Hi all,
I have attached a model, where pallet with part arrive at the conveyor. The robot has to pick from conveyor and drop in any of the available slot of any 4 racks. How to find empty slot space and assign that particular slot to the arrived item from the conveyor?
please do help!
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See the following link (and other Storage-classes in the manual pages above the linked one) for information about how to query the storage system.
A simple way to achieve your goal is to do the following:
Connect the conveyor to the racks with port-connections. Connect the robot and set the Exit Transfer to use it as transport.
In the Send to Port code of the Exit Transfer
- use the findSlot method to search for an empty slot (number of assigned items can be accessed through slot.slotItems.length) (to get a random slot, you can use ORDER BY RAND() in the query)
- if a slot was found, get a reference to the rack it belongs to (see Storage.Slot class)
- assign the item to the slot (see Storage.Item class)
- get the correct output port rank via the ipopno() command
- return that port rank so the item is send there
- if no slot is found, return 0, so the item is send to the first available rack
Hi @Felix Möhlmann , I have tried with send to port code but not following the exact commands. It will be helpful if you can give an example model.
The code would look like this:
// Query for an empty slot
Storage.Slot slot = Storage.system.findSlot("WHERE slot.slotItems.length = 0 ORDER BY RAND()", 0); if(slot) { // If a slot was found, assign the item to it, get the port rank and send the item there Object rack = slot.storageObject; Storage.Item storeItem = Storage.Item(item); storeItem.assignedSlot = slot; return ipopno(rack, 1); } // If no slot is found, do "First Available" return 0;
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