[ { "id": "a17a5b075916bef6", "type": "tab", "label": "ABB-GoFa-12 Teach Workflow", "disabled": false, "info": "" }, { "id": "b474c6bb3eb103c2", "type": "group", "z": "a17a5b075916bef6", "name": "Button 1: Toggle Teach Mode", "style": { "stroke": "#0099cc", "stroke-opacity": "1", "fill": "#ffffff", "fill-opacity": "0.3", "label": true, "label-position": "nw", "color": "#0099cc" }, "nodes": [ "8c35591b5df532e6", "11d4c947a8bda098", "2fd9cc4e41043058", "07ba7ba1de1d7370", "a9b927fb423a4cff", "90a54be748ae9a90", "f3749d1b6ba09f0f", "33d14050bfa19946", "b8110cdb1505bc4e", "886685d355c41b63", "4435d831b508fcc6", "df4c842165c5765c", "f5563c17a6c3429e", "f89e7899a9ee6bde", "59a627245a625aa7", "8ba7bbaa2239fa83", "14b162f82809b4f7", "99aa4d2c0c07b185", "f39e75e1680ca698", "884f1b8212b78518", "9ab9852e43b73265", "eff22889116081ec", "319ff59df68d8789", "baf679a5658d0323", "e37ecc7f24ceef09", "1fcab4b586c8f8a8", "8b514675b3606c5f", "466416196504a299", "727274d6493e5c07", "0aaad16114a799e0", "c63cdc6bd086dd23", "25fbe81a9822a863", "bcc1ecd178fb721d", "99b8690d913153dd", "3ef8d5d15a068b65", "5c6e737a1765beee", "d8f3c1a6e29b4750" ], "x": 24, "y": 59, "w": 3520, "h": 720 }, { "id": "7fa433d560ceee6d", "type": "group", "z": "a17a5b075916bef6", "name": "Button 2: Save Point (gated on teach mode)", "style": { "stroke": "#0099cc", "stroke-opacity": "1", "fill": "#ffffff", "fill-opacity": "0.3", "label": true, "label-position": "nw", "color": "#0099cc" }, "nodes": [ "7bc4bc2ad79a1db4", "64eb60ec5de3f9d4", "307247807f6acc7d", "23f015ee54a77261", "24eefbe32fc69beb", "a09ca872b97ee9e4", "01a29e1f45684439", "730d0aaf2537379f", "fadacf1ef594fa02", "ef54f998f6eeade2", "fc7fa52bcc252753", "c459aef903d9a4c8", "2ebda9c57277dc20", "22da089234ab4c52", "7c2e9b4a1d6f3850", "b1e4f7a2c9d63058", "9f2a7c3e5b8d1046" ], "x": 14, "y": 759, "w": 2560, "h": 242 }, { "id": "8c35591b5df532e6", "type": "comment", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "PRECONDITION: robot already in Auto mode, Motors On, RAPID running. 1st press: stop RAPID -> confirm stopped (bounded poll) -> enable lead-through. 2nd press: disable lead-through -> reset PP -> restart RAPID (back to original state). Decision is based on LIVE gofa-status reads each press, not a stored flag - self-healing across Node-RED restarts.", "info": "", "x": 860, "y": 100, "wires": [] }, { "id": "11d4c947a8bda098", "type": "debug", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Button1: Lead-through Enable Result", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 3060, "y": 160, "wires": [] }, { "id": "2fd9cc4e41043058", "type": "gofa-leadthrough", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Enable Lead-through", "robot": "cfg1", "x": 2820, "y": 160, "wires": [ [ "11d4c947a8bda098", "25fbe81a9822a863" ] ], "action": "enable", "outputPayload": true }, { "id": "07ba7ba1de1d7370", "type": "debug", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Button1: RAPID never reached stopped - giving up", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 3060, "y": 380, "wires": [] }, { "id": "a9b927fb423a4cff", "type": "delay", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Retry Wait (300ms)", "pauseType": "delay", "timeout": "300", "timeoutUnits": "milliseconds", "rate": "1", "nbRateUnits": "1", "rateUnits": "second", "randomFirst": "1", "randomLast": "5", "randomUnits": "seconds", "drop": false, "outputs": 1, "x": 3060, "y": 280, "wires": [ [ "33d14050bfa19946" ] ] }, { "id": "90a54be748ae9a90", "type": "switch", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Retries Left? (<=5)", "property": "retryCount", "propertyType": "msg", "rules": [ { "t": "lte", "v": "5", "vt": "num" }, { "t": "else" } ], "checkall": "false", "repair": false, "outputs": 2, "x": 2820, "y": 320, "wires": [ [ "a9b927fb423a4cff" ], [ "07ba7ba1de1d7370" ] ] }, { "id": "f3749d1b6ba09f0f", "type": "change", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Increment Retry Counter", "rules": [ { "t": "set", "p": "retryCount", "pt": "msg", "to": "retryCount + 1", "tot": "jsonata" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 