deprag_cgi

This repo contains a ros package, which handle the cgi interface for sequence Controller AST5, AST6, AST10, AST11, AST40 and for Base Station ComCenter 10.

Used ROS Version

ROS Melodic

Requiered Packages

Python3 package requests 2.18.4

Implemented Function Blocks

Number	Name	Required parameters
1	Tightening to Torque without Angle supervision	Maximum Screwdriving Time, Shut-off Torque, Minimum Torque, Maximum Torque, Screwdriver Speed, rpm, Torque Hold Time
6	Loosen to Torque without Angle supervision	Maximum Screwdriving Time, Shut-off Torque, Minimum Torque, Maximum Torque, Screwdriver Speed, Torque Hold Time
6	Loosen to Torque with Angle supervision	Maximum Screwdriving Time, Shut-off Torque, Minimum Torque, Maximum Torque, Screwdriver Speed, Torque Hold Time, Threshold Torque, Minimum Angle, Maximum Angle
8	Loosening to Angle with Torque supervision	Maximum Screwdriving Time, Shut-off Angle, Minimum Angle, Maximum Angle, Minimum Torque, Maximum Torque, Screwdriver Speed, Type of Final Values
4	Tightening to External Signal	Maximum Screwdriving Time, Minimum Angle, Maximum Angle, Minimum Torque, Maximum Torque, Screwdriver Speed, Type of Final Values
5	Loosen to External Signal	Maximum Screwdriving Time, Minimum Angle, Maximum Angle, Minimum Torque, Maximum Torque, Screwdriver Speed, Type of Final Values
24	Display Values	-
25	Save Values	-
26	Statistic	-

Building from Source

$ git clone
$ catkin build

Usage

setup

The ip address of screwdriver controller is configurable at deprag_cgi_interface/src/deprag_cgi_node.py. Further parameters can also be set there.

Programm Transfer to Sequence Controller

Firstly open a terminal windows and build your workspace:

$ catkin_make

Then change your current directory to the deprag_cgi source and register the python script:

$ roscd deprag_cgi/src

$ chmod +x deprag_cgi_node.py

Now run the deprag cgi script:

$ rosrun deprag_cgi deprag_cgi_node.py

To create a new program we first must call the deprag_create service, establishing basic program settings like its name, program number, etc.

$ rosservice call /deprag_create "{pgm_number: 32, head_title: 'Example', head_dir: 0, head_feed: 0, torque_unit: 0}"

The service will return an unique id that we must hold on to because it is needed to add further steps to the program and later pubish it.

id: 11

Now to add a loosen on extern step we call the deprag_loosen_on_extern service, making sure to set cid to the value returned by the deprag_create call.

$ rosservice call /deprag_loosen_on_extern "{cid: 11, max_time: 32, angle_min: 60, angle_max: 320, torque_min: 5.0, torque_max: 15.0, rpm: 30, create_val: 1}"

Again the id is returned.

id:11

If id happens to be a negative value an error occured, therefore any software using these services should check if id is smaler than zero. Each value smaler than zero coresponds to a line of code where the error occured, therfore a text search of deprag_cgi_node.py will yield this line.

To chain steps we simply call their services in order.

$ rosservice call /deprag_tighten_on_extern "{cid: 11, max_time: 36, angle_min: 20, angle_max: 630, torque_min: 5.0, torque_max: 15.0, rpm: 30, create_val: 1}"

Finaly to publish the program to the deprag device we call the deprag_publish service

$ rosservice call /deprag_publish "cid: 11"

The program is now avaliable on the deprag device and the id is invalid, do not use it anymore.

Error Coding

When an error occures while a service is called the service will return a negative id. To find the corresponding error and line of code simply conduct a text search in the deprag_cgi_node.py script.

References

Implemented according to the manual Operating manual: External Program Creation, 013777XX

Acknowledgement

Sponsored by the Ministry of the Environment Baden-Württemberg, in the context of the Strategic Dialogue Automotive Industry, and supervised by the Project Management Agency Karlsruhe (PTKA). Funding number: L7520101

https://www.ipa.fraunhofer.de/de/referenzprojekte/DeMoBat.html

Contact

For more information please feel free to contact:
M.Sc. Anwar Al Assadi
Wissenschaftlicher Mitarbeiter
Fraunhofer‐Institut für
Produktionstechnik und Automatisierung IPA
Abteilung Roboter- und Assistenzsysteme
Nobelstraße 12 │ 70569 Stuttgart
Telefon +49 711 970-1264
anwar.alassadi@ipa.fraunhofer.de