7. FRCap case
7.1. FAIRINO Palletizer
It can be used after uploading the “Palletizer.plugin” under the build folder in the project to the WebApp and registering it.
Figure 7-1 Use of FRCap for palletizing
7.1.1. Palletizing workpiece configuration
Command name: palletizing_config_box.
Command parameters:
1/**
2* @param int length piece length
3* @param int width workpiece speed
4* @param int height Work piece height
5* @param int payload artifact payload
6* @param string grip_point workpiece grip point
7* /
Instruction example:
1{
2 cmd: "palletizing_config_box",
3 data: {
4 length: 800,
5 width: 615,
6 height: 312,
7 payload: 2.34,
8 grip_point: "grippoint"
9 }
10}
Command feedback:
1/**
2* @return status:200 "success"
3* @return status:404 "fail"
4*/
7.1.2. Palletizing pallet configuration
Command name: palletizing_config_pallet.
Command parameters:
1/**
2* @param int front tray front
3* @param int side tray side
4* @param int height Pallet height
5* @param int left_pallet left tray enabled
6* @param int right_pallet Right tray enabled
7*/
Instruction example:
1{
2 cmd: "palletizing_config_pallet",
3 data: {
4 front: 1200,
5 side: 1000,
6 height: 110,
7 left_pallet: 0,
8 right_pallet: 1
9 }
10}
Command feedback:
1/**
2* @return status:200 "success"
3* @return status:404 "fail"
4*/
7.1.3. Advanced palletizing configuration
Command name: palletizing_advanced_cfg.
Command parameters:
1/**
2* @param string height grab point lifting height
3* @param string x1 palletizing progressive point 1: x offset in x direction, unit mm
4* @param string y1 palletizing progressive point 1: y offset in x direction, unit mm
5* @param string z1 palletizing progressive point 1: z offset in x direction, unit mm
6* @param string x2 palletizing progressive point 2: x offset in x direction, unit mm
7* @param string y2 palletizing progressive point 2: y offset in x direction, unit mm
8* @param string z2 palletizing progressive point 2: z offset in x direction, unit mm
9* @param string time suction waiting time, unit ms
10*/
Instruction example:
1{
2 cmd: "palletizing_advanced_cfg",
3 data: {
4 height: "1000",
5 x1: "100",
6 y1: "100",
7 z1: "100",
8 x2: "10",
9 y2: "10",
10 z2: "10",
11 time: "1"
12 }
13}
Command feedback:
1/**
2* @return status:200 "success"
3* @return status:404 "fail"
4*/
7.1.4. Palletizing equipment size configuration
Command name: palletizing_config_device.
Command parameters:
1/**
2* @param int x absolute value of the upper right corner of the left pallet relative to the coordinate axis of the robot base coordinate system in the x direction
3* @param int y absolute value of the upper right corner of the left pallet relative to the coordinate axis of the robot base coordinate system in the y direction
4* @param int z absolute value of the upper right corner of the left pallet relative to the coordinate axis of the robot base coordinate system in the z direction
5* @param int angle angle when the robot is installed
6*/
Instruction example:
1{
2 cmd: "palletizing_config_device",
3 data: {
4 x: 2400,
5 y: 1800,
6 z: 120,
7 angle: 0
8 }
9}
Command feedback:
1/**
2* @return status:200 "success"
3* @return status:404 "fail"
4*/
7.1.5. Palletizing mode configuration
Command name: palletizing_config_pattern.
Command parameters:
1/**
2* @param int layers palletizing layers
3* @param int box_gap Workpiece pixel spacing, unit: mm
4* @param string sequence palletizing working mode
5* @param int pattern_b_enable Whether mode b is turned on, 1: turned on, 0: not turned on
6* @param string left_pattern_a Left station mode a Cartesian coordinates
7* @param string left_pattern_b Left station mode b Cartesian coordinates
8* @param string right_pattern_a Right station mode a Cartesian coordinates
9* @param string right_pattern_b Right station mode b Cartesian coordinates
10* @param string origin_pattern_a Initial mode a Cartesian coordinates
11* @param string origin_pattern_b Initial mode b Cartesian coordinates
12*/
Instruction example:
1{
2 cmd: "palletizing_config_pattern",
3 data: {
4 layers: 8,
5 box_gap: 0,
6 sequence: "a,b,a,b,a,b,a,b",
7 pattern_b_enable: 1,
8 left_pattern_a: "{\"1\": [[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3]]}",
9 "left_pattern_b": "{\"1\": [[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3]]}",
10 "right_pattern_a": "{\"1\": [[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3]]}",
11 "right_pattern_b": "{\"1\": [[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3]]}",
12 "origin_pattern_a": "[]",
13 "origin_pattern_b": "[]"
14 }
15}
Command feedback:
1/**
2* @return status:200 "success"
3* @return status:404 "fail"
4*/
7.1.6. Palletizing program generation
Command name: generate_palletizing_program.
