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transporter control with sensor

Pioneer
Pioneer

Hi everyone,

I have problem with transporter in my model.

The transporter must take part , drive and load the buffer.

The robot take parts on container and make the order in container un buffer B7, B6 for pickandplace R1. 

B15 and B16 for pickandplace R2

B28 and B29 for pickand $place R3

if the container is not complete and the next part must be complete by R2 or R3, the transporter take container and move it to the buffer B15 or B16 or B28 or B29.

else if the container is complete the transporter take the container and  move it to drain.

Nota: the transporter can only carry one container full and one container empty  not two containers full. So if the buffer of R2 or R3 is not empty one AGV must take container on the buffer  and another will put the container who must be complete.  

My difficulty is to manage transporter (we have 6 transporter on the track ).

Thanks in advance for your help

11 REPLIES

Re: transporter control with sensor

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

I recommend to let the AGV and the tracks (sensor controls)  "stupid".

You could use the standard routing of Plant Simulation for direct the AGV (sensors - only if destination). So you need to adress only the AGV and the AGV will find its way. It triggers the sensor, if it is the right destination. There you have two simple cases: the AGV is empty --> load from the destination and set a new destination; the AGV is occupied: unload to destination and drive back to home (set this as destination).

 

Now you only need a job-list for the AGVs where each station can order an AGV (you only need a destination). Wait at the home position until a job is present, set the destination, delete the job from the table and start the AGV. In this way you can handle hundreds of AGV without any problems.

 

All more complex logic you now have in the single "point of decisions" (e.g. where to go --> destination of the MUs), this is much more easy to program.

Steffen Bangsow
freelance simulation specialist  
web: www.bangsow.eu
mail: steffen@bangsow.net

Re: transporter control with sensor

Pioneer
Pioneer

Hi everyone

Thank steffen for your reply.

I try to do what you say but I have another problem.

When the AGV move and have two Mu. it deserve the firt Mu on the buffer after that it analyse where it can put the other part.

The problem is that the AGV disappear and appear on the entry of the track to go to deserve the next buffer ( that is not correct it must not disappear like that on the reality)

The another problem on my simulation is that when all the buffer have a contener the simulation end or it is not correct because robot must take part  on buffer to complete the order.

I have the same method on all robots

After that the AGv must take the contener full en put it out of the line.

that is my new version of the simulation.

Can you help me 

Thank in advance for your help.

 

Re: transporter control with sensor

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

set a breakpoint at the start of AGVUnLoad1 and have a look what happens.

You call this method in the sensor control. There are too much move calls, this causes a chaotic behavior.

I really think, that you need one central control for control the destination of the AGVs. If you send a AGV with 4 parts, you need to adress all 4 parts and you need to reserve all 4 destinations for loading to take this into account for the next decision. To avoid problems, only one control should book the destinations.

Steffen Bangsow
freelance simulation specialist  
web: www.bangsow.eu
mail: steffen@bangsow.net

Re: transporter control with sensor

Pioneer
Pioneer

Hi steffen 

I try to understand why you say but I have difficulties. I put on the exit control of the track 2 the method AGVUnload 1. It is where the destination of AGV is choose. when we have two part on AGV after put  the one part on buffer the next  destination is choose with the same method AGVUnload1.

Can you please explain or give me an example of what can I do to improve my line.

In my last version all the buffer is deserve or the AGV is going in the buffer for rest after that the simulation stop or on station B6, B15 and B16 the container must be change. How can I call the AGv.

I don't know what to do .

This line is so complex

Thank in advance

 

Re: transporter control with sensor

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

I dont understand your model in detail but I found some failures:

- in AGVUnload1 you cannot use @.move, this moves the AGV away from the track, just drive: @.stopped:=false

after each decision you can stop the execution of this method with return

- after calling AGVUnload1 you should not have a second adressing, just let the AGV drive to the next sensor - there it calls the sensor control again for unloading

 

You need really to check the work of the sensor control.

Steffen Bangsow
freelance simulation specialist  
web: www.bangsow.eu
mail: steffen@bangsow.net

Re: transporter control with sensor

Pioneer
Pioneer

Hi steffen,

I done what you say but I have another problem . When the AGV carry part from buffer to another buffer it dissapear and appear on the beginning of the line track 2.

I check my method to resolve this problem without success.

It is not the priority at moment .

I have another problem with pulling part from buffer to pick and place depending of attribute of part.

you can see into my model. The buffer must send part to robot depending of the order. so buufer mut check the part corresponding of the order starting and send the exact quantity you need .

The problem is that the buffer make the move but nothing is send to the robot so the order is not complete.

and the robot take another part for the next order .

How can I solve it .

That is the model and the method who make selective sorting is "tripanier "

Thanks for your help in advance

Re: transporter control with sensor

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor
you wait in your method until all buffers are occupied and then all exit methods are running at the same time.
But there is no condition that becomes true and so the exitcontrol is finished without success. Since the exit control is called only once, nothing is happen ...
One possible way would be to write a more "active" control (only one). This could be called with a generator every second. Look for the next MU and transfer it to the right PickAndPlace.

Steffen Bangsow
freelance simulation specialist  
web: www.bangsow.eu
mail: steffen@bangsow.net

Re: transporter control with sensor

Pioneer
Pioneer
Hi steffen.
Thank for your help. I mhave make what you said ansd it work .
But I have one question. is it possible on technomatix to make that (see the attach ). is it possible for AGV to pass each other when one is stop to unload or load container.
If yes, how can I do that? if you have and example it will help me.

Thanks for your help in advance

Re: transporter control with sensor

Pioneer
Pioneer

The attach