7. FRCap案例
7.1. FAIRINO Palletizer(码垛机)
请访问以下地址获取源代码和码垛FRCap包:FAIR-INNOVATION/frcap_palletizer。
或者直接在本地克隆:
1git clone https://gitee.com/fair-innovation/frcap_palletizer.git
将项目中的build文件夹下的“码垛机Palletizer.frcap”在WebApp中上传注册启用后即可使用。
图表 7.1 码垛FRCap使用
7.1.1. 码垛工件配置
指令名称:palletizing_config_box。
指令参数:
1/**
2* @param int length 工件长度
3* @param int width 工件速度
4* @param int height 工件高度
5* @param int payload 工件负载
6* @param string grip_point工件抓取点
7* /
指令案例:
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}
指令反馈:
1/**
2* @return status:200 "success"
3* @return status:404 "fail"
4*/
7.1.2. 码垛托盘配置
指令名称:palletizing_config_pallet。
指令参数:
1/**
2* @param int front 托盘前边
3* @param int side 托盘侧边
4* @param int height 托盘高度
5* @param int left_pallet 左托盘启用
6* @param int right_pallet 右托盘启用
7*/
指令案例:
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}
指令反馈:
1/**
2* @return status:200 "success"
3* @return status:404 "fail"
4*/
7.1.3. 码垛高级配置
指令名称:palletizing_advanced_cfg。
指令参数:
1/**
2* @param string height 码垛抓取点抬升高度
3* @param string x1 码垛渐进点1:x 方向偏移,单位mm
4* @param string y1 码垛渐进点1:y 方向偏移,单位mm
5* @param string z1 码垛渐进点1:z 方向偏移,单位mm
6* @param string x2 码垛渐进点2:x 方向偏移,单位mm
7* @param string y2 码垛渐进点2:y 方向偏移,单位mm
8* @param string z2 码垛渐进点2:z 方向偏移,单位mm
9* @param string time 吸料等待时间,单位 ms
10*/
指令案例:
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}
指令反馈:
1/**
2* @return status:200 "success"
3* @return status:404 "fail"
4*/
7.1.4. 码垛设备尺寸配置
指令名称:palletizing_config_device。
指令参数:
1/**
2* @param int x 左托盘右上角点相对于机器人基座标系坐标轴的x方向绝对值
3* @param int y 左托盘右上角点相对于机器人基座标系坐标轴的y方向绝对值
4* @param int z 左托盘右上角点相对于机器人基座标系坐标轴的z方向绝对值
5* @param int angle 机器人安装时的旋转角度
6*/
指令案例:
1{
2 cmd: "palletizing_config_device",
3 data: {
4 x: 2400,
5 y: 1800,
6 z: 120,
7 angle: 0
8 }
9}
指令反馈:
1/**
2* @return status:200 "success"
3* @return status:404 "fail"
4*/
7.1.5. 码垛模式配置
指令名称:palletizing_config_pattern。
指令参数:
1/**
2* @param int layers 码垛层数
3* @param int box_gap 工件像素点间隔,单位:mm
4* @param string sequence 码垛工作模式
5* @param int pattern_b_enable 模式b是否开启,1:开启,0:不开启
6* @param string left_pattern_a 左工位模式a笛卡尔坐标
7* @param string left_pattern_b 左工位模式b笛卡尔坐标
8* @param string right_pattern_a 右工位模式a笛卡尔坐标
9* @param string right_pattern_b 右工位模式b笛卡尔坐标
10* @param string origin_pattern_a 初始模式a笛卡尔坐标
11* @param string origin_pattern_b 初始模式b笛卡尔坐标
12*/
指令案例:
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}
指令反馈:
1/**
2* @return status:200 "success"
3* @return status:404 "fail"
4*/
7.1.6. 码垛程序生成
指令名称:generate_palletizing_program。
指令参数:
1/**
2* @param string palletizing_name 码垛名称
3* @param string depalletizing_name 拆垛名称
4* @param string flag 码垛或者拆垛程序是否生成,0-不生成,1生成
5*/
指令案例:
1{
2 cmd: "generate_palletizing_program",
3 data: {
4 palletizing_name: "palletizing_1",
5 depalletizing_name:"depalletizing_1",
6 flag:"[0,1]"
7 }
8}
指令反馈:
1/**
2* @return status:200 "success"
3* @return status:404 "fail"
4*/
7.1.7. 获取码垛配方
指令名称:get_palletizing_formula。
指令参数:
1/**
2* @param string name 码垛配方名称
3*/
指令案例:
1{
2 cmd: "get_palletizing_formula",
3 data: {
4 name: "palletizing_1"
5 }
6}
指令反馈:
1/**
2* @return status:200
3* @param object box_config 工件配置
4* @param object pallet_config 托盘配置
5* @param object device_config 安装设备位置
6* @param object pattern_config 模式配置
7* @param object program_config 程序生成配置
8* @param object lefttransitionpoint 左过渡点笛卡尔坐标
9* @param object righttransitionpoint 右过渡点笛卡尔坐标
10* @param object advanced_config 高级配置
11* @return status:404 "fail"
12*/
指令反馈案例:
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. 获取码垛已有配方名称列表
指令名称:get_palletizing_formula_list。
指令参数:无。
指令案例:
1{
2 cmd: "get_palletizing_formula_list"
3}
指令反馈:
1/**
2* @return status:200
3* @param Array ${name} 码垛名称列表
4* @return status:404 "fail"
5*/
指令反馈案例:
1["palletizing1"]