PRIArobotics / CRCLJS

CRCLJS

Specification and Javascript implementation of the queued streaming robot motion interface CRCL-JS, an adapted minimal JSON-based version of CRCL.

There are also two specific implementations:

• a Node-JS specific implementation: CRCL-JS-Node
• a browser version with websockets: CRCL-JS-WS, which needs a socket-websocket-gateway, the CRCLJS-WSAdapter.

The main principle of CRCL-JS is an implemented parallel communication and execution framework on the robot PLC which parses the received CRCL-commands, enqueues them and simultaneously executes them in a FIFO-manner. Every execution triggers multiple status notifications back to the High-Level System, depicted as Decision Making Component in the following figure.

Tests

To test the reference implementation run

npm test

Author

• Timon Höbert

CRCL-Reference

CRCLCommands

A CRCL-Command has the following fields, which can be ordered as follows for simpler parsing:

1. CRCLCommand : string - type of command determines the crcl params
2. CommandID : integer - unique positive identifier, incremental
3. (Name) : string - description of the command for humans
4. CRCLParam : object - additional parameters

MoveTo

Moves the robot to the specified position in the specified manner, either as point to point movement or straight and with a specified blending radius.

CRCLParam:

1. Pose : object - target TCP position X, (Y), (Z), (A), (B), (C). The angles A,B,C are Euler angles in degrees: Fixed angles X-Y-Z (equivalent to rotating Z-Y'-X'' euler angles, equivalent to Yaw, Pitch, Roll)
2. (Straight) : boolean - if true, TCP stays in line between origin and target position, otherwise arbitrary trajectory (default).
3. (Blending) : float - blending radius in [mm] to blend this movement with the next movement, no blending with 0 (default)

Examples

{
    "CommandID" : 1,
    "Name" : "Move Articulated Robot",
    "CRCLCommand" : "MoveTo",
    "CRCLParam" : { 
        "Pose" : {
            "X": -60.0,
            "Y": 120.0,
            "Z": 90.0,
            "A": -80.0,
            "B": 100.0,
            "C": 130.0
        },
        "Straight" : true
    }
}

{
    "CommandID" : 2,
    "Name" : "Move Cartesian Robot",
    "CRCLCommand" : "MoveTo",
    "CRCLParam" : { 
        "Pose" : {
            "X" : -60.0,
            "Y" : 120.0,
            "Z" : 90.0,
            "C" : 130.0
        },
        "Straight" : true,
    }
}

{
    "CommandID" : 3,
    "Name" : "Move Conveyor Belt",
    "CRCLCommand" : "MoveTo",
    "CRCLParam" : { 
        "Pose" : {
            "X" : 0.0,
        },
        "Straight" : true,
    }
}

SetEndEffector

Sets the value of the active end-effector, for example, a gripper.

CRCLParam

1. Setting : float - tool, for example gripper, state between 0.0 and 1.0

Examples

{
    "CRCLCommand" : "SetEndEffector", 
    "Name" : "Grasp", 
    "CommandID" : 4, 
    "CRCLParam" : {
        "Setting" : 0.0
    }
}

SetEndEffectorParameters

Changes the active end-effector

CRCLParam

1. ToolID : integer - id of the tool, for example gripper id

Examples

{
    "CRCLCommand" : "SetEndEffectorParameters", 
    "Name" : "Use Tool 7", 
    "CommandID" : 5, 
    "CRCLParam" : {
        "ToolID" : 7
    }
}

SetTransSpeed

Sets the speed value

CRCLParam

1. (Relative) : float - fraction of the maximum translational speed.

Examples

{
    "CRCLCommand" : "SetTransSpeed", 
    "Name" : "Set Movement Speed to 50 percent", 
    "CommandID" : 6, 
    "CRCLParam" : {
        "Relative" : 0.3
    }
}

SetTransAccel

Sets the acceleration value

CRCLParam

1. (Relative) : float - fraction of the maximum translational acceleration.

Examples

{
    "CRCLCommand" : "SetTransAccel", 
    "Name" : "Set movement acceleration to 50 percent", 
    "CommandID" : 7, 
    "CRCLParam" : {
        "Relative" : 0.3
    }
}

Wait

waits for a specified time

CRCLParam

1. (Time) : float - time im seconds to wait

Examples

{
    "CRCLCommand" : "Wait", 
    "Name" : "Wait 0.5s", 
    "CommandID" : 7, 
    "CRCLParam" : {
        "Time" : 0.5
    }
}

Clear

Clears the currently enqueued commands.

CRCLParam

None.

Examples

{
    "CRCLCommand" : "Clear", 
    "Name" : "Clear Queue", 
    "CommandID" : 8, 
    "CRCLParam" : {
    }
}

CRCLStatus

The status messages which are sent back to the command sender after each event.

Param

1. CommandID : integer - the CommandID of the command which is referenced with this status message
2. StatusID : integer - the unique positive status identifier, incremental
3. CommandState : string - state description enum:
   1. CRCL_Queued - command sucessfully parsed und put into the queue
   2. CRCL_Working - command started
   3. CRCL_Done - command finished
   4. CRCL_Error - command failed
4. (StateDescription) : string - description of the state for humans

Examples

{
    "CommandStatus": {
        "CommandID": 1,
        "StatusID": 1,
        "CommandState": "CRCL_Working"
    }
}