Lpallpatt

https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only
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### Approach Point Configuration Example

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Illustrates the configuration settings for two distinct approach points, detailing their coordinate values (x, y, z, a) and whether they are defined as absolute or offset values relative to a place point. This helps understand how different settings result in varied approach paths.

```APIDOC
Approach Point Configuration:

ApproachPoint 1:
  - Position:
    - x: Absolute = 0
    - y: Offset = 0
    - z: Offset = 300
    - a: Offset = 0
  - Description: Defined as absolute value for x, and offset for z, placing it 300mm above the place point.

ApproachPoint 2:
  - Position:
    - x: Offset = -100
    - y: Offset = 0
    - z: Offset = 100
    - a: Offset = 0
  - Description: Defined with offsets for x and z, resulting in an approach angle of 45° and a position 100mm above the place position.
```

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### Pattern Generation Execution

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Describes the process of initiating pattern generation within the SIMATIC CPU and visualizing the results on the HMI.

```APIDOC
Execute Pattern Generation:
  Action: Press the "Generate pattern" button on the HMI.
  Trigger: Initiates the FB "LPallPatt_PatternGenerator" in the SIMATIC CPU.
  Process:
    1. Calculates the pallet pattern based on configured data.
    2. Visualizes the generated pattern on the HMI.
  Visualization Details:
    - Position of the products
    - Orientation of the products
    - Product place order
  Post-Generation Check:
    - Always verify stack layer, routines, routine assignment, and offsets after generating a new pattern.
    - Ensure the layer stack is as expected and correct routines are assigned before starting palletizing.
```

--------------------------------

### Palletizing Program Structure

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Illustrates how the generated product positions from LPallPatt are utilized within a typical palletizing application program. It shows the sequence of operations and the role of the generated point table.

```APIDOC
FB "Palletizing Program"
  Description: Contains the sequence palletizing program that uses generated product positions.
  Inputs:
    - GeneratedProductPositions: Point list from LPallPatt_PatternGenerator.
  Outputs:
    - RobotPath: Commands for robot kinematics to execute the palletizing sequence.
  Dependencies:
    - LPallPatt_PatternGenerator (for input positions)
    - PLC Open instructions or LKinCtrl for path programming.
  Usage:
    The "place position" for each product is defined by the "GeneratedProductPositions" input.
```

--------------------------------

### Product Data Parameters

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Specifies parameters for defining individual product characteristics, including dimensions, gaps, and weight.

```APIDOC
ProductData:
  productName: string
    - Description: The name or identifier of the product.
    - Data Type: LPallPatt_typeProductData.productName

  productDimension:
    width: float
      - Description: Dimension of the product along the x-axis of the pallet coordinate system.
      - Data Type: LPallPatt_typeProductData.productDimension.width
    length: float
      - Description: Dimension of the product along the y-axis of the pallet coordinate system.
      - Data Type: LPallPatt_typeProductData.productDimension.length
    height: float
      - Description: Maximum stacking height of the product, determining the number of product layers.
      - Data Type: LPallPatt_typeProductData.productDimension.height

  productGaps:
    palletWidthSide: float
      - Description: Gap between products along the pallet's width (x-direction).
      - Data Type: LPallPatt_typeProductData.productGaps.palletWidthSide
    palletLengthSide: float
      - Description: Gap between products along the pallet's length (y-direction).
      - Data Type: LPallPatt_typeProductData.productGaps.palletLengthSide

  productWeight: float
    - Description: The weight of a single product.
    - Data Type: LPallPatt_typeProductData.productWeight
```

--------------------------------

### Interlayer Configuration Parameters

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Details parameters for defining interlayers, including their name, height, and offsets.

```APIDOC
InterlayerConfiguration:
  name: string
    - Description: The name or identifier of the interlayer.
    - Data Type: LPallPatt_typeInterlayerConfiguration.name

  interlayerHeight: float
    - Description: The height or thickness of the interlayer. A value of 0 means no interlayer is used.
    - Data Type: LPallPatt_typeInterlayerConfiguration.interlayerHeight

  interlayerOffsets: object
    - Description: Configuration for interlayer offsets, adjustable in extended settings.
    - Data Type: LPallPatt_typeInterlayerConfiguration.interlayerOffsets
```

