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questions about robot and task executer

Excuse me, i have some problems to set the cooperation between robot and task executer.

I try a long time nut cannot succesfuly achieve the detail i wanted to have.

So i but a basic test model, trying to explain this. but not exactly what i want.

Here is the details i want to achieve in my model.

1st i would like to know if it is possible to set 4 positions in sequence(like A B C D) on an task executer.

2nd is it possible to let the robot pick a part1 from queue and put it on position A of task executor. then the executer move to the processor OP10. for processing. then the executor moves out to carry part2 from the robot on position A.

3rd after OP10, the executer should carry the part1 on position B. And the part2 is send to OP10. the executor moves back to robot. the robot then put another part3 on position A. And it pick part1 from B, turn it upside down to position C.

4th the executer then move to processor, to carry part2 from OP10 on position B, part1 sended to OP20. and it sends part3 to OP10. then it moves out again. To do the same as before, the robot pick part4 on A. Overturn Part 2 on C.

5th the executer moves back to processor again. To carry part1 from OP20 on position D. send part2 to OP20. send part4 to OP10, carry part3 on position B.

6th the executer moves out again. the robot put part5 on A, overturn part3 from B to C. pick part1 from D to the next conveyor.

Thanks a lot for help!

test-of-op1020.fsm

FlexSim 19.2.4
task executerrobot
test-of-op1020.fsm (44.4 KiB)
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tannerp avatar image tannerp commented ·

Hi @CHANG Z,

This question has not received a lot of attention and that is likely due to the fact that it is not just one question, but many. I think that FlexSim users are willing to help, but we need to break down this question into smaller pieces rather than trying to achieve the whole flow at once.

Let's start with the first thing. Could you elaborate on your first question? The one about a task executer having 4 positions. Do you just want the boxes to be visually laid side by side rather than stacked? And have each position on the task executer be allocated for a specific item type? I've attached a picture for reference.

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task-executer-abcd.png (51.1 KiB)
CHANG Z avatar image CHANG Z tannerp commented ·

Yes, thanks for your answer. I want to have 4 positions like this. Each position should have its specified box (this box have been bring from a specified step). I do not want to put the box randomly But in sequence.

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1 Answer

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tannerp answered CHANG Z commented

@CHANG Z

Would something like the attached model work? I've added four queues to the Task Executer that each accept one type of item. There is also a Process Flow which handles the placing of the items in the proper queue. Does this help give you any ideas of how to do this?

test-agv-position.fsm


test-agv-position.fsm (55.0 KiB)
task-executer-with-queues.png (130.2 KiB)
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CHANG Z avatar image CHANG Z commented ·

Yes, thank you so much! I think this is a good example. So the queues on the executer is just dragged to the top of exexcutor. And they move together is achieved by the process flow?

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tannerp avatar image tannerp CHANG Z commented ·

That is correct. Dragging a queue into a task executor means that the queue becomes a subnode of the task executer. You can then move objects into each subnode of the task executer, symbolizing a physical position on the task executer. This also works because you can check to see whether or not a subnode (queue, like position A) is occupied before sending an object to it.

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CHANG Z avatar image CHANG Z tannerp commented ·

And with i have down more. i have three new questions:

1, what is the problem with the process flow that makes the task executor does not work back to the begining?

2, Can it be set to let the Task executor send the parts to Processor 1&2 in same time. With part from C to Processor 2. And Part from A to processor1. The part on C must be move from B by the robot.

3, Can it be set to let the Task executor acquires parts from processor 1&2 at the same time on B&D (P1 to B, P2 to D)?

Thank you so much.

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test-flow.fsm (40.4 KiB)
CHANG Z avatar image CHANG Z commented ·

Thank you! It is a really good idea to solve my puzzle, i think. I will try to learn more about this.

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CHANG Z avatar image CHANG Z commented ·

test-flow.fsm

Excuse me, I have another question is How to achieve the Subnode queue A on the task executor. only contain 1 part per time. I have try sometimes but cannot success. In the mod i upload this time.

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test-flow.fsm (37.8 KiB)
tannerp avatar image tannerp CHANG Z commented ·

One thing that might work is to use a Decide activity before loading/unloading the item that will check the number of subnodes in a specific Queue. This is an example of how that can be added, but it may require some fine tuning.

25607-test-flow-1.fsm

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25607-test-flow-1.fsm (39.2 KiB)
CHANG Z avatar image CHANG Z tannerp commented ·

thanks a lot

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