Workflow Execution

Overview

This section covers executing a planned workflow on hardware, available runtime controls and the process of workflow deployment and monitoring.

Workflow Execution Lifecycle

Complete the steps outlined in Planning and Validation to create a workflow and plan.

Publish the workflow

Publishing your workflow pushes the workflow to the LINQ Cloud, making it visible on the LINQ Cloud Workflow page and available for deployment on a workcell via the GUI or the continuing steps outlined here.

Note that publishing is a one-way process, meaning you cannot modify a workflow after publishing. If changes are needed, you must use linq workflow save and republish.

linq workflow publish --workflow-id=<workflow-id>

Managing Workcell Execution

Deployment and all following workcell commands can be executed via the LINQ Cloud UI, the SDK Python LINQ client class, or the LINQ CLI.

Attention

Note that these CLI commands are linq workcell - not linq workflow.

For audit purposes, you can provide a reason for any execution action by adding --reason TEXT at the end of any of the above commands.

Getting your workcell ID

Most workcell commands require a workcell ID. If you do not know your workcell ID run

linq workcell list

This will list all the workcells and their corresponding IDs associated to your organisation. If you belong to more than one organisation then you can provide a workspace ID as an argument --workspace-id=<workspace-id>.

Deploy the workflow

Deploying a workflow pushes the workflow artifacts, drivers, and plan down to the specified workcell. From there the workcell can be controlled.

linq workcell deploy --workflow-id=<workflow-id> --workcell-id=<workcell-id>

Start a deployed workflow

linq workcell start --workcell-id=<workcell-id>

Progress can be monitored on LINQ Cloud or through Workflow Monitoring below.

Pause a running workflow

When paused, the workcell will complete the current task and then halt, awaiting an unpause. Upon unpause, a replan will be triggered.

If the pause causes or is about to break a time constraint, a notification will appear on LINQ Cloud Front End, allowing users to either abort or ignore the issue from the front end. See Error Handling.

linq workcell pause --workcell-id=<workcell-id>

Resume a paused workflow with:

linq workcell resume --workcell-id=<workcell-id>

Stop a workflow

Stop the workflow, halting execution as soon as possible. The workflow will not proceed, and you will not be able to resume after stopping. A reset is required to start a new run.

linq workcell stop --workcell-id=<workcell-id>

Reset the Workcell

Reset the workflow deployed on the workcell, returning the system to a non-executing state. You cannot reset a running or paused workcell; a workcell must be stopped.

linq workcell reset --workcell-id=<workcell-id>

Workflow monitoring

Retrieve Workcell Status

linq workcell status --workcell-id=<workcell-id>

Retrieve errors

To get the latest error encountered by the workflow on the specified workcell, use:

linq workcell error get-latest

and:

linq workcell error respond

For more details see Error Handling.