Bin Location [BL]

When a bin is on a robot, its position coordinates (xpos, ypos) are omitted or set to zero (0,0).

The depth of a bin is measured in millimeters from the top of the grid framework to the top of the bin. The top of the grid track is defined as height 0. If a bin is temporarily placed on top of the grid—for example, during reshuffling operations in a digging process—the bin will have a negative depth value.

Bins at the same level typically have similar depth values, though minor variations occur due to bin geometry and floor tolerances. Under normal conditions (i.e., not placed on top of the grid), upper-level bins usually have a depth between 105mm and 145mm.

In a port cell, the depth parameter does not represent the actual physical depth and should be ignored. The height of the bin corresponds to its bin type.

Segment Example

BL,bin_id,grid_id // bin on robot
BL,bin_id,grid_id,xpos,ypos,depth // new bin location
BL,bin_id,grid_id,xpos,ypos,depth,mode
BL,bin_id,grid_id,xpos,ypos,depth,mode,content,height // after DS, or after bin insertion

Software Version Requirement

Log Publisher v1.7.4 or Later