[ { "id": "pp-tab", "type": "tab", "label": "ABB-GoFa-12 Pick & Place Sorting Cell", "disabled": false, "info": "Learning-resource flow: mirrors a real conveyor pick -> classify -> sorted-place industrial cell.\n\n1. Deploy, then use the \"0 - Teach Points\" group once: jog the robot (FlexPendant, or the Cartesian/Joint Jog group in gofa_demo_flow.json) to the pickup spot and press \"Save Pickup\"; repeat for Bin A and Bin B; press \"Set Home Here\" at a safe ready pose clear of both bins.\n2. Press \"Start Cycle\" in the \"1 - Sorting Cycle\" group to run one pick/classify/place cycle.\n3. The \"classify\" step reads the physical ASI button (Asi1Button2) as a stand-in for a real color/vision/weight sensor: press it before the read fires to route the part to Bin A, leave it unpressed to route to Bin B." }, { "id": "pp-g-setup", "type": "group", "z": "pp-tab", "name": "0 - Teach Points (one-time setup)", "style": { "stroke": "#009999", "stroke-opacity": "1", "fill": "#e8f5f5", "fill-opacity": "0.5", "label": true, "label-position": "nw", "color": "#009999" }, "nodes": [ "pp-c-setup", "pp-i-save-pickup", "pp-n-save-pickup", "pp-d-save-pickup", "pp-i-save-bina", "pp-n-save-bina", "pp-d-save-bina", "pp-i-save-binb", "pp-n-save-binb", "pp-d-save-binb", "pp-i-sethome", "pp-n-sethome", "pp-d-sethome", "42a91bd830bca8e9", "bb09d07a407bc8a5", "c445cd906aead295" ], "x": 44, "y": 39, "w": 872, "h": 362 }, { "id": "pp-g-cycle", "type": "group", "z": "pp-tab", "name": "1 - Sorting Cycle (pick -> classify -> sorted place)", "style": { "stroke": "#00aa44", "stroke-opacity": "1", "fill": "#e8f5ec", "fill-opacity": "0.5", "label": true, "label-position": "nw", "color": "#00aa44" }, "nodes": [ "pp-c-cycle", "pp-i-start", "pp-n-motoron", "pp-n-home1", "pp-n-goto-pickup", "pp-n-grip-close", "pp-n-delay1", "pp-n-classify", "pp-n-switch", "pp-n-goto-bina", "pp-n-release-a", "pp-d-sorted-a", "pp-n-goto-binb", "pp-n-release-b", "pp-d-sorted-b", "pp-n-home2", "pp-d-complete" ], "x": 54, "y": 419, "w": 2932, "h": 202 }, { "id": "pp-c-setup", "type": "comment", "z": "pp-tab", "g": "pp-g-setup", "name": "Jog the robot to each spot first (FlexPendant, or gofa_demo_flow.json's Jog group), then press the matching Save button.", "info": "", "x": 480, "y": 80, "wires": [] }, { "id": "pp-i-save-pickup", "type": "inject", "z": "pp-tab", "g": "pp-g-setup", "name": "Save 'Pickup' (here)", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 190, "y": 140, "wires": [ [ "pp-n-save-pickup" ] ] }, { "id": "pp-n-save-pickup", "type": "gofa-points", "z": "pp-tab", "g": "pp-g-setup", "outputPayload": true, "name": "Save 'Pickup'", "robot": "cfg1", "action": "save", "pointName": "Pickup", "path": "", "x": 440, "y": 140, "wires": [ [ "pp-d-save-pickup" ] ] }, { "id": "pp-d-save-pickup", "type": "debug", "z": "pp-tab", "g": "pp-g-setup", "name": "{ ok, point:{name:'Pickup',...} }", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 710, "y": 140, "wires": [] }, { "id": "pp-i-save-bina", "type": "inject", "z": "pp-tab", "g": "pp-g-setup", "name": "Save 'Bin A' (here)", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 190, "y": 195, "wires": [ [ "pp-n-save-bina" ] ] }, { "id": "pp-n-save-bina", "type": "gofa-points", "z": "pp-tab", "g": "pp-g-setup", "outputPayload": true, "name": "Save 'Bin A'", "robot": "cfg1", "action": "save", "pointName": "Bin A", "path": "", "x": 440, "y": 195, "wires": [ [ "pp-d-save-bina" ] ] }, { "id": "pp-d-save-bina", "type": "debug", "z": "pp-tab", "g": "pp-g-setup", "name": "{ ok, point:{name:'Bin A',...