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Defining and Applying Robots Simulation

simulation training & tutorials

Author: CreateASoft Inc./Friday, May 23, 2014/Categories: Carriers and Robots

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  • 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
          • Enter '1' Object
  • 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
    • Create 'End'
  • 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
    • Click Start
  • 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
    • Click Start
  • 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:
        • M_LoadReady - Integer
  • 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 -
          • Enter M_LoadReady == 1
  • 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.

 

 

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