Robot Programmer - Greenville , SC

Robot Programmer - Greenville , SC

Role

Robot Programmer

Location

Greenville , SC

Rate

$60/hr

Work type

Hourly Contract

Robot Programmer contract in Greenville, SC. $60/hr · 5 days.

Request: AUBO i5 Stack-Pick Script with Count & Step-Down Offset

Objective

Develop an AUBO i5 collaborative robot program that picks parts from a vertical stack, maintains a running part count, and steps the pick position down by a configurable distance each cycle until the stack is empty.

Functional Requirements

Pick sequence

Home robot and move to a safe approach.

Navigate to current pick position (X/Y fixed, Z variable).

Grip part, confirm pickup (vacuum/force/IO), retract, and place at a defined drop location.

Z step-down logic

After each successful pick, decrease Z by a user-defined Step_Distance (e.g., mm).

Stop when Z reaches Z_Min or when a Max_Count is reached; raise “Stack Empty/Limit Reached.”

Counting & persistence

Maintain Part_Count (increments on successful pick).

Persist Part_Count and Current_Z across stops/power cycles.

Provide Reset_Count and Re-zero_Z routines.

User parameters (editable on HMI or via variables)

Pick_X, Pick_Y, Pick_Z0 (initial top-of-stack height)

Step_Distance (positive value; script decrements Z)

Z_Min (lower limit/stop height)

Place_Pose (pose or XY drop + Z)

Approach_Offset (safe approach distance)

Max_Count (optional safety cap)

Speeds/accelerations and dwell times

IO & interlocks

Map gripper/vacuum: Grip_On, Grip_Off, Grip_OK.

Optional upstream/downstream handshakes: Cycle_Start, Machine_Ready, Part_At_Place, Fault_Reset.

E-stop/safety signals respected per AUBO standards.

Error handling

If Grip_OK false: retry N times with small Z nudge, then fault.

If Z would exceed Z_Min: stop and raise “Stack Empty.”

Clear, latched alarms with operator messages and guided recovery.

Coordinate frames

Define/lock a Tool0 and TCP .

Use a user frame at stack fixture for repeatable teaching.

Routines

Teach Top of Stack : capture Pick_Z0 by probing or manual jog + “Set Z0.”

Manual Single Pick mode for testing.

Auto Cycle continuous mode with Start/Stop.

Logging (optional)

Timestamped count, faults, last Z value to CSV on controller.

Deliverables

AUBO i5 program/script files (Lua/auboScript) with inline comments.

Parameter list and IO map.

One-page operator guide (start/stop, teach top, reset).

Brief FAT checklist and demo video (optional).

Acceptance Criteria

Picks continuously from top to bottom, decrementing Z by Step_Distance.

Stops safely at Z_Min or Max_Count, with clear message.

Accurate Part_Count (verifiable over 25+ cycles).

Recoverable from a fault without losing Z/Count state.

Assumptions

Stack is vertical and surfaces are parallel within ±0.5 mm per layer (adjust if different).

Gripper and Grip_OK signal available.

Placement pose is fixed and taught.

Equipment and platforms on this work: AUBO.

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