top of page
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:
/**
* @param int length piece length
* @param int width workpiece speed
* @param int height Work piece height
* @param int payload artifact payload
* @param string grip_point workpiece grip point
* /
Instruction example:
{
cmd: "palletizing_config_box",
data: {
length: 800,
width: 615,
height: 312,
payload: 2.34,
grip_point: "grippoint"
}
}
Command feedback:
/**
* @return status:200 "success"
* @return status:404 "fail"
*/
7.1.2. Palletizing pallet configuration
Command name: palletizing_config_pallet.
Command parameters:
/**
* @param int front tray front
* @param int side tray side
* @param int height Pallet height
* @param int left_pallet left tray enabled
* @param int right_pallet Right tray enabled
*/
Instruction example:
{
cmd: "palletizing_config_pallet",
data: {
front: 1200,
side: 1000,
height: 110,
left_pallet: 0,
right_pallet: 1
}
}
Command feedback:
/**
* @return status:200 "success"
* @return status:404 "fail"
*/
7.1.3. Advanced palletizing configuration
Command name: palletizing_advanced_cfg.
Command parameters:
/**
* @param string height grab point lifting height
* @param string x1 palletizing progressive point 1: x offset in x direction, unit mm
* @param string y1 palletizing progressive point 1: y offset in x direction, unit mm
* @param string z1 palletizing progressive point 1: z offset in x direction, unit mm
* @param string x2 palletizing progressive point 2: x offset in x direction, unit mm
* @param string y2 palletizing progressive point 2: y offset in x direction, unit mm
* @param string z2 palletizing progressive point 2: z offset in x direction, unit mm
* @param string time suction waiting time, unit ms
*/
Instruction example:
{
cmd: "palletizing_advanced_cfg",
data: {
height: "1000",
x1: "100",
y1: "100",
z1: "100",
x2: "10",
y2: "10",
z2: "10",
time: "1"
}
}
Command feedback:
/**
* @return status:200 "success"
* @return status:404 "fail"
*/
7.1.4. Palletizing equipment size configuration
Command name: palletizing_config_device.
Command parameters:
/**
* @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
* @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
* @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
* @param int angle angle when the robot is installed
*/
Instruction example:
{
cmd: "palletizing_config_device",
data: {
x: 2400,
y: 1800,
z: 120,
angle: 0
}
}
Command feedback:
/**
* @return status:200 "success"
* @return status:404 "fail"
*/
7.1.5. Palletizing mode configuration
Command name: palletizing_config_pattern.
Command parameters:
/**
* @param int layers palletizing layers
* @param int box_gap Workpiece pixel spacing, unit: mm
* @param string sequence palletizing working mode
* @param int pattern_b_enable Whether mode b is turned on, 1: turned on, 0: not turned on
* @param string left_pattern_a Left station mode a Cartesian coordinates
* @param string left_pattern_b Left station mode b Cartesian coordinates
* @param string right_pattern_a Right station mode a Cartesian coordinates
* @param string right_pattern_b Right station mode b Cartesian coordinates
* @param string origin_pattern_a Initial mode a Cartesian coordinates
* @param string origin_pattern_b Initial mode b Cartesian coordinates
*/
Instruction example:
{
cmd: "palletizing_config_pattern",
data: {
layers: 8,
box_gap: 0,
sequence: "a,b,a,b,a,b,a,b",
pattern_b_enable: 1,
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]]}",
"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]]}",
"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]]}",
"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]]}",
"origin_pattern_a": "[]",
"origin_pattern_b": "[]"
}
}
Command feedback:
/**
* @return status:200 "success"
* @return status:404 "fail"
*/
7.1.6. Palletizing program generation
Command name: generate_palletizing_program.
Command parameters:
/**
* @param string palletizing_name name
* @param string depalletizing_name Destacking name
* @param string flag the palletizing or depalletizing program is generated, 0-not generated, 1 generated
*/
Instruction example:
{
cmd: "generate_palletizing_program",
data: {
palletizing_name: "palletizing_1",
depalletizing_name:"depalletizing_1",
flag:"[0,1]"
}
}
Command feedback:
/**
* @return status:200 "success"
* @return status:404 "fail"
*/
7.1.7. Get palletizing recipe
Command name: get_palletizing_formula.
Command parameters:
/**
* @param string name palletizing recipe name
*/
Instruction example:
{
cmd: "get_palletizing_formula",
data: {
name: "palletizing_1"
}
}
Command feedback:
/**
* @return status:200
* @param object box_config artifact configuration
* @param object pallet_config pallet configuration
* @param object device_config Installation device location
* @param object pattern_config Mode configuration
* @param object program_config Procedural build configuration
* @param object lefttransitionpoint left transition point
* @param object righttransitionpoint Right transition point Cartesian coordinates
* @param object advanced_config advanced configuration
* @return status:404 "fail"
*/
Instruction feedback case:
{
"box_config": {
"flag": 1,
"length": 200,
"width": 400,
"height": 300,
"payload": 2.34,
"grip_point": "grippoint"
},
"pallet_config": {
"flag": 1,
"front": 1000,
"side": 1200,
"height": 110,
"left_pallet": 0,
"right_pallet": 1
},
"device_config": {
"flag": 1,
"x": 2400,
"y": 1800,
"z": 120,
"angle": 0
},
"pattern_config": {
"flag": 1,
"layers": 8,
"box_gap": 0,
"sequence": "a,b,a,b,a,b,a,b",
"pattern_b_enable": 1,
"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]]}",
"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]]}",
"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]]}",
"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]]}",
"origin_pattern_a": "[]",
"origin_pattern_b": "[]"
},
"program_config": {
"palletizing_name": "palletizing_1",
"depalletizing_name":"depalletizing_1",
"flag":"[0,1]"
},
"lefttransitionpoint":{
"j1":"120",
"j2":"120",
"j3":"120",
"j4":"120",
"j5":"120",
"j6":"120"
},
"righttransitionpoint":{
"j1":"120",
"j2":"120",
"j3":"120",
"j4":"120",
"j5":"120",
"j6":"120"
},
"advanced_config":{
"height": "1000",
"x1": "100",
"y1": "100",
"z1": "100",
"x2": "10",
"y2": "10",
"z2": "10",
"time": "1"
}
}
7.1.8. Get the list of existing formula names for palletizing
Command name: get_palletizing_formula_list.
Command parameters: None
Instruction example:
{
cmd: "get_palletizing_formula_list"
}
Command feedback:
/**
* @return status:200
* @param Array ${name} palletizing name list
* @return status:404 "fail"
*/
Instruction feedback case:
["palletizing1"]
bottom of page