manual v1.8
, x , y , angle , var1
80
, var2 , ...