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Guldberg avatar image
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Guldberg asked Jason Lightfoot commented

AGV drop of to rack slot instad of rack CP

There is a nice illustration of it in the manual https://docs.flexsim.com/en/22.1/WorkingWithTasks/AGVNetworks/AddingOffsetTravel/AddingOffsetTravel.html , but I cant find any information on if its posible to have the AGV automatically add an offset to the travel path to drop of at the slot location and not the rack controlpoint location.

I made an example AGV rack drop off.fsm


Do I somehow have to hardcode some offset travel (Seem to recall I have seen this in some other example) or what is the best way to do it?

FlexSim 23.2.1
agvnetwork
agv-rack-drop-off.fsm (109.3 KiB)
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Jason Lightfoot avatar image Jason Lightfoot ♦♦ commented ·

Hi @Guldberg, was Felix Möhlmann'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.

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Felix Möhlmann avatar image
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Felix Möhlmann answered Jason Lightfoot commented

Any offset travel behaviour of AGVs is defined in the respective trigger in the AGV Network properties. There is a premade option that has the AGV travel to the closest point along the path the destination CP sits on.

1699358425132.png


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Guldberg avatar image Guldberg commented ·

I cant set the travel to destination as the slot, but only the rack itself, othervise I get:

1699358958976.png


If I add the "Send AGV to Closest Point along Control Point Path" and set the destination to the rack, it still just drops it off at the center. The agv is set to

1699358643052.png

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1699358643052.png (9.4 KiB)
1699358958976.png (10.8 KiB)
Jason Lightfoot avatar image Jason Lightfoot ♦♦ Guldberg commented ·

You need an offsetting task like travel to loc, unload or in your case, place offset task to invoke offset travel. Also the slots should be after the control point associated with the rack.

agv-rack-drop-off_jl.fsm

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agv-rack-drop-off-jl.fsm (88.8 KiB)
Guldberg avatar image Guldberg Jason Lightfoot ♦♦ commented ·

Works. But how would I do the same for pickup. I tried to change the place a custom task and change it to Pick Offset after the travel to pickup destination, but that doesnt work


1699364656135.png

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1699364656135.png (102.1 KiB)
Felix Möhlmann avatar image Felix Möhlmann Guldberg commented ·

Has the item been assigned a slot prior to creating the unload task? If not then the slot the item will be placed in is not known until it actually enters the rack.

I've attached a working example below.

agv_offset_example.fsm

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agv-offset-example.fsm (48.5 KiB)
Guldberg avatar image Guldberg Felix Möhlmann commented ·
Hi Felix. Yes. Did you look at my example? The issue seems to be that I dont have a unload task because im using custom kinematics to unload.
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