Hi, 

we would like to replace our current UR vision hardware system (poe ethernet industrial camera and light ring) to wrist camera. Currently, we use Halcon software to process the image (pictures, not video).

is it possible to access to the wrist camera full resolution image (5Mpx) from an external PC system via ethernet or any other bus? If not, do you plan to include this feature in the future? 

Thanks,
Regards

You can have a look at the following post to know how to access camera image from outside:
https://dof.robotiq.com/discussion/275/wrist-camera-live-image#latest

Here is also a post with a python program to visualize camera image:
https://dof.robotiq.com/discussion/2215/python-gui-to-visualize-the-image-of-a-robotiq-wrist-camera-connected-on-a-ur-robot#latest

As fare as know there is no way to get 5Mpx image from the camera via ethernet.

It is possible to save a 5Mpx image on the robot.

To do that you need to place a bare code reading node followed by a image saving node.

The camera use a 5Mpx image to read bare code and the save node save the latest image taken by the camera.

You can access the saved image via FTP if needed.