2580, "y": 320, "wires": [ [ "90a54be748ae9a90" ] ] }, { "id": "33d14050bfa19946", "type": "gofa-status", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Poll RAPID State", "robot": "cfg1", "x": 2340, "y": 240, "wires": [ [ "b8110cdb1505bc4e" ] ], "outputPayload": true }, { "id": "b8110cdb1505bc4e", "type": "switch", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Stopped Yet?", "property": "payload.rapid", "propertyType": "msg", "rules": [ { "t": "eq", "v": "stopped", "vt": "str" }, { "t": "else" } ], "checkall": "false", "repair": false, "outputs": 2, "x": 2580, "y": 240, "wires": [ [ "2fd9cc4e41043058" ], [ "f3749d1b6ba09f0f" ] ] }, { "id": "886685d355c41b63", "type": "change", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Init Retry Counter", "rules": [ { "t": "set", "p": "retryCount", "pt": "msg", "to": "0", "tot": "num" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 2100, "y": 240, "wires": [ [ "33d14050bfa19946" ] ] }, { "id": "4435d831b508fcc6", "type": "switch", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Stop OK?", "property": "payload.ok", "propertyType": "msg", "rules": [ { "t": "true" } ], "checkall": "false", "repair": false, "outputs": 1, "x": 1860, "y": 160, "wires": [ [ "886685d355c41b63" ] ] }, { "id": "df4c842165c5765c", "type": "debug", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Button1: Stop RAPID Result", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 1860, "y": 220, "wires": [] }, { "id": "f5563c17a6c3429e", "type": "gofa-rapid-exec", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Stop RAPID (begin teaching)", "robot": "cfg1", "action": "stop", "x": 1620, "y": 160, "wires": [ [ "4435d831b508fcc6", "df4c842165c5765c" ] ], "outputPayload": true }, { "id": "f89e7899a9ee6bde", "type": "debug", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Button1: Restart RAPID Result", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 3300, "y": 520, "wires": [] }, { "id": "59a627245a625aa7", "type": "gofa-rapid-exec", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Restart RAPID", "robot": "cfg1", "action": "start", "x": 3060, "y": 520, "wires": [ [ "f89e7899a9ee6bde", "99b8690d913153dd" ] ], "outputPayload": true }, { "id": "8ba7bbaa2239fa83", "type": "change", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Clear Payload Before Restart", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "{}", "tot": "jsonata" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 2820, "y": 520, "wires": [ [ "59a627245a625aa7" ] ] }, { "id": "14b162f82809b4f7", "type": "switch", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Reset OK?", "property": "payload.ok", "propertyType": "msg", "rules": [ { "t": "true" } ], "checkall": "false", "repair": false, "outputs": 1, "x": 2580, "y": 520, "wires": [ [ "8ba7bbaa2239fa83" ] ] }, { "id": "99aa4d2c0c07b185", "type": "debug", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Button1: Reset PP Result", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 2340, "y": 580, "wires": [] }, { "id": "f39e75e1680ca698", "type": "gofa-rapid-exec", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Reset Program Pointer", "robot": "cfg1", "action": "resetpp", "x": 2340, "y": 520, "wires": [ [ "14b162f82809b4f7", "99aa4d2c0c07b185" ] ], "outputPayload": true }, { "id": "884f1b8212b78518", "type": "switch", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Disable OK?", "property": "payload.ok", "propertyType": "msg", "rules": [ { "t": "true" } ], "checkall": "false", "repair": false, "outputs": 1, "x": 2100, "y": 520, "wires": [ [ "f39e75e1680ca698" ] ] }, { "id": "9ab9852e43b73265", "type": "debug", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Button1: Disable Lead-through Result", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 1860, "y": 580, "wires": [] }, { "id": "eff22889116081ec", "type": "gofa-leadthrough", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Disable Lead-through (end teaching)", "robot": "cfg1", "x": 1860, "y": 520, "wires": [ [ "884f1b8212b78518", "9ab9852e43b73265" ] ], "action": "disable", "outputPayload": true }, { "id": "319ff59df68d8789", "type": "debug", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Button1: Ignored - unexpected state", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 1860, "y": 700, "wires": [] }, { "id": "baf679a5658d0323", "type": "change", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Build Unexpected-State Message", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "{\"ok\": false, \"ignored\": true, \"reason\": \"Unexpected state for teach toggle\", \"rapidState\": payload.rapid, \"opmode\": payload.opmode, \"ctrlstate\": payload.ctrlstate}", "tot": "jsonata" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 1620, "y": 700, "wires": [ [ "319ff59df68d8789" ] ] }, { "id": "e37ecc7f24ceef09", "type": "switch", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Route: Start vs Finish vs Unexpected", "property": "payload", "propertyType": "msg", "rules": [ { "t": "jsonata_exp", "v": "payload.rapid = \"running\" and $lowercase(payload.opmode) = \"auto\" and payload.ctrlstate = \"motoron\"", "vt": "jsonata" }, { "t": "jsonata_exp", "v": "payload.rapid = \"stopped\"", "vt": "jsonata" }, { "t": "else" } ], "checkall": "false", "repair": false, "outputs": 3, "x": 1380, "y": 360, "wires": [ [ "f5563c17a6c3429e" ], [ "eff22889116081ec" ], [ "baf679a5658d0323" ] ] }, { "id": "1fcab4b586c8f8a8", "type": "debug", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Button1: Live State", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 1140, "y": 420, "wires": [] }, { "id": "8b514675b3606c5f", "type": "gofa-status", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Check Live State", "robot": "cfg1", "x": 1140, "y": 360, "wires": [ [ "e37ecc7f24ceef09", "1fcab4b586c8f8a8" ] ], "outputPayload": true }, { "id": "466416196504a299", "type": "delay", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Debounce Button1", "pauseType": "rate", "timeout": "3", "timeoutUnits": "seconds", "rate": "1", "nbRateUnits": "4", "rateUnits": "second", "randomFirst": "1", "randomLast": "5", "randomUnits": "seconds", "drop": true, "outputs": 1, "x": 900, "y": 360, "wires": [ [ "8b514675b3606c5f" ] ] }, { "id": "727274d6493e5c07", "type": "switch", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Rising Edge Only", "property": "payload.value", "propertyType": "msg", "rules": [ { "t": "eq", "v": "1", "vt": "num" } ], "checkall": "false", "repair": false, "outputs": 1, "x": 660, "y": 360, "wires": [ [ "466416196504a299" ] ] }, { "id": "0aaad16114a799e0", "type": "gofa-subscribe-io", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Watch Asi1Button1", "robot": "cfg1", "signal": "Asi1Button1", "oneshot": false, "x": 420, "y": 360, "wires": [ [ "727274d6493e5c07" ] ], "outputPayload": true }, { "id": "c63cdc6bd086dd23", "type": "inject", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Start Watching Button1", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": true, "onceDelay": 0.5, "topic": "", "payload": "", "payloadType": "date", "x": 180, "y": 360, "wires": [ [ "0aaad16114a799e0" ] ] }, { "id": "7bc4bc2ad79a1db4", "type": "comment", "z": "a17a5b075916bef6", "g": "7fa433d560ceee6d", "name": "Only saves a point while RAPID is stopped (i.e. mid-teach via Button 1). Otherwise shows a clear \"not in teach mode\" message instead of silently doing nothing.", "info": "", "x": 560, "y": 800, "wires": [] }, { "id": "64eb60ec5de3f9d4", "type": "debug", "z": "a17a5b075916bef6", "g": "7fa433d560ceee6d", "name": "Button2: Ignored - not in teach mode", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "x": 2240, "y": 940, "wires": [] }, { "id": "307247807f6acc7d", "type": "change", "z": "a17a5b075916bef6", "g": "7fa433d560ceee6d", "name": "Build Not-In-Teach-Mode Message", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "{\"ok\": false, \"ignored\": true, \"reason\": \"Not in teach mode - press Button 1 first\", \"rapidState\": payload.rapid}", "tot": "jsonata" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 2000, "y": 940, "wires": [ [ "64eb60ec5de3f9d4" ] ] }, { "id": "23f015ee54a77261", "type": "debug", "z": "a17a5b075916bef6", "g": 