Controller Secondary Development — Creating Job Programs with the Configured Palletizing Process Package

The NexDroid-Controller function library provides a palletizing process package. Once the process package parameters are configured, you can use it by creating a job file.
In this example, we use process number 1 to implement picking from a fixed point and palletizing placement.

First, create a new job file with NRC_CreateJobfile("PALLET");
- In this example, we use PALLET as the job file name
- int NRC_CreateJobfile(std::string jobname);

jobname is the name of the job file to create

Open the job file with NRC_OpenJobfile("PALLET");
- int NRC_OpenJobfile(std::string jobname);

jobname is the name of the job file to open

Insert motion commands to move the robot to the fixed pick point
- For example: NRC_Position pickPos; NRC_JobfileInsertMOVJ(1, 100, 100, 100, pickPos, 5);
- If obstacle avoidance is needed on the way to the pick point, insert additional motion commands as required; this example uses just one
- int NRC_JobfileInsertMOVJ(int line, int vel, int acc, int dec, const NRC_Position& target, int pl=0,int tm = 0);

line inserts the command at the specified line number
vel is the robot's motion speed as a percentage of its maximum speed, range: 0 < vel <= 100
acc is the robot's acceleration as a percentage of each joint's maximum acceleration, range: 0 < acc <= 100
dec is the robot's deceleration as a percentage of each joint's maximum deceleration, range: 0 < dec <= 100
target is the robot's target position
pl is the smoothing level, which blends smoothly into the next motion command; higher values give smoother motion but greater trajectory deviation, range: 0 <= pl <= 5

Insert a digital output command to output a high level on an I/O port so the gripper or suction cup can pick up the workpiece
- NRC_JobfileInsertDOUT(2, 1, 1); — this example uses I/O port 1 to control the gripper or suction cup
- int NRC_JobfileInsertDOUT(int line, int port, int value);

line inserts the command at the specified line number
port is the digital output port number, range: port > 0
value is the output state of the port: 0 — output low level, 1 — output high level

Insert a delay command to wait for the gripper or suction cup to grasp the workpiece
- NRC_JobfileInsertTIMER(3, 0.5); — this example uses a delay of 0.5 seconds
- int NRC_JobfileInsertTIMER(int line, double timeSec);

line inserts the command at the specified line number
timeSec is the delay time in seconds, range: timeSec > 0

Insert the palletizing start command NRC_JobfileInsertPALON(4, 1, 0); — this example uses process number 1 for palletizing
- int NRC_JobfileInsertPALON(int line, int id, int type, int var1=0, int var2=0, int var3=0);

line inserts the command at the specified line number
id is the process number of the palletizing process used
type is the palletizing type: 0 — palletizing, 1 — depalletizing

Insert the move-to-entry-point command NRC_JobfileInsertPALENTER(5, 1, 1, 100, 100, 100, 5);
- int NRC_JobfileInsertPALENTER(int line, int id, int moveType, int vel, int acc, int dec, int pl);

line inserts the command at the specified line number
id is the process number of the palletizing process used
moveType is the interpolation mode used by this command: 1 — joint interpolation, 2 — linear interpolation, 3 — circular interpolation
vel is the robot's motion speed
- With joint interpolation, it is a percentage of the robot's maximum speed, range: 0 < vel <= 100
- With linear or circular interpolation, it is the absolute speed of the robot's end position in millimeters per second (mm/s), range: vel > 1
acc is the robot's acceleration, range: 0 < acc <= 100
- With joint interpolation, it is a percentage of each joint's maximum acceleration
- With linear or circular interpolation, it is a percentage of the robot's maximum Cartesian acceleration
dec is the robot's deceleration, same as acc
pl is the smoothing level, which blends smoothly into the next motion command; higher values give smoother motion but greater trajectory deviation, range: 0 <= pl <= 5

Insert the move-to-auxiliary-point command NRC_JobfileInsertPALSHIFT(6, 1, 1, 100, 100, 100, 5);
- NRC_JobfileInsertPALSHIFT(int line, int id, int moveType, int acc, int dec, int vel, int pl=0);

The parameters are the same as for the move-to-entry-point command

Insert the move-to-workpiece-point command NRC_JobfileInsertPALREAL(7, 1, 2, 100, 100, 100, 5);
- NRC_JobfileInsertPALREAL(int line, int id, int moveType, int acc, int dec, int vel, int pl=0);

The parameters are the same as for the move-to-entry-point command

Insert a digital output command to output a low level on an I/O port so the gripper or suction cup releases the workpiece

NRC_JobfileInsertDOUT(8, 1, 0);

Insert a delay command to wait for the gripper or suction cup to release the workpiece

NRC_JobfileInsertTIMER(9, 0.5);

Insert the move-to-auxiliary-point command

NRC_JobfileInsertPALSHIFT(10, 1, 1, 100, 100, 100, 5);

Insert the move-to-entry-point command

NRC_JobfileInsertPALENTER(11, 1, 1, 100, 100, 100, 5);

Insert the palletizing end command NRC_JobfileInsertPALOFF(12, 1);

int NRC_JobfileInsertPALOFF(int line, int id, int var=0);
- line inserts the command at the specified line number
- id is the process number of the palletizing process used

At this point, the job file using the palletizing process package has been fully created.

Appendix:

NRC_CreateJobfile("PALLET");
NRC_OpenJobfile("PALLET");
NRC_Position pickPos;
NRC_JobfileInsertMOVJ(1, 100, 100, 100, pickPos, 5);
NRC_JobfileInsertDOUT(2, 1, 1);
NRC_JobfileInsertTIMER(3, 0.5);
NRC_JobfileInsertPALON(4, 1, 0);
NRC_JobfileInsertPALENTER(5, 1, 1, 100, 100, 100, 5);
NRC_JobfileInsertPALSHIFT(6, 1, 1, 100, 100, 100, 5);
NRC_JobfileInsertPALREAL(7, 1, 2, 100, 100, 100, 5);
NRC_JobfileInsertDOUT(8, 1, 0);
NRC_JobfileInsertTIMER(9, 0.5);
NRC_JobfileInsertPALSHIFT(10, 1, 1, 100, 100, 100, 5);
NRC_JobfileInsertPALENTER(11, 1, 1, 100, 100, 100, 5);
NRC_JobfileInsertPALOFF(12, 1);

Controller Secondary Development — Creating Job Programs with the Configured Palletizing Process Package

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