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Sia Sengchoon193 avatar image
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Sia Sengchoon193 asked Fabio - PE commented

How to make 2 ASRS Vehicles operate at the same time?

How to make 2 ASRS Vehicles operate at the same time?

I created a new object in flexsim, which is to combine two ASRS Vehicles together, in order to simulate the operation of dual asrs,

1685320540054.png

But in fact, they will move together, but only one will work, the other will not,

1685320720113.png

Then this is my process flow,

1685320831281.png


I don't know how to adjust so that the dual asrs can move at the same time and work at the same time


Ideal situation: dual asrs move and work at the same time


Special case: If the distance between their respective target items is too far, the ASRS on the left will be the main one to pick up the goods, and then it will be the ASRS on the right to pick up the goods


0529 multi-multi-jv.fsm


FlexSim 23.1.0
process flowasrsasrs vehicledouble deepasrs capacity
1685320540054.png (251.6 KiB)
1685320720113.png (251.9 KiB)
1685320831281.png (107.3 KiB)
0529-multi-multi-jv.fsm (58.0 KiB)
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Julie Weller avatar image Julie Weller commented ·

Hi @Sia Sengchoon193, 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 comment back to reopen your question.

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Sia Sengchoon193 avatar image Sia Sengchoon193 Julie Weller commented ·
ok～thank you so much
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1 Answer

Joerg Vogel avatar image
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Joerg Vogel answered Fabio - PE commented

There are two cases of transport

  1. transport one item
  2. transport two items

Case 1 works. You have to close the input of traveling dispatcher, after transport job has begun and open it when ASRS gets available again.

Case 2 is a complex part.

As I said in your previous question you must make the primary ASRS (A) drive to locations for the subnode ASRS (B).

I see from your pictures you want it done by Process Flow

  • (A) pick item
  • (A) traveltoloc to pick item for (B). You need to get location of item for (B) in travel coordinates of (A). A combination of location property of object class, project method of Vec3 class in FlexScript class api does this.
  • Load item (B). Move object is not sufficient because the extender won’t move.
  • Identify which item is nearest to unload.
  • Upon this let travel (A) straight to place item(A) OR let (A) travel to location of item (B) assigned slot of storage object. Then you unload (B). And (A) unloads his item.
  • Or vise versa for the unload part.

doubleASRS_example.fsm


doubleasrs-example.fsm (54.6 KiB)
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Sia Sengchoon193 avatar image Sia Sengchoon193 commented ·

Understood, so you think this concept is feasible, right? I just need to modify it on the process flow, because I still don’t know where I should start to adjust it


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Joerg Vogel avatar image Joerg Vogel Sia Sengchoon193 commented ·
@Sia Sengchoon193, and if it is not feasible, then you can still reuse the second ASRS drawsurrgate node structure to implement an own kinematic or animation.

Perhaps need my simplified tasksequence separation of case 2 a better analysis to take into account to start pick and place offset tasks earlier while a longer lasting pick or place task is already running.
It was your request to combine two vehicles to behave as one. Then it is your task to analyze any behavior of them and implement a logic.

I have just deactivated the kinematics for x and z direction of (B), but internally the vehicle’s movement still lasts and gets executed. Maybe you can split parts of it by tasktypes of pickoffset or placeoffset in separate parts. And while you do this, this can eliminate already planned x and z movements.

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Sia Sengchoon193 avatar image Sia Sengchoon193 Joerg Vogel commented ·

Just like this one ?

Answer flexsim 1.fsm

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answer-flexsim-1.fsm (56.0 KiB)
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Fabio - PE avatar image Fabio - PE commented ·

Hello Mr Vogel,

I am a new user in the world of FlexSim, I am disturbing you for an information.

I have seen your model and it is very similar to the one I have to make.

I only ask for one information, in my case the ‘Z’ of the two lift is always the same. Is it possible to synchronise the two ‘Z'?

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