Pick up 2 boxes from queue using a TaskExecuter on AGV path

Question

question

cameron seams asked Feb 24 2017 at 12:03 AM Kevin Lavely answered Jan 23 2018 at 2:21 PM

Pick up 2 boxes from queue using a TaskExecuter on AGV path

I am trying to pick up 2 boxes from a queue using a TE on an AGV path. There are 5 TE's that each need to pick up 2 boxes.

I have tried changing the queue to perform batching as well as altering the TE capacity to 2. This does not work.

Any help is much appreciated.

agv queue load multiple item

· 2

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Answer 1 · 2017-02-24T22:52:13Z

Michael Kramer answered Feb 24 2017 at 10:52 PM jing.c commented Feb 25 2017 at 6:19 AM

Cameron, here's a simple version using Process Flow.

agv-loadunload.fsm

agv-loadunload.fsm (32.7 KiB)

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Michael Kramer commented · Feb 24 2017 at 11:53 PM

Cameron, you could add a combiner to your model then add a source of pallets as the first input, the boxes as the second input, and set the "From Input Port 2" on the combiner to whatever you want.

agv-loadunload-1.fsm

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agv-loadunload-1.fsm (25.4 KiB)

cameron seams commented · Feb 24 2017 at 11:36 PM

Michael,

Thank you for the example. Is it possible to do this without process flow? Thanks!

@Michael Kramer

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jing.c cameron seams commented · Feb 25 2017 at 6:19 AM

Cameron,

I use another method to do it without processflow. No dispatcher, combiner and pallet, I think it can make your model look clarity.

agv-loadunload-2.fsm

By the way, I report two code errors in option "First Available Unless Preempting" of PassTo trigger in Dispatcher. @Matthew Gillespie

The above pic is the right code, and the below is the wrong one.

A missing "(" in Line14.

A redundant ")" in Line26.

0 ·

2.png (78.6 KiB)

agv-loadunload-2.fsm (23.1 KiB)

1.png (70.8 KiB)

cameron seams commented · Feb 25 2017 at 12:22 AM

This works great and is just what I was looking for. Thank you

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Answer 2 · 2017-02-24T02:28:36Z

Joerg Vogel answered Feb 24 2017 at 2:28 AM Daniel Saravia commented Jan 17 2018 at 9:30 PM

The character of an AGV system is that transport tasksequences are distributed to the TEs each time if one is available for a tasksequence to transport one item. Therefore if you know that there are two transport tasksequences you have to dispatch manually the second transport tasksequences to reserve it for the TE when the first transport tasksequence is transferred to the TE. Then you change the break tasks parameters of the first tasksequence that it breaks to the second tasksequence automatically. Please look for tasksequences in the manual especially for the tasktypes quick reference TASKTYPE_BREAK and the command movetasksequence. A good practice is it to close the input of the TE when the TE gets its first new transport tasksequences otherwise the TE might get a second transport tasksequence by the dispatcher.

· 2

cameron seams commented · Feb 24 2017 at 9:51 PM

agv-loadunload-multipleitems-example.fsm

Jorg, I have attached a basic sample model for you to take a look at. I seem to be missing some of the logic in your description above. Your help is much appreciated as I am newer to modeling the AGV systems.

As you can see in the sample attached, the AGV's cannot load 2 boxes, then drop two boxes off. They are capped at maximum 1 box.

@Jorg Vogel

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agv-loadunload-multipleitems-example.fsm (22.4 KiB)

Daniel Saravia commented · Jan 17 2018 at 9:30 PM

I have the same issue. Can you clarify? or gives an example so we can copy the code.

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Answer 3 · 2018-01-23T14:21:49Z

Kevin Lavely answered Jan 23 2018 at 2:21 PM

TE properties allows you to specify capacity, I have 3 systems multiple TE's in each system. One carries 2, another 6, and another 4. also you can specify load and unload time. Load unload times are per part ie: Capacity 2 Load time 30 Actual 2*30=60

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