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6.3 Drilling Station (DRILL)

Overview

The Drilling Station performs drilling operations on workpieces. Similar to the Milling Station, it can pick up workpieces from the AGV, drill holes, and return them.

Module Type: DRILL
Serial Number: Cleaned variant of the SPS serial number

Supported Commands

Command Purpose Metadata Typical Duration
PICK Pick workpiece from AGV None ~3 seconds
DRILL Perform drilling operation duration (seconds) Configurable (default 5s)
DROP Return workpiece to AGV None ~3 seconds

Supported Instant Actions

Action Purpose Metadata Description
factsheetRequest Request module info None Triggers publication of factsheet message
reset Reset module None Return module to initial state
startCalibration Enter calibration mode None Switch operating mode to TEACHIN
stopCalibration Exit calibration mode None Switch operating mode to AUTOMATIC
setCalibrationValues Update calibration Calibration data Update internal position values

MQTT Topics

Same structure as MILL module:

  • Subscribe: module/v1/ff/<serial>/order, module/v1/ff/<serial>/instantAction
  • Publish: module/v1/ff/<serial>/state, module/v1/ff/<serial>/connection, module/v1/ff/<serial>/factsheet

Command Example: DRILL Operation

Command:

{
  "timestamp": "2024-12-08T10:30:00.000Z",
  "serialNumber": "DRILL001",
  "orderId": "order-xyz-456",
  "orderUpdateId": 2,
  "action": {
    "id": "drill-action-123",
    "command": "DRILL",
    "metadata": {
      "duration": 6
    }
  }
}

State Response (Running):

{
  "headerId": 15,
  "timestamp": "2024-12-08T10:30:01.000Z",
  "serialNumber": "DRILL001",
  "type": "DRILL",
  "orderId": "order-xyz-456",
  "orderUpdateId": 2,
  "paused": false,
  "actionState": {
    "id": "drill-action-123",
    "timestamp": "2024-12-08T10:30:01.000Z",
    "state": "RUNNING",
    "command": "DRILL"
  },
  "errors": [],
  "loads": [{"loadType": "BLUE", "loadPosition": "MODULE"}]
}

State Response (Finished):

{
  "headerId": 16,
  "timestamp": "2024-12-08T10:30:07.000Z",
  "serialNumber": "DRILL001",
  "type": "DRILL",
  "orderId": "order-xyz-456",
  "orderUpdateId": 2,
  "paused": false,
  "actionState": {
    "id": "drill-action-123",
    "timestamp": "2024-12-08T10:30:07.000Z",
    "state": "FINISHED",
    "command": "DRILL"
  },
  "errors": [],
  "loads": [{"loadType": "BLUE", "loadPosition": "MODULE"}]
}

Hardware Details

PLC I/O

Inputs: Light barriers (entrance, processing position), suction cup sensors
Outputs: Conveyor motors (PWM), suction actuators (PWM), drill motor, vacuum pump, compressor

Errors

  • DRILL_ERROR - Drilling motor fault or timeout
  • PICK_ERROR - Failed to pick workpiece
  • DROP_ERROR - Failed to drop workpiece

Related Documentation

OPC UA Variables

Variable Name Description Type
model Model name STRING
stat__idle Status: System is idle BOOL
cmd__pick Command: Pick operation BOOL
cmd__drop Command: Drop operation BOOL
cmd__drill Command: Drill operation BOOL
stat__pickFinished Status: Pick process finished BOOL
stat__dropFinished Status: Drop process finished BOOL
stat__drillFinished Status: Drill process finished BOOL
cmd__drillDuration Command: Drill duration INT
stat__pickFailed Status: Pick process failed BOOL
stat__dropFailed Status: Drop process failed BOOL
stat__pickActive Status: Pick process active BOOL
stat__dropActive Status: Drop process active BOOL
stat__drillActive Status: Drill process active BOOL
cal__processEndTime Calibration time for process end TIME
cal__gripperDownTime Calibration time for gripper down TIME
cal__vacuumReleaseTime Calibration time for vacuum release TIME
cal__preFaultCheckTime Calibration time before fault check TIME
version Versioning STRING
cal__postDrillTime Calibration time after drilling TIME
cal__vacuumGenerateTime Calibration time for vacuum generation by compressor TIME
cal__midLightGateTime Calibration time to position the workpiece centrally in the light gate TIME