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"t": "eq", "v": "1", "vt": "num" } ], "checkall": "false", "repair": false, "outputs": 1, "x": 1040, "y": 900, "wires": [ [ "fadacf1ef594fa02" ] ] }, { "id": "fc7fa52bcc252753", "type": "gofa-subscribe-io", "z": "a17a5b075916bef6", "g": "7fa433d560ceee6d", "name": "Watch Asi1Button2", "robot": "cfg1", "signal": "Asi1Button2", "oneshot": false, "x": 800, "y": 900, "wires": [ [ "ef54f998f6eeade2" ] ], "outputPayload": true }, { "id": "c459aef903d9a4c8", "type": "inject", "z": "a17a5b075916bef6", "g": "7fa433d560ceee6d", "name": "Start Watching Button2", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": true, "onceDelay": 0.5, "topic": "", "payload": "", "payloadType": "date", "x": 560, "y": 900, "wires": [ [ "fc7fa52bcc252753" ] ] }, { "id": "cfg1", "type": "gofa-robot", "name": "ABB-GoFa-12", "ip": "192.168.125.1", "rwsPort": "443", "socketPort": "1025", "username": "Default User", "remotePointsPath": "$HOME/Programs/gofa_points.json", "backgroundPort": "1026", "jointLimits": "", "allowInsecureLiveControl": false }, { "id": "acdddd48171e14ba", "type": "global-config", "env": [], "modules": { "node-red-contrib-abb-gofa": "2.2.3" } }, { "id": "25fbe81a9822a863", "type": "switch", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Enable OK?", "property": "payload.ok", "propertyType": "msg", "rules": [ { "t": "true" } ], "checkall": "false", "repair": false, "outputs": 1, "x": 3060, "y": 100, "wires": [ [ "bcc1ecd178fb721d" ] ] }, { "id": "bcc1ecd178fb721d", "type": "gofa-asi-led", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "LED: Teach Mode ON (yellow)", "robot": "cfg1", "outputPayload": true, "red": 255, "grn": 255, "blu": 0, "period": 0, "blinkCount": 0, "blinkMs": 250, "transport": "background", "x": 3300, "y": 100, "wires": [ [] ] }, { "id": "2ebda9c57277dc20", "type": "switch", "z": "a17a5b075916bef6", "g": "7fa433d560ceee6d", "name": "Save OK?", "property": "payload.ok", "propertyType": "msg", "rules": [ { "t": "true" } ], "checkall": "false", "repair": false, "outputs": 1, "x": 2240, "y": 800, "wires": [ [ "22da089234ab4c52" ] ] }, { "id": "22da089234ab4c52", "type": "gofa-asi-led", "z": "a17a5b075916bef6", "g": "7fa433d560ceee6d", "name": "LED: Point Saved (yellow flash x2)", "robot": "cfg1", "outputPayload": true, "red": 255, "grn": 255, "blu": 0, "period": 0, "blinkCount": 2, "blinkMs": 120, "transport": "background", "x": 2480, "y": 800, "wires": [ [ "9f2a7c3e5b8d1046" ] ] }, { "id": "9f2a7c3e5b8d1046", "type": "change", "z": "a17a5b075916bef6", "g": "7fa433d560ceee6d", "name": "Clear Payload (gofa-asi-led chaining hazard)", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "{}", "tot": "jsonata" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 2600, "y": 800, "wires": [ [ "b1e4f7a2c9d63058" ] ] }, { "id": "b1e4f7a2c9d63058", "type": "gofa-asi-led", "z": "a17a5b075916bef6", "g": "7fa433d560ceee6d", "name": "LED: Restore Teach Idle (yellow)", "robot": "cfg1", "outputPayload": true, "red": 255, "grn": 255, "blu": 0, "period": 0, "blinkCount": 0, "blinkMs": 250, "transport": "background", "x": 2820, "y": 800, "wires": [ [] ] }, { "id": "99b8690d913153dd", "type": "switch", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Restart OK?", "property": "payload.ok", "propertyType": "msg", "rules": [ { "t": "true" } ], "checkall": "false", "repair": false, "outputs": 1, "x": 2820, "y": 620, "wires": [ [ "3ef8d5d15a068b65" ] ] }, { "id": "3ef8d5d15a068b65", "type": "change", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "Set LED Reset Payload", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "reset", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 3060, "y": 620, "wires": [ [ "5c6e737a1765beee" ] ] }, { "id": "5c6e737a1765beee", "type": "gofa-asi-led", "z": "a17a5b075916bef6", "g": "b474c6bb3eb103c2", "name": "LED: Teach Mode OFF (reset to green)", "robot": "cfg1", "outputPayload": true, "red": 0, "grn": 255, "blu": 0, "period": 0, "blinkCount": 0, "blinkMs": 250, "transport": "background", "x": 3300, "y": 620, "wires": [ [] ] } ]