Jacobi Palletizer (1.0.0)

Available at the /control path of the websocket endpoint. On initial connection of the websocket, all subscription variables below are sent once.

PUB Start

Start the palletizer. Triggers a system/state response.

{
    "key": "start"
}

PUB Start Suction

Turn on the suction.

{
    "key": "start/suction"
}

PUB Pause

Pause the palletizer.

{
    "key": "pause"
}

PUB Stop After Box

Stop the palletizer after placing the current box.

{
    "key": "stop/after_box"
}

PUB Stop After Pallet

Stop the palletizer after the next finished pallet.

{
    "key": "stop/after_pallet"
}

PUB Stop Suction

Stop the suction.

{
    "key": "stop/suction"
}

PUB Go To Position

Go to the specific position. ossible positions are: home, maintenance, pick, double_pick, discard. In case the value is false, it will stop the motion.

{
    "key": "go_to/<position>",
    "value": boolean
}

PUB Set Pallet

Set the active pallet.

{
    "key": "pallet",
    "value": string
}

PUB Set Box

Set the next active box to place. The box number refers to the index on the current pallet.

{
    "key": "box",
    "value": integer
}

PUB Set Box Relative

Set the next active box to place, relative to the current active box.

{
    "key": "box/relative",
    "value": "reset" | "prev" | "next"
}

PUB Set Layer

Set the next active layer to place. The layer number refers to the index on the current pallet.

{
    "key": "layer",
    "value": integer
}

PUB Set Layer Relative

Set the next active layer to place, relative to the current active layer.

{
    "key": "layer/relative",
    "value": "reset" | "prev" | "next"
}

PUB Reload Setup

Reload the current active setup.

{
    "key": "setup/reload"
}

PUB Clear Pallet

Clear the pallet with the given name, so that the palletizer know that it is empty and ready to be filled.

{
    "key": "pallet/clear",
    "value": string
}

PUB Acknowledge Alarm

Acknowledge a specific alarm fault.

{
    "key": "acknowledge/alarm",
    "value": string
}

PUB Acknowledge Safety

Acknowledge a specific safety fault.

{
    "key": "acknowledge/safety",
    "value": string
}

PUB Silence Alarm

Silence the audio signal of an alarm.

{
    "key": "alarm/silence"
}

PUB Request Zone Access

Request zone access to the current pallet.

{
    "key": "zone_access/request",
    "value": string | undefined
}

PUB Release Zone Access

Release the current zone access.

{
    "key": "zone_access/release"
}

---

SUB Setup ID

Receive changes about the setup id.

{
    "key": "setup_id",
    "value": number
}

SUB Setup Name

Receive changes about the setup name.

{
    "key": "setup_name",
    "value": string
}

SUB Pallet Names

Receive changes about the pallet names.

{
    "key": "pallet_names",
    "value": string[]
}

SUB Pallet States

Receive changes about the pallet states. This is not updated live with the current pallet, but only on new websocket connections, setup changes, and pallet clearance.

{
    "key": "pallet_states",
    "value": Map<string, {
        sequence: number,
        layer: number,
        box: number,
        box_in_layer: number,
        start: string,
        goal: string
    }>
}

SUB System State

Receive changes about the general system state.

{
    "key": "system/state",
    "value": "booting" | "ready" | "running" | "pausing" | "stopping" | "paused" | "stopped" | "faulted"
}

The system state is booting until either all connection checks pass (then it will switch to stopped), or until a timeout (3min by default) where it will switch to faulted and throw more detailed system alarms.

SUB System Safety

Receive changes about the system safety. All alarms will stop the robot, bring the system into a faulted state, and need to be acknowledged before the system continuous operation.

{
    "key": "system/safety",
    "value": {
        "area_scanner_active": boolean,
        "collision": boolean,
        "e_stop_active": boolean,
        "guard_door_open": boolean,
        "light_curtain_broken": boolean
    }
}

SUB System Alarm

Receive changes about the system alarm. All alarms will stop the robot, bring the system into a faulted state, and need to be acknowledged before the system continuous operation.

{
    "key": "system/alarm",
    "value": {
        "box_drop": boolean,
        "box_jam": boolean,
        "box_unpickable": boolean,
        "conveyor_overflow": boolean,
        "low_pressure": boolean,
        "no_collision_free_motion": boolean,
        "no_pallet_while_placing": boolean,
        "robot": boolean,
        "robot_connection": boolean,
        "robot_not_ready": boolean,
        "setup_loading": boolean,
        "system_not_ready": boolean
    }
}

SUB System Warning

Receive changes about the system warning.

{
    "key": "system/warning",
    "value": {
        "area_scanner_slowdown": boolean,
        "area_scanner_stop": boolean,
        "heartbeat_ping_timeout": boolean,
        "no_pallet": boolean,
    }
}

SUB Is Going To Position

Receive changes whether the robot is going to a specific position. Possible positions are: home, maintenance, pick, double_pick, discard.

{
    "key": "is_going_to/<position>",
    "value": boolean
}

SUB Is At Position

Receive changes whether the robot is at a specific position. Possible positions are: home, maintenance, pick, double_pick, discard.

{
    "key": "is_at/<position>",
    "value": boolean
}

SUB Will Stop After Box

Receive changes whether the robot will stop after the next placed box.

{
    "key": "will_stop_after_box",
    "value": boolean
}

SUB Will Stop After Pallet

Receive changes whether the robot will stop after the next finished pallet.

{
    "key": "will_stop_after_pallet",
    "value": boolean
}

SUB User Might Stop Suction

Receive changes of the might stop suction variable. It indicates whether the user is allowed to currently stop the suction.

