Operation
Theory of Operation
230
MagneMotion
Rockwell Automation Publication MMI-UM007F-EN-P - September 2020
Figure 6-2: Representation of Stationary Vehicles Per Motor Block
Figure 6-3: Representation of Moving Vehicles Per Motor Block
Motor Operation
The QuickStick HT motors provide asynchronous control of vehicles on the transport system
as directed by the host controller. This control method minimizes the load on the host control-
ler, the node controllers, and the motors performing all routing and vehicle control operations
(positioning, acceleration, deceleration, and collision avoidance) as described in the following
sequence.
1.
The host controller generates an asynchronous motion order to move a vehicle to a
specified location and sends it to the high-level controller (HLC) using either a posi-
tion or station command. Locations are always defined from the beginning of a path.
For example, the Order is to move Vehicle #1 to a Position 1.5 m on path 1 (P
des
t) at a
maximum speed of 0.5 m/s (V
max
), and acceleration/deceleration of 1 m/s
2
(A
max
).
2.
The HLC routes the order to the appropriate node controller.
3.
The node controller generates a motion order and sends it to the appropriate vehicle
master (motor drive for the motor where the vehicle is located).
4.
The vehicle master generates a motion profile that is based on the order. Every update
period (~1 ms) a new position, velocity, and acceleration setpoint (P
set
, V
set
, and A
set
)
are calculated.
•
As the vehicle moves, the vehicle master acquires empty blocks ahead of the
vehicle that the vehicle can move into based on the current motion order for the
vehicle. A ‘block’ is defined as an independently controlled set of coils (see
for details), no two vehicles are allowed to occupy the
same block.
Vehicle
Motor
Block
Magnet Array
Downstream Motion
Vehicle
Motor
Block
Magnet Array
Downstream Motion