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shanice.c avatar image
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shanice.c asked Ryan Clark commented

How to let 2 task executers work at the same time?

I'm using crane TaskExecutor and replace some components to pretend it's overhead AGV.

I do this because I need the functionality of the hook of crane task executer. I have tried many ways(use Networknode, use AGV network and simply use S to connect TaskExecuter and loading requirement), and found that if using AGV network, the crane hook will not lift up and down at all, it loads item directly.

The reason I don't like the other 2 methods is because I have curve path(the rail is a loop), use "S" method is unable to control OHAGV is traveling on the route as I want.

For Network node method, I know the path between 2 network nodes can be set as curve, but this method still can not satisfy the hook lifting up an down requirement.

Could anyone give me any suggestion on how to have an overhead AGV traveling from A to B, when it stops at A/B station, let the crane lift up and down at the same time. Thank you.

FlexSim 21.2.0
crane task sequence control
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Ryan Clark avatar image Ryan Clark commented ·

Hi @Fiona C, was Joerg Vogel's answer helpful? If so, please click the "Accept" button at the bottom of their answer. Or if you still have questions, add a comment and we'll continue the conversation.

If we haven't heard back from you within 3 business days we'll auto-accept an answer, but you can always unaccept and comment back to reopen your question.

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Joerg Vogel answered Joerg Vogel commented

It is a customized object. You can add an animation or a kinematic, which do the action of a crane hook. You let execute this action while the Taskexecuter is doing a wait or delay task.

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shanice.c avatar image shanice.c commented ·

@Joerg Vogel May I ask how to let AGV's position is above the path, but the picking item is under the AGV hook. I have adjusted the position of AGV above it's yellow frame, but this will lead to AGV is higher than path.

And I used kinematic activity to control hook action, but the token stop at load activity. Is it because a shape(hook) cannot used to load item?

kinematic.fsm

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kinematic.fsm (252.8 KiB)
Joerg Vogel avatar image Joerg Vogel shanice.c commented ·
You have misunderstood action and result of animation tools in FlexSim. A kinematic move initialized objects. If you initialize a hook, then the hook is animated. If you want to let move a loaded item, you must initialize this item, too.

You have to design three scenarios in an animation: Start, Finish and transition. Start is simple. Finish is an event driven last update of the kinematic. You can do this by a delayed message event. The transition consists of updating the kinematic upon an On Draw trigger or event.

FlexSim graphical expression depends on object frames (yellow) and shape. You can move the frame box, which move shape and loaded item, but you can set a location of the shape in relation to the yellow frame, too. I would place the yellow frame in such a way that a loaded item is at the right location in relation to a rail. Then I adjust the location of the shape.
creating custom objects and animations
A crane is not a suited object to replace an AGV with a hook, because the crane logic moves the immobile structure in relation to the crane hook. It looks like the structure is static, but the source code updates the structure location each time the scene is drawn.

If you want to understand a kinematic, please do it by source code and not by process flow activities. You miss some of the dependencies if you do the logic in given process flow activities or properties.
Kinematic reference

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