} }", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 710, "y": 195, "wires": [] }, { "id": "pp-i-save-binb", "type": "inject", "z": "pp-tab", "g": "pp-g-setup", "name": "Save 'Bin B' (here)", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 190, "y": 250, "wires": [ [ "pp-n-save-binb" ] ] }, { "id": "pp-n-save-binb", "type": "gofa-points", "z": "pp-tab", "g": "pp-g-setup", "outputPayload": true, "name": "Save 'Bin B'", "robot": "cfg1", "action": "save", "pointName": "Bin B", "path": "", "x": 440, "y": 250, "wires": [ [ "pp-d-save-binb" ] ] }, { "id": "pp-d-save-binb", "type": "debug", "z": "pp-tab", "g": "pp-g-setup", "name": "{ ok, point:{name:'Bin B',...} }", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 710, "y": 250, "wires": [] }, { "id": "pp-i-sethome", "type": "inject", "z": "pp-tab", "g": "pp-g-setup", "name": "Set Home (here)", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 190, "y": 305, "wires": [ [ "pp-n-sethome" ] ] }, { "id": "pp-n-sethome", "type": "gofa-move", "z": "pp-tab", "g": "pp-g-setup", "outputPayload": true, "name": "SETHOME", "robot": "cfg1", "command": "SETHOME", "x": 440, "y": 305, "wires": [ [ "pp-d-sethome" ] ] }, { "id": "pp-d-sethome", "type": "debug", "z": "pp-tab", "g": "pp-g-setup", "name": "{ ok, ack:'OK:SETHOME' }", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 710, "y": 305, "wires": [] }, { "id": "pp-c-cycle", "type": "comment", "z": "pp-tab", "g": "pp-g-cycle", "name": "Real industrial pattern: part arrives -> pick -> classify (sensor) -> place in the matching bin -> return to ready. Classify = Asi1Button2 as a stand-in sensor.", "info": "", "x": 740, "y": 460, "wires": [] }, { "id": "pp-i-start", "type": "inject", "z": "pp-tab", "g": "pp-g-cycle", "name": "Start Cycle (part arrived)", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 210, "y": 520, "wires": [ [ "pp-n-motoron" ] ] }, { "id": "pp-n-motoron", "type": "gofa-motor", "z": "pp-tab", "g": "pp-g-cycle", "outputPayload": true, "name": "Ensure Motors ON", "robot": "cfg1", "action": "motoron", "x": 440, "y": 520, "wires": [ [ "pp-n-home1" ] ] }, { "id": "pp-n-home1", "type": "gofa-move", "z": "pp-tab", "g": "pp-g-cycle", "outputPayload": true, "name": "Go to Ready/Home", "robot": "cfg1", "command": "HOME", "x": 650, "y": 520, "wires": [ [ "pp-n-goto-pickup" ] ] }, { "id": "pp-n-goto-pickup", "type": "gofa-points", "z": "pp-tab", "g": "pp-g-cycle", "outputPayload": true, "name": "Go to 'Pickup'", "robot": "cfg1", "action": "go", "pointName": "Pickup", "moveType": "J", "path": "", "x": 850, "y": 520, "wires": [ [ "pp-n-grip-close" ] ] }, { "id": "pp-n-grip-close", "type": "gofa-grip", "z": "pp-tab", "g": "pp-g-cycle", "outputPayload": true, "name": "Close Gripper (Pick)", "robot": "cfg1", "action": "on", "signal": "ABB_Scalable_IO_0_DO1", "x": 1050, "y": 520, "wires": [ [ "pp-n-delay1" ] ] }, { "id": "pp-n-delay1", "type": "delay", "z": "pp-tab", "g": "pp-g-cycle", "name": "Settle 0.5s", "pauseType": "delay", "timeout": "0.5", "timeoutUnits": "seconds", "rate": "1", "nbRateUnits": "1", "rateUnits": "second", "randomFirst": "1", "randomLast": "5", "randomUnits": "seconds", "drop": false, "allowrate": false, "outputs": 1, "x": 1250, "y": 520, "wires": [ [ "pp-n-classify" ] ] }, { "id": "pp-n-classify", "type": "gofa-di-read", "z": "pp-tab", "g": "pp-g-cycle", "outputPayload": true, "name": "Classify