MR
Dashboard/Tabac factory
HYBRIDIn Review

State Machine

Interactive React Flow graph of the cycle, with the generated states and transitions below.

Mini Map

States (18)

  1. 00Initstart
  2. 01Connect Robot
  3. 02Release Brake
  4. 03Check Safety
  5. 04Wait For Cnc Ready
  6. 05Capture Part Pose
  7. 06Move To Pre Pick
  8. 07Pick Part
  9. 08Verify Grip
  10. 09Move To Cnc Pre Load
  11. 10Force Controlled Insert
  12. 11Signal Load Complete
  13. 12Wait For Machining Complete
  14. 13Remove Part
  15. 14Place Finished Part
  16. 15Return Home
  17. 16Endend
  18. 17Error Recoveryerror

Transitions (20)

  • INIT→CONNECT_ROBOT
  • CONNECT_ROBOT→RELEASE_BRAKE
  • RELEASE_BRAKE→CHECK_SAFETY
  • CHECK_SAFETY→WAIT_FOR_CNC_READY
  • WAIT_FOR_CNC_READY→CAPTURE_PART_POSE
  • CAPTURE_PART_POSE→MOVE_TO_PRE_PICK
  • MOVE_TO_PRE_PICK→PICK_PART
  • PICK_PART→VERIFY_GRIP
  • VERIFY_GRIP→MOVE_TO_CNC_PRE_LOAD
  • MOVE_TO_CNC_PRE_LOAD→FORCE_CONTROLLED_INSERT
  • FORCE_CONTROLLED_INSERT→SIGNAL_LOAD_COMPLETE
  • SIGNAL_LOAD_COMPLETE→WAIT_FOR_MACHINING_COMPLETE
  • WAIT_FOR_MACHINING_COMPLETE→REMOVE_PART
  • REMOVE_PART→PLACE_FINISHED_PART
  • PLACE_FINISHED_PART→RETURN_HOME
  • RETURN_HOME→END[cycle complete]
  • CHECK_SAFETY→ERROR_RECOVERY[fault / collision]
  • PICK_PART→ERROR_RECOVERY[fault / collision]
  • VERIFY_GRIP→ERROR_RECOVERY[fault / collision]
  • ERROR_RECOVERY→CHECK_SAFETY[after operator reset]