Workflow Configuration
You can build a workflow, i.e. a robot motion control program in the form of a flowchart, in the Workflow tab.
Configure the Default Workflow
You can modify the default workflow to plan a feasible robot motion path for picking.
-
Global Configuration
-
Tool to Be Set is a mandatory parameter that specifies the end tool used in the current project.
Click the Step and click
in the Step Parameters panel to select the corresponding tool configured in the Project Resources panel. -
You can enable the options below and configure the parameters according to the actual requirements.
This option enables to loop the current workflow until all received vision results are used for the path planning.
This option dynamically updates the position of the bin.
This option is used for depalletizing scenarios.
-
-
Above-Bin Fixed Waypoint 1
This Step sets a waypoint where the robot reaches before it approaches the workobject.
Please refer to Fixed-Point Move for setup instructions and parameter description.
-
Above-Workobject Approach Waypoint
This Step sets a waypoint above the workobject when the robot approaches the workobject.
Please refer to Relative Move for setup instructions and parameter description.
-
Vision Point
This Step specifies the vision point.
Please refer to Vision Point for setup instructions and parameter description.
-
Above-Workobject Departure Waypoint
This Step sets a waypoint above the workobject when the robot leaves the workobject.
Please refer to Relative Move for setup instructions and parameter description.
-
Above-Bin Fixed Waypoint 2
This Step sets a waypoint where the robot reaches after it leaves the workobject.
Please refer to Fixed-Point Move for setup instructions and parameter description.
Add or Delete Steps in the Workflow
If the above waypoints cannot meet the actual requirement, you can add waypoints by adding “Fixed-Point Move” or “Relative Move” Steps to the workflow.
Operation |
Instruction |
Add Steps |
Move the mouse cursor to the line connecting the Steps, and click |
Delete Steps |
Right-click the Step and then click Delete. You can also delete it by clicking the Step and then press the Delete key. |
Add a New Workflow
The same resources can be used in different workflows which result in different planned paths.
In scenarios where the project involves different workobjects or bins, you may need to add multiple workflows and change the workflow by switching the parameter recipe.
Operation |
Instruction |
Add a new workflow |
Click Add, enter a workflow name in the pop-up window, and then click OK to create a new workflow. |
Switch the workflow |
Click ▼ on the far right of the workflow name, and select another workflow in the drop-down list. |
Rename the workflow |
Click Rename, enter the new name in the pop-up window, and click OK. |
Delete the workflow |
When there are at least two workflows, click Delete to delete the current workflow. |