{
    "key": "user_might_stop_suction",
    "value": boolean
}

SUB Might continue automatically

Receive changes about whether the system might continue automatically after a pause.

{
    "key": "might_continue_automatically",
    "value": boolean
}

SUB Current Pallet

Receive changes of the current pallet.

{
    "key": "current_pallet",
    "value": string
}

SUB Current Sequence

Receive changes of the current sequence, which is an index of the trajectory the robot is executing, of the current pallet.

{
    "key": "current_sequence",
    "value": number
}

SUB Current Layer

Receive changes of the current layer of the current pallet.

{
    "key": "current_layer",
    "value": number
}

SUB Current Box In Layer

Receive changes of the current box in the current layer of the current pallet.

{
    "key": "current_box_in_layer",
    "value": number
}

SUB Current Box

Receive changes of the current box of the current pallet.

{
    "key": "current_box",
    "value": number
}

SUB Current Start

Receive changes of the start of the current motion.

{
    "key": "current_start",
    "value": string
}

SUB Current Goal

Receive changes of the goal of the current motion.

{
    "key": "current_goal",
    "value": string
}

SUB Current Pick Count

Receive changes of the current pick count.

{
    "key": "current_picks",
    "value": number
}

SUB Current Average Cycle Time

Receive changes of the average cycle time.

{
    "key": "current_avg_cycle_time",
    "value": number
}

SUB Is Pallet Present

Receive changes whether the pallets are present and ready for placing boxes. The value is a simple object mapping pallet names to booleans.

{
    "key": "is_pallet_present",
    "value": object
}

SUB Is Pallet Full

Receive changes whether the pallets are full and ready to be removed. The value is a simple object mapping pallet names to booleans.

{
    "key": "is_pallet_full",
    "value": object
}

SUB Area Scanner

Receive changes about an area scanner's detection of an obstacle. The value is an object mapping area scanner zone names (usually equal to pallet names) to either 'alarm' | 'warning' | 'safe'.

{
    "key": "safety/area_scanner",
    "value": object
}

SUB Speed Level

Receive changes about the speed enforced by an area scanner. The value is an object mapping area scanner zone names (usually equal to pallet names) to either 'stop' | 'slowdown' | 'safe'.

{
    "key": "safety/speed_level",
    "value": object
}

SUB E-Stop

Receive changes whether e-stops are active. The value is a simple object mapping e-stop names to booleans.

{
    "key": "safety/e_stop",
    "value": object
}

SUB Light Curtain

Receive changes whether light curtains are active. The value is a simple object mapping light curtain names (usually equal to pallet names) to booleans.

{
    "key": "safety/light_curtain",
    "value": object
}

SUB Zone Access

Receive changes about the requested/released zone access.

{
    "key": "zone_access",
    "value": string | null
}

SUB Is Zone Access Active

Receive changes about whether the zone access is active (or granted).

{
    "key": "zone_access/is_active",
    "value": boolean
}

Available at the /heartbeat path of the websocket endpoint.

SUB Heartbeat

Receive an oscillating boolean value (either true or false) in case the system is currently alive, sent every second. Otherwise, nothing is sent at all.

{
    "key": "heartbeat",
    "value": boolean
}

PUB Heartbeat Ping

Sends a ping to the controller. If the option of a ping requirement is active, and no ping was received in the last 2s, the controller will stop the palletizing process and emit an heartbeat_ping_timeout system alarm. This can be used to make sure that an HMI is always connected and responsive. During manual motions (e.g. going home), the heartbeat timeout is reduced to 400ms.

{
    "key": "ping"
}

Available at the /test path of the websocket endpoint.

This is for setting mock data. Only available in testing mode without a physical robot. There is no direct message response.

PUB Exit Program

Simulate a program crash.

{
    "key": "crash"
}

PUB PLC Connection

Simulate PLC connection / disconnection.

{
    "key": "plc_connection",
    "value": boolean
}

PUB Set Vacuum

Simulate the vacuum of the robot.

{
    "key": "vacuum",
    "value": boolean
}

PUB Set Vacuum Picked

Simulate whether a box is picked, as detected by the vacuum pressure sensor.

{
    "key": "vacuum_picked",
    "value": boolean
}

PUB Set Left Pallet Present

Simulate whether a left pallet is present.

{
    "key": "left_pallet_present",
    "value": boolean
}

PUB Set Right Pallet Present

Simulate whether a right pallet is present.

{
    "key": "right_pallet_present",
    "value": boolean
}

PUB Set Area Scanner

Simulate whether the area scanner is active.

{
    "key": "area_scanner_triggered",
    "value": boolean
}

PUB Set E-Stop

Simulate whether the e-stop is active.

{
    "key": "e_stop",
    "value": boolean
}

PUB Set Robot Result

Simulate the result type of a trajectory execution by the robot.

{
    "key": "robot_result",
    "value": "success" | "e_stop" | "safety" | "error"
}

Returns the (semantic) version.

Returns the system uptime in seconds.

Get information about recent picks of the palletizer

Get the list of all saved setups

Get the currently active setup.

Update the motion parameters of the given setup.

Sets the given setup as the active one. Then, setup/reload needs to be called on the websocket before running a setup.

Delete the given setup from the database.

Plans all motions for the given setup. This needs to be done before activating a newly created setup, or after changing the setup data. As this might take a while, the /progress endpoint provides data about the current progress of the calculation.

Aborts the computation of the motions for the given setup.

Provide progress data about the calculation of the given setup.