Hi,
In attach model, why token has already released Travel before agv arrive destination? I have check Zero Travel End Speed Means Max Speed. Would it cause token released before arrive destination?Thank's.
Yes, that setting is the reason the token is released prematurely. While I don't know the intend behind this for sure, it makes sense when you look at it this way:
The AGV has a limited deceleration capacility. As such it has to allocated control points far enough ahead of time, so it could come to a stop in time in the case that a control point can not be allocated.
Normally, when the AGV comes to a stop at the destination control point, it does not need to look further ahead since it will be stopped and whether or the next CP can be allocated does not matter until the next part of the journey actually starts.
But if the AGV does not decelerate it has to start allocating points on the next path before actually arriving at the destination, because otherwise it might be to late to come to a stop in front of a block CP. But to access the information about the next travel path (and if there even is one), the current task has to be marked as finished, since the system can't handle two simultaneous travel tasks.
(AGV has not arrived at the corner yet but must allocate further ahead)
The AGV navigator will always take deceleration into account. Even with the "Zero Travel End Speed..." setting, the AGV will in fact decelerate before coming to a stop at the final destination.
If you truly want the AGV to stop on a dime, set the deceleration value to something very large compared to the maximum speed.
If the deceleration at the final control point is wanted behaviour but the token should only continue when the AGV has actually arrived, you can wait for the AGV arrival event on the control point to fire before the token may continue.
I hope this explanation was somewhat understandable.
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