Robot API for VGR

The VGRProcessCommand provides a communication interface between the motion system and the vision system. The VGRProcessCommand takes a command string as an input, and returns a response string as an output.

Command Structure

Each VGR command is an ASCII string that consists of the command and arguments, separated by comma. The basic command structure is the following:

Command,[Argument0,Argument1,…,Argument n]

The commands conform to the following rules:

• The command string is case-insensitive.
• The spaces between arguments are ignored.
• If extra arguments are added to a command string, no error is returned and the excess arguments are ignored.

The vision system returns an ASCII response string. The response contains the original command, the status, and result values in a comma-separated list. The basic response structure is the following:

Command,Status,[Result 1,Result 2,…,Result n]

By default, both the command string and the result string are terminated by a sequence of CR and LF characters.