Hi,
The standard setting for cranes when performing loading work is
Hoist up => Gantry/trolley movement => Hoist down => Load
I think they are working in this order.
Is there a way to subdivide these to trigger gantry/trolley movement timing? Or is there a way to get only the gantry/trolley travel time?
You can change the order of movements in the Travel Sequence setting.
L: Lift, X: Gantry, Y: Trolley, D: Drop
Movements that are divided by a ">" happen in succession, while movements that share the same 'block' happen simultaneously.
"L>Y>X>D" would be lift, trolley, gantry, drop.
You can trigger the gantry and trolley movement as individual movements with a Pick/Place Offset task. The x/y/z parameter determine how much of the needed distance to reach the item along each axis the task executer should move.
Of you use a Travel to Loc task, specifying the exact coordinates to move to (or the distance to move relative to the current position.
Thank you for information.
Am I correct in understanding that in order to achieve this behavior, if I was operating using an A connection, I would need to control all of this using processing flows?
It would certainly be easiest, yes.
But you could also write your own task sequence in the "Send to Port" field, which splits the movements up. Though if you want to do things like first travel some distance, then wait for another event to happen before the travel continues, you would have to rely on other triggers to add more tasks to the task sequence once they are applicable.
The "Task Sequence Example" pick option demonstrates how the code to create the default task sequence would need to be set up.
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