Command
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Usage Example
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Description
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DeliverFromTo SourceStationID SourceBeltID DestinationStationID DestinationBeltID |
DeliverFromTo 1 1 2 2 |
Drive to Position 1, dock to Belt 1, Load, Undock, Drive to Position 2, dock to Belt 2, Unload, Undock
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GotoPosition PositionID |
GotoPosition 1 |
Drives to Position 1
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DockTo BeltID |
DockTo 1 |
Docks to Belt 1
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Undock |
Undock |
Undocks if already docked
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LoadBox |
LoadBox |
Loads on Box if no box already loaded on the belt and transport station ready to load
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UnloadBox |
UnloadBox |
Unloads the Box if box present on the belt and transport station ready to receive
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<NOT YET> Stop |
Stop |
Halt the Robotino, put the task on hold
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<NOT YET> Continue |
Continue |
Resumes the task if a task is on hold
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EndTask |
EndTask |
Terminates the ongoing task and stops any movement
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TeachPosition PositionID x y phi |
TeachPosition 1 0.54 23.5 45.0 |
Teach Position with ID 1, in global coordinates x(in meters):0.54, y(in meters):23.5, phi(in degrees):45 If position ID already exists position is overwritten.
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TeachPositionWithName PositionID x y phi "name" |
TeachPositionWithName 1 0.54 23.5 45.0 "Station #1" |
Teach Position with ID 1, in global coordinates x(in meters):0.54, y(in meters):23.5, phi(in degrees):45 with name "Station #1". If position ID already exists position is overwritten.
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DeletePosition PositionID |
DeletePosition 3 |
Delete position with PositionID. If there is no position with PositionID nothing happens.
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TeachCurrentPosition PositionID |
TeachCurrentPosition 1 |
Assign the current global position the ID 1
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GetAllPosition |
GetAllPosition |
Reads the list of all taught positions with its ID and Name
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SetNameForPosition PositionID name |
SetNameForPosition 1 RedParts |
Sets a tag RedParts for PostionID 1 if exists
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ReloadPositionStorage |
ReloadPositionStorage |
Triggers a reload of the position storage file. This is neccessary after transfering a position storage file from another Robotino.
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StartMapping |
StartMapping |
Start creation of a new map.
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StopMapping |
StopMapping |
Stop map creation. Map is saved as new map with date and time (map-YYYY-MM-DD_HH-MM-SS), in the MapStorageDirectory. (eg. map-2013-11-28_10-00-18.yaml map-2013-11-28_10-00-18.pgm)
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ReLoadDefaultMap |
ReLoadDefaultMap |
ReLoadDeafault map for navigation and localization. Global localization is used unless SetRobotPose is called afterwards.
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SetRobotPose x y phi |
SetRobotPose 1.2 2.5 90 |
Set the current pose of the robot x y in meter phi in DEG.
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GetSystemState |
GetSystemState |
Get a SystemState message once
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PUSHJOB JOBID PRIORITY ROBOTINOID FROMSTATION FROMBELT IsFromManual TOSTATION TOBELT IsToManual
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- JOBID unique number generated by the MES
- PRIORITY currently not used
- ROBOTINOID number of Robotino that should do the job. The Robotino number is configured through the web-interface of each Robotino. The Robotino number should be made visible on each Robotino. Giving a -1 as ROBOTINOID indicates that the planner should automatically choose the Robotino fullfilling this job.
- FROMSTATION station id from where to load the box
- FROMBELT belt id from where to load the box
- IsFromManual True if the pick up station is a manual position(No docking station)
- TOSTATION station id where to unload the box
- TOBELT belt id where to unload the box
- IsToManual True if drop-off station is a manual position(No docking station)
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SETOPERATIONMODE ROBOTINOID MODE
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- ROBOTINOID number of Robotino to change the mode for.
- MODE:
- OUTOFSERVICE do NOT auto-assign jobs to Robotino
- AUTO auto-assign jobs to Robotino.
- Manual do NOT auto-assign jobs to Robotino, but assign to target Robotino when individual task received.
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GETJOBINFO JOBID
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GETJOBERROR JOBID
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ErrorAcknowledge RobotinoID CLEARERROR
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ErrorAcknowledge RobotinoID ABORTJOB
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ManualAcknowlege RobotinoID
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Acknowledge the Robotino that the box is placed/removed from it after reaching the manual pose(no docking station)
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GETESTIMATEDJOBDURATION RobotinoID FROMSTATION FROMBELT TOSTATION TOBELT
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GETROBOTINFO ROBOTINOID [CYCLETIME]
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- ROBOTINOID ID of robot to request the ROBOTINFO from
- CYCLETIME (optional) If >0 than ROBOTINFO response is send cyclic every CYCLETIME ms. If CYCLETIME is smaller than 100ms CYCLETIME is set to 100ms. If CYCLETIME is 0 than cyclic sending is disabled and you get only one response to this request. If CYCLETIME is omitted the cyclic sending is not altered and you receive a single response to this request.
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GetAllRobotinoID
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SmartSoft response to FleetManager requests
Command
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Usage Example
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Description
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GetAllPosition id x y phi "name",id x y phi "name" ...
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name must not contain comma (0x2C)
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ROBOTINFO ROBOTINOID key:value,key_value,...
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ROBOTINFO 3 x:0.5,y:11.4,phi:56,batteryvoltage:22.5,isBatteryLow:0,laserWarning:0,laserSafty:0,irleft:0.8,irmid:1.2,irright:0.8,sensormid:1,boxpresent:1
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Response to GETROBOTINFO or pushed by SmartSoft if cyclic response is enabled.
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JOBINFO JOBID PRIORITY ROBOTINOID FROMSTATION FROMBELT TOSTATION TOBELT STATE
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with STATE being one of the following strings
- NOTAVAILABLE
- PENDING
- DOCKING
- UNDOCKING
- DRIVING
- LOADING
- UNLOADING
- FINISHED
- IDLE
- ERROR
Pushed by SmartSoft on state change.
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GetErrorAcknowledge JOBID RobotinoID ERROR
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ERROR string
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Description
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NOERROR
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DeliverFromTo PATH_BLOCKED
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Robot path blocked to complete the task
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GoToPosition PATH_BLOCKED
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Robot path blocked to complete the task
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DockTo NO_DOCK_STATION
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Robot not close to the docking station(If the laser scanner intensity value is not as desired)
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LoadBox BOX_PRESENT
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Robot is already having a box on top(detected by "Box available" digital signal)
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LoadBox NO_RESPONSE_FROM_STATION
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The transport station has nothing to load(detected by "Station Ready" digital signal)
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LoadBox NO_BOX
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The box was not sucessfully loaded from the transport station(detected by "Box available" digital signal)
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UnloadBox NO_RESPONSE_FROM_STATION
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The transport station is not ready to receive a box(detected by "Station Ready" digital signal)
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UnloadBox NO_BOX
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No box on top of the Robot(detected by "Box available" digital signal)
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UnloadBox BOX_PRESENT
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Task terminated but a box is still present on the robot(detected by "Box available" digital signal)
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Pushed by SmartSoft when error occurs.
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EstimatedJobDuration TimeInSec
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TimeInSec = TimeToCompleteCurrentJob + TimeToCompleteReqestedJob
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GetManaulAcknowledge RobotinoID
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Pushed by SmartSoft when manual pose(no docking station) reached and waiting for his acknowledgement after placing/removing the box
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Smartsoft
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