Flexible Handling

Palletizing

UnloadTray

Primitive Description and Usage

• Description: This primitive allows the robot to perform tray-unloading tasks. In a typical tray-unloading task, the robot repetitively picks up workpieces from a pile of trays and then places/unloads them in some fixed places.

• Example Usage: Users can set the starting point of the pallet, the edge point, and other parameters to let the robot automatically plan the movement path, which greatly reduces the time for writing loading and unloading programs and improves the programming efficiency. Through flexible detection and AI camera function, this primitive can solve most of the users’ on-site application problems.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
trayLoadingFile*	Tray unloading task file	FILE	none	[.tl]

*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
terminated	=	1

LoadTray

Primitive Description and Usage

• Description: This primitive allows the robot to perform tray-loading tasks. In a typical tray-loading task, the robot repetitively picks up workpieces from some fixed places and then places/loads them into a pile of trays.

• Example Usage: Users can set the starting point of the pallet, the edge point, and other parameters to let the robot automatically plan the movement path, which greatly reduces the time for writing loading and unloading programs and improves the programming efficiency. Through flexible detection and AI camera function, this primitive can solve most of the users’ on-site application problems.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
trayLoadingFile*	Tray loading task file	FILE	none	[.tl]

*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
terminated	=	1

Mobile Platform

LocatePin

Primitive Description and Usage

• Description: This primitive is used to locate robot position in the world coordinate system. A pin is installed on the robot, and a slot is installed on the work station, whose position is known. Prior to using this primitive, users should calibrate the TCP of pin first and then move the robot to the desired position in which the pin can be inserted in the slot perpendicularly. After entering this primitive, the robot contacts the slot with the pin, rotates the pin in different direction to insert it in the slot, and then pulls it out. When the locating process is completed, the location result can be found in the output parameter.

• Example Usage: Use this primitive to locate the robot TCP with respect to the world coordinate system when an AGV or AMR is used to move the robot around a facility.

Primitive Input Parameters

Input Parameter	Description	Type	Unit	Default Value & Range
insertDir*	Pin inserting motion direction in TCP coordinate system	TYPE	none	[X -X Y -Y Z -Z]
rotationRange	Pin rotation range to search the slot during the locating motion	DOUBLE	deg	5 ∈ [1 … 20]
approachVel	Pin moving velocity from free space to contact the slot	DOUBLE	m/s	0.02 ∈ [0.001 … 0.1]
retractVel	Pin moving velocity when retracting from the slot	DOUBLE	m/s	0.02 ∈ [0.001 … 0.1]
insertForce	Robot contact force in the inserting direction, which is applied during the whole inserting process and is released when the pin is in the slot.	DOUBLE	N	45 ∈ [30 … 120]
rotationVelScale	Pin rotation velocity scale during the locating motion	DOUBLE	none	50 ∈ [1 … 100]
targetContactTorque	Target contact torque during the locating motion. Pin will rotate reversely when the TCP torque reaches this value.	DOUBLE	Nm	3 ∈ [2.0 … 100.0]
searchCycles	Slot searching cycles to ensure the pin is inserted into the slot	INT	none	2 ∈ [1 … 10]
inSlotWaitTime	System wait time after the pin is inserted and before it is pulled out.	DOUBLE	s	0 ∈ [0 … 10]
deadbandScale	Robot alignment deadband scale during retract motion; the robot will not adjust its position or orientation when the external force scale is smaller than this value.	DOUBLE	none	50 ∈ [10 … 100]
alignVelScale	Velocity scale of robot pose adjustment to compensate the external force during retract motion; when this value is larger, the robot will adjust its pose faster but may become less stable.	DOUBLE	none	20 ∈ [10 … 50]
safetyForce	Primitive will be terminated when external contact force exceeds this value.	DOUBLE	N	120 ∈ [60 … 1000]

*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.

Primitive State Parameters

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Primitive Output Parameters

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg
locationPose	TCP pose when the pin is fully inserted into the slot	COORD	m-deg

Default Transition Condition

State Parameter	Condition	Value
terminated	=	1