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Operation
Theory of Operation
4 MagneMotion
Rockwell Automation Publication MMI-UM002E-EN-P - March 2016
Figure 6-2: Representation of Stationary Vehicles Per MagneMover LITE Motor Block
Figure 6-3: Representation of Moving Vehicles Per MagneMover LITE Motor Block
Motor Operation
The MagneMover LITE motors provide asynchronous control of vehicles (pucks) on the
transport system as directed by the Host Controller. This method minimizes the load on the
Host Controller with the transport system’s Node Controllers and motors performing all rout-
ing and vehicle control operations (positioning, acceleration, deceleration, and collision
avoidance) as described below.
1. The Host Controller generates an asynchronous movement order to move a vehicle
(puck) to a specific location from the beginning of a Path using either a position or sta-
tion command and sends it to the High Level Controller (HLC).
For example, the Order is to move Vehicle #1 to a Position 1.5 m on Path 1 (Pdest) at a
maximum speed of 0.5 m/s (Vmax), and acceleration/deceleration of 1 m/s
2
(Amax).
2. The HLC routes the order to the appropriate Node Controller.
3. The Node Controller generates a movement order and sends it to the appropriate vehi-
cle master (motor controller for the motor where the vehicle is currently located).
4. The vehicle master generates a movement profile based on the order. Every update
period (~1 ms) a new position, velocity, and acceleration set point (Pset, Vset, and
Aset) are calculated.
• As the vehicle moves, the master acquires empty blocks ahead of the vehicle
that the vehicle can move into based on the vehicle’s current movement order.
A ‘block’ is defined as an independently controlled coil or set of coils (refer to
Table 3-2 on page 3-10 for details), no two vehicles are allowed to occupy the
same block.
Vehicle (Puck)
Motor
Block
Magnet Array
Downstream
Vehicle (Puck)
Motor
Block
Magnet Array
Downstream Motion