Disable ASRS initial lift height

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question

Steven Chen asked Dec 4, '18 Claire Krupp answered Jul 28, '21

Disable ASRS initial lift height

Hello,

In properties of ASRS, there is an option called Initial Lift Height. On ASRS finished a task it will move lift to the specific height.

Can I disable the feature to make the ASRS maintains its height after unload?

If not I think I have to use BasicTE to build my own ASRS. Hope one day I can copy the build-in objects as BasicTE and modify its code, so I don't have to make one from empty object.

Software Version:

FlexSim 18.2.2

asrs basicte

Answer 1 · 2018-12-04T14:55:04Z

Phil BoBo answered Dec 4, '18

You can try to fight against the ASRS's built-in kinematics by manually adjusting them with code (shown below) after performing an offset travel operation, but using a BasicTE would be better and easier if you want custom behavior that is different from the current ASRS behavior.

treenode forkkinematics = getvarnode(token.ASRS, "forkkinematics");

double extenderloc = getkinematics(forkkinematics, KINEMATIC_Y, 0, time());
double forkheight = getkinematics(forkkinematics, KINEMATIC_Z, 0, time());
initkinematics(forkkinematics, 0, extenderloc, forkheight, 0,0,0, KINEMATIC_DO_NOT_PRUNE);

Answer 2 · 2021-07-28T14:04:14Z

Claire Krupp answered Jul 28, '21

Hi @Steven Chen , I know it has been a long time since you wrote this question, but I had the same problem, and I eventually found a solution which might help others.

Instead of switching off the automatic "return to home" tendency of the ASRS vehicle, I tricked it into thinking that the current level is it's "home" position.

I put the following custom code snippet in after each unload activity: (My ASRS vehicle is representing a shuttle in this case, token.shuttle.)

Object shuttle = token.shuttle;

double newlevel = 26 + (token.T_level-1)* 90.0;

shuttle.setProperty("InitialLiftHeight", newlevel);

This makes the ASRS vehicle stay at it's current location while idle.

I hope this helps anyone searching for the same solution.

Regards,

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