Part (stand-in sensor)", "robot": "cfg1", "signal": "Asi1Button2", "x": 1470, "y": 520, "wires": [ [ "pp-n-switch" ] ] }, { "id": "pp-n-switch", "type": "switch", "z": "pp-tab", "g": "pp-g-cycle", "name": "Route by Classify Sensor", "property": "payload.value", "propertyType": "msg", "rules": [ { "t": "eq", "v": "1", "vt": "num" }, { "t": "else" } ], "checkall": "false", "repair": false, "outputs": 2, "x": 1720, "y": 520, "wires": [ [ "pp-n-goto-bina" ], [ "pp-n-goto-binb" ] ] }, { "id": "pp-n-goto-bina", "type": "gofa-points", "z": "pp-tab", "g": "pp-g-cycle", "outputPayload": true, "name": "Go to 'Bin A'", "robot": "cfg1", "action": "go", "pointName": "Bin A", "moveType": "J", "path": "", "x": 1960, "y": 460, "wires": [ [ "pp-n-release-a" ] ] }, { "id": "pp-n-release-a", "type": "gofa-grip", "z": "pp-tab", "g": "pp-g-cycle", "outputPayload": true, "name": "Release (Place -> Bin A)", "robot": "cfg1", "action": "off", "signal": "ABB_Scalable_IO_0_DO1", "x": 2160, "y": 460, "wires": [ [ "pp-d-sorted-a", "pp-n-home2" ] ] }, { "id": "pp-d-sorted-a", "type": "debug", "z": "pp-tab", "g": "pp-g-cycle", "name": "Sorted -> Bin A", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 2530, "y": 460, "wires": [] }, { "id": "pp-n-goto-binb", "type": "gofa-points", "z": "pp-tab", "g": "pp-g-cycle", "outputPayload": true, "name": "Go to 'Bin B'", "robot": "cfg1", "action": "go", "pointName": "Bin B", "moveType": "J", "path": "", "x": 1960, "y": 580, "wires": [ [ "pp-n-release-b" ] ] }, { "id": "pp-n-release-b", "type": "gofa-grip", "z": "pp-tab", "g": "pp-g-cycle", "outputPayload": true, "name": "Release (Place -> Bin B)", "robot": "cfg1", "action": "off", "signal": "ABB_Scalable_IO_0_DO1", "x": 2160, "y": 580, "wires": [ [ "pp-d-sorted-b", "pp-n-home2" ] ] }, { "id": "pp-d-sorted-b", "type": "debug", "z": "pp-tab", "g": "pp-g-cycle", "name": "Sorted -> Bin B", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 2530, "y": 580, "wires": [] }, { "id": "pp-n-home2", "type": "gofa-move", "z": "pp-tab", "g": "pp-g-cycle", "outputPayload": true, "name": "Return to Ready", "robot": "cfg1", "command": "HOME", "x": 2520, "y": 520, "wires": [ [ "pp-d-complete" ] ] }, { "id": "pp-d-complete", "type": "debug", "z": "pp-tab", "g": "pp-g-cycle", "name": "Cycle Complete -- ready for next part", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 2790, "y": 520, "wires": [] }, { "id": "42a91bd830bca8e9", "type": "gofa-points", "z": "pp-tab", "g": "pp-g-setup", "outputPayload": true, "name": "", "robot": "cfg1", "action": "delete", "pointName": "Bin B", "moveType": "J", "path": "", "x": 450, "y": 360, "wires": [ [ "c445cd906aead295" ] ] }, { "id": "bb09d07a407bc8a5", "type": "inject", "z": "pp-tab", "g": "pp-g-setup", "name": "Delete Point", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 190, "y": 360, "wires": [ [ "42a91bd830bca8e9" ] ] }, { "id": "c445cd906aead295", "type": "debug", "z": "pp-tab", "g": "pp-g-setup", "name": "", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 670, "y": 360, "wires": [] }, { "id": "cfg1", "type": "gofa-robot", "name": "ABB-GoFa-12", "ip": "192.168.125.1", "rwsPort": "443", "socketPort": "1025", "backgroundPort": "1026", "username": "Default User", "remotePointsPath": "$HOME/Programs/gofa_points.json", "jointLimits": "", "allowInsecureLiveControl": false }, { "id": "6bebfbf582497203", "type": "global-config", "env": [], "modules": { "node-red-contrib-abb-gofa": "2.5.1" } } ]