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Operation
Theory of Operation
8 MagneMotion
Rockwell Automation Publication MMI-UM002E-EN-P - March 2016
An obstruction indicates that another vehicle, or a Node not ready for a vehicle, is preventing
the vehicle from completing its current movement order. Once the obstructing vehicle moves,
or the Node is ready, the obstructed vehicle is free to complete its order.
A jam indicates that there is no known obstruction preventing vehicle movement, but the vehi-
cle is not making progress towards its destination. This is typically due to something having
fallen onto the track or friction within the system cannot be overcome. Once the jam has been
cleared, typically by outside intervention, the jammed vehicle is free to complete its order and
any vehicles it has obstructed are free to complete their orders.
Vehicle Length Through Curves and Switches
The width of the vehicles is not defined in the Node Controller Configuration File. In order to
ensure multiple vehicles can move on curved sections of the transport system without collid-
ing the vehicle length must be defined longer than it actually is to account for the vehicle’s
width in a curve. The value of the defined length must be calculated using basic trigonometry.
NOTE: If the actual length and width of the vehicle (puck) with a custom fixture is the same
or smaller as the puck top: 62 mm x 62 mm; then the defined length of the vehicle
(puck) in the configuration file must be 77 mm to ensure proper spacing in a curve.
Locating Vehicles During Startup
The Node Controller scans for the magnet array on the vehicles starting from the upstream
end of a Path and scanning towards the downstream end of the Path. When the NC detects a
magnet array (vehicle) it assigns the vehicle (puck) a Vehicle ID. The NC will continue scan-
ning for vehicles until it locates a new one.
The NC will continue to scan until all vehicles detected have been assigned a vehicle ID. This
could take several seconds to several minutes depending on how many vehicles are on a Path.
Once a vehicle ID is assigned, it will remain with that vehicle until the vehicle is either
removed from the MagneMover LITE transport system via a Terminus Node, the vehicle is
explicitly deleted with a Delete Vehicle command from the Host Controller, or a Reset is
issued for the Path the vehicle is on.
Moving Vehicles by Hand
Vehicles on the MagneMover LITE transport system should only be moved by the MM LITE
motors in the system. If there is an event that requires moving the vehicles by hand, the guide-
lines provided below should be followed.
NOTE: Moving vehicles by hand will produce eddy currents in the stators of the motors
where the vehicle is being moved, which will put power on the propulsion bus.