🆕Palletizing PSX Example

This palletizing example shows how to develop a palletizing program with a custom HMI. Using the custom HMI panel users can define the pallet layout (layers, rows, and columns), set the box dimensions, select the pallet side, and monitor the task status in real time.

HMI Panel File

palletizing.hmi

241KB

Open

Robot Program File

# PALLETIZING APP
# definitions of variables and features marked with APPLICATION tag should be removed from this script and defined as
# application variables in order to store their last assigned value after program restart

# --- Variables ---

# box setup
box_length = 300 #APPLICATION
box_width = 400 #APPLICATION
box_height = 200 #APPLICATION

# pallet setup
rows = 2 #APPLICATION
columns = 4 #APPLICATION
layers = 8 #APPLICATION

# pallet sides
A = "A"
B = "B"
selected_pallet = A #APPLICATION

completed_A = False #APPLICATION
completed_B = False #APPLICATION
enabled_A = True #APPLICATION
enabled_B = True #APPLICATION

COMPLETED = "COMPLETED"
DISABLED = "DISABLED"
MISSING = "MISSING"
AVAILABLE = "AVAILABLE"

# features
A_FEATURE = p[-0.580, 0.528, -0.860, 0, 0, 0] #APPLICATION
B_FEATURE = p[0.580, -0.528, -0.860, 0, 0, 3.1415] #APPLICATION
pallet_feature = A_FEATURE

BOX_FEATURE = p[-0.860, -0.211, -0.350, 0, 0, 1.571] #APPLICATION

# start condition
start_row = 1 #APPLICATION
start_column = 1 #APPLICATION
start_layer = 1 #APPLICATION

# stats
tot_boxes = 0
current_boxes = 0
remaining_boxes = 0
box_counter = "" + "/" + ""
cycle_time = 10
remaining_time = 0

# state variables
repeat = False
running = False
stopping = False

# --- Functions ---
def get_pick_pose():
    x = box_length * 0.0005
    y = box_width * 0.0005
    z = box_height * 0.001
    return pose_trans(BOX_FEATURE, p[x, y, z, 0, 3.1415, 0])
end

def get_place_pose(column, row, layer):
    x = box_length * 0.0005 + column * box_length * 0.001
    y = box_width * 0.0005 + row * box_width * 0.001
    z = box_height * 0.001 + layer * box_height * 0.001
    return pose_trans(pallet_feature, p[x, y, z, 0, 3.1415, 0])
end

def get_approach_pose(pose, offset=[0, 0, 0]):
    return pose_add(pose, p[offset[0], offset[1], offset[2], 0, 0, 0])
end

def get_pallet_a_status():
    if completed_A:
    	return COMPLETED
    elif get_standard_digital_in(1):
        return MISSING
    elif not enabled_A:
        return DISABLED
    else:
        return AVAILABLE
    end
end

def get_pallet_b_status():
    if completed_B:
    	return COMPLETED
    elif get_standard_digital_in(2):
        return MISSING
    elif not enabled_B:
        return DISABLED
    else:
        return AVAILABLE
    end
end

def can_start_task():
    return (selected_pallet == A and get_pallet_a_status() == AVAILABLE) or (selected_pallet == B and get_pallet_b_status() == AVAILABLE)
end


# --- Tool Functions ---
# implement these function with logic to operate your gripper
def grasp():
    sleep(2)
end

def release():
    sleep(2)
end


# --- Main Functions ---
def start_task():
    running = True

    # start condition
    row = start_row - 1
    column = start_column - 1
    layer = start_layer - 1

    # iteration over layers, columns and rows
    while layer < layers:
        while column < columns:
            while row < rows:

                # check stop request
                if stopping:
                	stopping = False
                	running = False
                	return 0
                end

                # update starting condition
                start_row = row + 1
                start_column = column + 1
                start_layer = layer + 1

                # stats
                tot_boxes = rows * columns * layers
                current_boxes = row + column * rows + layer * rows * columns
                box_counter = to_str(current_boxes) + " / "+ to_str(tot_boxes)
                remaining_boxes = tot_boxes - current_boxes
                start_time = time()
                remaining_time = remaining_boxes * cycle_time

                # pick action
                pick_pose = get_pick_pose()
                approach_pose = get_approach_pose(pick_pose, offset=[0, 0, 0.1])
                current_pose = get_actual_tcp_pose()

                if approach_pose[2] < current_pose[2] + 0.05:
                    approach_pose[2] = current_pose[2] + 0.05
                end

                #movej(approach_pose)
                #movel(pick_pose)

                grasp()

                place_pose = get_place_pose(column, row, layer)
                place_approach_pose = get_approach_pose(place_pose, offset=[0.1, 0.1, box_height * 0.001 + 0.05])

                if place_approach_pose[2] > BOX_FEATURE[2] +  box_height * 0.001 + 0.05:
                    approach_pose[2] = place_approach_pose[2]
                end

                #movel(approach_pose)

                # place action
                approach_pose = get_approach_pose(place_pose, offset=[0.1, 0.1, box_height * 0.001 + 0.05])
                #movej(approach_pose)
                #movel(place_pose)

                release()

                approach_pose = get_approach_pose(place_pose, offset=[0, 0, 0.1])
                if approach_pose[2] < BOX_FEATURE[2] +  box_height * 0.001 + 0.05:
                    approach_pose[2] = BOX_FEATURE[2] +  box_height * 0.001 + 0.05
                end

                #movel(approach_pose)
                row = row + 1

                # stats
                cycle_time = time().sec - start_time.sec
                remaining_time = remaining_boxes * cycle_time
            end

            row = 0
            column = column + 1
        end

        row = 0
        column = 0
        layer = layer + 1
    end

    if selected_pallet == A:
        completed_A = True
    else:
        completed_B = True
    end

    # start condition
    start_row = 1
    start_column = 1
    start_layer = 1

    # stats
    tot_boxes = rows * columns * layers
    current_boxes = row + column * rows + layer * rows * columns
    box_counter = to_str(current_boxes) + " / "+ to_str(tot_boxes)
    remaining_boxes = tot_boxes - current_boxes

    # check repeat condition
    if repeat:
        if selected_pallet == A and get_pallet_b_status() == AVAILABLE:
        	selected_pallet = B
        	start_task()
        elif selected_pallet == B and get_pallet_a_status() == AVAILABLE:
        	selected_pallet = A
        	start_task()
        end
    end

    running = False
end


def stop_task():
    stopping = True
    while stopping:
    	sleep(1)
    end
end

palletizing.script

6KB

Open

Polyscope Setup

To install this HMI application in a production environment follow these steps:

1) Features

Inside Application tab define the following Frames.

Feature Name
A_FEATURE
B_FEATURE
BOX_FEATURE

2) Application Variables

Inside Application tab define those variables.

Variable Name	Default Value
rows	2
columns	4
layers	8
selected_pallet	"A"
box_length	300
box_width	400
box_height	200
start_row	0
start_column	0
start_layer	0
completed_A	False
completed_B	False
enabled_A	True
enabled_B	True