--------------------------------

### LPallPatt Multi-Gripper Error Codes

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

This documentation entry lists common errors encountered during the multi-gripper configuration and place order calculation for the LPallPatt system. It includes the error code, its corresponding status word, and recommended remedies.

```APIDOC
LPallPatt Multi-Gripper Errors:

ERR_GRIPPER_CONFIG_NOT_CONSECUTIVE
  Status-Word: 16#8002
  Remedy: The offsets of the grippers have not been configured in increasing consecutive order.

ERR_GRIPPER_CONFIG_DISTANCE_TOO_SMALL
  Status-Word: 16#8003
  Remedy: The offsets of the grippers must be at least the same as the width or the length of the product (depending on the direction of the offset).

ERR_GRIPPER_NUMBER_LESS_THAN_2
  Status-Word: 16#8004
  Remedy: Configure at least 2 grippers for the multi gripper.

ERR_GRIPPER_NUMBER_TOO_HIGH
  Status-Word: 16#8005
  Remedy: The gripper number is higher than the constant LPALLPATT_MULTI_GRIPPER_MAX_NO_OF_GRIPPER. Increase the constant or decrease the number of grippers.

ERR_NUMBER_OF_GRIPPER_GROUPS_TOO_SMALL
  Status-Word: 16#8006
  Remedy: The number of calculated gripper groups is higher than the constant LPALLPATT_MULTI_GRIPPER_MAX_NO_OF_GRIPPER_GROUPS. Increase the constant. The number of gripper groups is calculated.

ERR_PRODUCTS_OVERLAP
  Status-Word: 16#8010
  Remedy: Products cannot overlap when a multi gripper is used. Edit the layouts.
```

--------------------------------

### Pallet Configuration Parameters

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Defines parameters for configuring pallet dimensions and related settings. These parameters control the usable area of the pallet and how products are arranged.

```APIDOC
PalletConfiguration:
  edgeDistanceLength: float
    - Description: Controls the gap between pallet edges and products. Positive values reduce available length, zero allows products to the edge, negative allows overhang.
    - Data Type: LPallPatt_typePalletData.edgeDistanceLength

  maxNumberOfProducts: integer
    - Description: Maximum number of products that can be placed on the pallet.
    - Data Type: LPallPatt_typePalletData.maxNumberOfProducts

  palletOffsetFrame: object
    - Description: Configuration for the pallet offset frame, adjustable in extended settings.
    - Data Type: palletOffsetFrame

  maxPalletWeight: float
    - Description: Maximum allowable weight for the pallet. A value less than or equal to 0 indicates weight is not checked.
    - Data Type: maxPalletWeight
```

--------------------------------

### Product Place Order Configuration

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Defines the product placement order on a pallet based on bit configurations within the 'configuration.productPlaceOrder' byte. This includes priority between X and Y axes and the ascending/descending order for each axis.

```APIDOC
configuration.productPlaceOrder:
  Description: Controls product placement order using the first three bits.
  Parameters:
    Bits 0-1 (2 bits): Determines X or Y priority and direction.
      - 2#0000_0000: y priority, x ascending, y ascending
      - 2#0000_0001: x priority, x ascending, y ascending
      - 2#0000_0010: y priority, x descending, y ascending
      - 2#0000_0011: x priority, x descending, y ascending
      - 2#0000_0100: y priority, x ascending, y descending
      - 2#0000_0101: x priority, x ascending, y descending
      - 2#0000_0110: y priority, x descending, y descending
      - 2#0000_0111: x priority, x descending, y descending
  Example:
    - To prioritize X axis, with X descending and Y ascending, use configuration.productPlaceOrder = 2#0000_0011.
    - When X positions are equal, Y positions are considered based on Y priority and direction.
```

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### LPallPatt Function Block Usage

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Demonstrates the core function block used for pattern generation within the LPallPatt library. This block calculates the palletizing point list based on user-defined product, pallet, and pattern configurations.

```APIDOC
FB "LPallPatt_PatternGenerator"
  Description: Calculates the palletizing point list based on user configuration.
  Inputs:
    - ProductData: Configuration data for the products to be palletized.
    - PalletData: Configuration data for the pallet.
    - PatternConfig: Parameters defining the desired palletizing pattern.
  Outputs:
    - PointList: An array of cartesian product positions defining the placement for the palletizing process.
  Dependencies:
    - SIMATIC S7-1500T Kinematics
  Usage:
    Called within the SIMATIC CPU to generate palletizing layouts.
```

