Conveyor Tracking with Vision System

Hello guys, 

I have an IRB1600 with DSQC377B, I want to have the robot to perform conveyor tracking with vision system upstream instead of using the sync switch. I plan to use socket communication between vision and robot to send over the coordinates. 

However I am getting confused on how the coordinates from vision system can be added to the tracking queue, and if there is any system parameters I need to change, or signals I need to simulate?

I'd really appreciate if anyone can give me some guidance for the key steps to realize this function.

Thank you very much, 
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