Command parameters:
1/**
2* @param string palletizing_name name
3* @param string depalletizing_name Destacking name
4* @param string flag the palletizing or depalletizing program is generated, 0-not generated, 1 generated
5*/
Instruction example:
1{
2 cmd: "generate_palletizing_program",
3 data: {
4 palletizing_name: "palletizing_1",
5 depalletizing_name:"depalletizing_1",
6 flag:"[0,1]"
7 }
8}
Command feedback:
1/**
2* @return status:200 "success"
3* @return status:404 "fail"
4*/
7.1.7. Get palletizing recipe
Command name: get_palletizing_formula.
Command parameters:
1/**
2* @param string name palletizing recipe name
3*/
Instruction example:
1{
2 cmd: "get_palletizing_formula",
3 data: {
4 name: "palletizing_1"
5 }
6}
Command feedback:
1/**
2* @return status:200
3* @param object box_config artifact configuration
4* @param object pallet_config pallet configuration
5* @param object device_config Installation device location
6* @param object pattern_config Mode configuration
7* @param object program_config Procedural build configuration
8* @param object lefttransitionpoint left transition point
9* @param object righttransitionpoint Right transition point Cartesian coordinates
10* @param object advanced_config advanced configuration
11* @return status:404 "fail"
12*/
Instruction feedback case:
1{
2 "box_config": {
3 "flag": 1,
4 "length": 200,
5 "width": 400,
6 "height": 300,
7 "payload": 2.34,
8 "grip_point": "grippoint"
9 },
10 "pallet_config": {
11 "flag": 1,
12 "front": 1000,
13 "side": 1200,
14 "height": 110,
15 "left_pallet": 0,
16 "right_pallet": 1
17 },
18 "device_config": {
19 "flag": 1,
20 "x": 2400,
21 "y": 1800,
22 "z": 120,
23 "angle": 0
24 },
25 "pattern_config": {
26 "flag": 1,
27 "layers": 8,
28 "box_gap": 0,
29 "sequence": "a,b,a,b,a,b,a,b",
30 "pattern_b_enable": 1,
31 "left_pattern_a": "{\"1\": [[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3]]}",
32 "left_pattern_b": "{\"1\": [[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3]]}",
33 "right_pattern_a": "{\"1\": [[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3]]}",
34 "right_pattern_b": "{\"1\": [[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3],[1,2,3,0.1,0.2,0.3]]}",
35 "origin_pattern_a": "[]",
36 "origin_pattern_b": "[]"
37 },
38 "program_config": {
39 "palletizing_name": "palletizing_1",
40 "depalletizing_name":"depalletizing_1",
41 "flag":"[0,1]"
42 },
43 "lefttransitionpoint":{
44 "j1":"120",
45 "j2":"120",
46 "j3":"120",
47 "j4":"120",
48 "j5":"120",
49 "j6":"120"
50 },
51 "righttransitionpoint":{
52 "j1":"120",
53 "j2":"120",
54 "j3":"120",
55 "j4":"120",
56 "j5":"120",
57 "j6":"120"
58 },
59 "advanced_config":{
60 "height": "1000",
61 "x1": "100",
62 "y1": "100",
63 "z1": "100",
64 "x2": "10",
65 "y2": "10",
66 "z2": "10",
67 "time": "1"
68 }
69}
7.1.8. Get the list of existing formula names for palletizing
Command name: get_palletizing_formula_list.
Command parameters: None
Instruction example:
1{
2 cmd: "get_palletizing_formula_list"
3}
Command feedback:
1/**
2* @return status:200
3* @param Array ${name} palletizing name list
4* @return status:404 "fail"
5*/
Instruction feedback case:
1["palletizing1"]