--------------------------------

### Load Pallet Data Set

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Outlines the procedure for loading saved pallet data sets into the current pallet data set. These data sets are defined in the TIA Portal database 'LPallPattData.standardArticles'.

```APIDOC
Procedure to load a pallet data set:
  1. Press the configuration button.
  2. Select the data set you want to load.
  3. Press the load button.

Result: The stored pallet data from the selected pallet data set is now loaded as the actual pallet data set.
```

--------------------------------

### Edit Data Sets (Pallet, Product, Interlayer)

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Explains how to edit existing data sets directly on the HMI. This process involves opening the data set selection, choosing a data set, editing its contents, and saving the changes. The procedure is analogous for pallet, product, and interlayer data sets.

```APIDOC
Edit Data Set on HMI:
  1. Open the data set selection.
  2. Select a data set.
  3. Click on the ‘Edit’-Icon.
  4. Edit the data.
  5. Save the data.

Note: The procedure shown for pallet data sets is analogous for product and interlayer data sets.
```

--------------------------------

### LPallPatt PatternGenerator Error Codes

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Details error handling for the LPallPatt_PatternGenerator PLC block. It lists specific error codes, their corresponding status words, and recommended remedies for misconfigurations or boundary violations.

```APIDOC
LPallPatt PatternGenerator Errors:

- ERR_UNDEFINED_STATE (16#8600)
- ERR_BLOCK_ALGORITHM (16#8010)
- ERR_INVALID_LAYER_STACK_MODE (16#8020): Configure a valid layer stack mode from 0 to 3.
- ERR_NO_PRODUCT_ON_PALLET (16#8030): Check the product and the pallet width and length.
- ERR_PALLET_AREA_TOO_SMALL (16#8031): The pallet area is too small to place the selected pattern. Select another pattern.
- ERR_INVALID_PALLET_CONFIG (16#8032): Check your pallet configuration.
- ERR_INVALID_PRODUCT_CONFIG (16#8033): Check your product configuration.
- ERR_INVALID_PRODUCT_DISTRIBUTION (16#8034): The product distribution should be 0 or 1.
- ERR_INVALID_PRODUCT_PLACE_ORDER (16#8035): The product place order cannot be higher than 2#0000_0111.
- ERR_INVALID_PRODUCT_GAPS (16#8036): Configure positive product gaps.
- ERR_MAX_PRODUCT_NUMBER_IN_LAYER_EXCEEDED (16#8037): Raise the constant "LPALLPATT_MAX_NUMBER_PRODUCTS_IN_ONE_LAYER" in the TIA project. Note: HMI cannot display more than 100 products per layer, but patterns can exceed this.
- ERR_MAX_PRODUCT_NUMBER_ON_PALLET_EXCEEDED (16#8038): Raise the constant "LPALLPATT_MAX_NUMBER_PRODUCTS_ON_PALLET" in the TIA project.
- ERR_MAX_PALLET_HEIGHT_TOO_SMALL (16#8039): Raise palletConfig.maxStackingHeight.
- ERR_MAX_LAYER_NUMBER_EXCEEDED (16#8040): Raise the constant “LPALLPATT_MAX_NUMBER_LAYERS” or check the defined product height.
```

--------------------------------

### LPallPatt Pallet Data Structure

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Defines the structure and data types for pallet configuration within the LPallPatt library. It specifies essential parameters like name, dimensions, stacking height, and edge distances.

```APIDOC
Pallet Data Structure (LPallPatt_typePalletData):

- Name: palletName
  - Type: String
  - Explanation: Name of the pallet.

- Width: palletDimension.width
  - Type: Real
  - Explanation: Dimension of the pallet in the x-direction of the pallet coordinate system.

- Length: palletDimension.length
  - Type: Real
  - Explanation: Dimension of the pallet in the y-direction of the pallet coordinate system.

- Height: palletConfig.maxStackingHeight
  - Type: Real
  - Explanation: Maximum stacking height of products on the pallet, determining the number of product layers.

- Edge distance width: palletConfig.edgeDistanceWidth
  - Type: Real
  - Explanation: 
    > 0: Reduces available pallet width, ensuring a gap between pallet edges and center products.
    = 0: Products can be packed exactly to the pallet width edges.
    < 0: Overhang over pallet width edges is allowed.
```

--------------------------------

### Configure Interlayer Height

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Describes how to set the thickness of the interlayer between stacked products on the HMI. Multiple interlayers can be configured by selecting different options.

```APIDOC
HMI Configuration:
  Set interlayer data on HMI
    - The thickness of the interlayer can be configured.
    - To configure multiple different interlayers, click on the arrows to select another interlayer.
    - The selected interlayer is used in the generation of the pattern.
```

