Defining and Applying Robots Simulation
simulation training & tutorials
Author: CreateASoft Inc./Friday, May 23, 2014/Categories: Carriers and Robots
- First go into Carriers and Robots
- Enter 'Robot' for Carrier Name and click Add
- Select 'Robot' from the list
- Check Carrier is a Robot - Draw Arm
- Next use the Start Process tool
- Create 'Start' and 'Start (Robot)'
- Go into Define Object Creation Rules
- Switch to Create Carriers Only
- Select 'Robot' from the drop down list
- Check Stop process after
- Now use the Generic Process tool
- Create 'Load Robot'
- Select Customize
- Go into Carrier Requirement
- Click Insert New Carrier Definition
- Object Type - Default Object
- Carrier Required - Robot
- Carrier Wait - Check
- Min Load - 1
- Max Load - 1
- Set Minimum Carrier Size - 1
- Next create 'Unload Robot'.
- Finally use the End Process tool
- Use the Interprocess Connection tool and connect the model together
- Send 'Start' and 'Start (Robot)' both to 'Load Robot’
- Send 'Load Robot' to 'Unload Robot'
- Send 'Unload Robot' to both 'End' and 'Load Robot'
- Lastly select 'Unload Robot'
- Switch to Process/Object/Condition Routing
- Set Default Routing to 'End'
- Set 'Robot' to 'Load Robot'
- Switch to the Simulation tab
- Stop the simulation
- Select the connection line between 'Unload Robot' and 'Load Robot' and delete it.
- Then place a process in the middle of it, 'Robot Hold'
- Connect 'Unload Robot' to 'Robot Hold' and 'Robot Hold' to 'Load Robot'
- Move the connection line from 'Start (Robot)' to 'Robot Hold'
- Select 'Unload Robot'
- Go into Process/Object/Condition Routing
- Set 'Robot' to 'Robot Hold'
- Switch to the Simulation Tab
- Stop the model
- Select the connection line leaving 'Start'
- In Speed/Capacity/Distance
- Set the Transfer Time to 30 Seconds
- Customize and go into Behavior: Conveyors, Polling, and Carriers
- Check:
- Block if next destination is busy
- Ignore Objects in Transition
- Run the model again and watch now as the 'Robot' waits at 'Load Robot' until an object comes into the process.
- To make the 'Robot' wait at the 'Robot Hold' first go over to the Flow Properties tab
- Select Additional Properties Definition
- Create a new Model Parameter:
- Select 'Load Robot'
- Go into Process Extensions
- Under ObjectActivated
- Click Insert Line
- Change it to an Expression Action and Edit -
- Select M_LoadReady from the left and enter '1' on the right
- Now select the connection line leaving 'Load Robot'
- In Process Extensions
- Under ObjectActivated
- Click Insert Line
- Change it to an Expression Action and Edit -
- Select M_LoadReady from the left and enter '0' on the right
- Lastly select the connection line leaving 'Robot Hold'
- Customize and go into Behavior: Conveyor, Polling, and Carriers.
- Check:
- Block if next destination is busy
- Ignore Active Objects at Destination
- Based on Code Condition
- Select Edit Condition
- Change it to an Expression Action and Edit -
- Run the model one last time and watch now as the 'Robot' waits for an object to be at the load station until it comes to pick it up.