--------------------------------

### One-Block Pattern Generation

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Explains the 'One-block pattern' mode in LPallPatt, where all products in a layer share the same orientation. Product orientation is determined by optimizing pallet area utilization to fit the maximum number of products.

```APIDOC
Pattern Mode Selection:

One-block pattern:
  - A simple product arrangement where all products have the same orientation.
  - Orientation is determined by the better utilization of the pallet area (higher number of products).
  - LPallPatt supports up to five blocks in one layer.
```

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### LPallPatt PalletizingControl Error Codes

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Details error handling for the LPallPatt_PalletizingControl PLC block. It lists specific error codes, their corresponding status words, and recommended remedies for pallet indexing or product counter issues.

```APIDOC
LPallPatt PalletizingControl Errors:

- ERR_UNDEFINED_STATE (16#8600)
- ERR_PALLET_INDEX_OUT_OF_RANGE (16#8020): Set palletIndex to a value > 0 and <= "LPALLPATT_MAX_NUMBER_PALLETS". Acknowledge by disabling and enabling the FB.
- ERR_PRODUCT_COUNTER_OUT_OF_RANGE (16#8021): Set initalProductCounter to a value > 0 and <= number of products on the pallet. Error resets automatically when value is valid.
```

--------------------------------

### LPallPatt Palletizing Control

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Details the function block used for controlling the palletizing process, especially when integrating with SIMATIC Kinematics Integrator (SKI) and SIMATIC Cartesian Portal.

```APIDOC
FB "LPallPatt_PalletizingControl"
  Description: Controls the palletizing process, supporting SKI and Cartesian Portal.
  Functionality:
    - Integrates with SIMATIC Kinematics Integrator (SKI).
    - Supports SIMATIC Cartesian Portal.
    - Manages palletizing data, product data, and pattern generation.
    - Handles product positioning and kinematics data.
  Dependencies:
    - SIMATIC Kinematics Integrator (SKI)
    - SIMATIC Cartesian Portal
    - LPallPatt_Data (for data structures)
    - Palletizing TO (Technology Object)
  Usage:
    Used for advanced palletizing control and integration with Siemens motion control systems.
```

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### Maximum Pallet Weight Setting

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Describes the function of the maximum pallet weight parameter. This setting defines the maximum allowed weight on the pallet, excluding the pallet's own empty weight, and influences the maximum number of products during pattern generation.

```APIDOC
Maximum Pallet Weight:
  - Defines the maximum allowed weight on the pallet (excluding the pallet's empty weight).
  - Reduces the maximum number of products on the pallet during pattern generation.
```

--------------------------------

### Define Maximum Product Number

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

Details how to set the maximum number of products that can be placed on a pallet. Setting this to -1 allows the algorithm to calculate layers up to the maximum pallet height. A positive value restricts the number of products to the specified count.

```APIDOC
Product Number Configuration:

Maximum product number:
  - If set to -1: Algorithm calculates layers up to the maximum pallet height (palletData.palletconfig.maxStackingHeight).
  - Configuration path: "palletData.palletConfig"
  - Example 1 (No interlayers, Product height: 100mm, MaxStackingHeight: 1000mm): Result = 10 layers (1000mm / 100mm).
  - Example 2 (Interlayer height: 30mm, Product height: 100mm, MaxStackingHeight: 500mm): Result = 4 layers ((500mm + 30mm) / (100mm + 30mm)).

User-defined product number:
  - If set to a positive value: Algorithm places only the configured number of products.
  - Note: If the top layer is not completely filled due to a user-defined number, products are not automatically centered; manual adjustment may be required.
```

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### LPALLPATT_SHOW_BLENDING_FOR_APPROACH_RETRACT Constant

Source: https://github.com/zen-z/lpallpatt_v3_3_0_manual_en_parameters_only/blob/main/Readme.md

This constant controls the visibility of blending settings on the HMI for approach and retract routines. When set to TRUE, users can configure blending parameters directly on the WinCC Advanced HMI.

```APIDOC
Configuration Constant:

Constant Name: LPALLPATT_SHOW_BLENDING_FOR_APPROACH_RETRACT

Description: Enables the display of blending settings for approach and retract routines on the HMI.

Value: TRUE (Enables HMI settings), FALSE (Disables HMI settings).

Availability: Configurable on WinCC Advanced HMI when set to TRUE.
```
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