Rockwell Automation 700-1384-01, Руководство пользователя

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Operation
Theory of Operation
236 MagneMotion
Rockwell Automation Publication MMI-UM007F-EN-P - September 2020
Vehicle Length Through Curves and Switches
The width of the vehicles is not defined in the Node Controller Configuration File. To make
sure that multiple vehicles can move on curved sections of the transport system without col-
liding, the vehicle length must be defined longer than it actually is to account for the width of
the vehicle in a curve. The value of the defined length must be calculated using basic trigo-
nometry, see the
QuickStick Configurator User Manual , MMI-UM009 .
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 node controller
detects a magnet array (vehicle), it attempts to locate it precisely by moving the vehicle into
the adjacent motor block in the downstream direction to determine its position (using the sen-
sors in the next motor block). If the node controller is able to move the vehicle, it assigns the
vehicle a Vehicle ID. If another vehicle occupies the adjacent motor block (or there are no
more motor blocks downstream), it looks to the next detected vehicle and tries to move it. The
node controller continues scanning for vehicles until it locates a new one, or it tries to move an
already located vehicle to make room to locate a new vehicle if there is additional room to
move the already located vehicle that is in the way.
If the node controller scans to the end of the path, and it was unable to move any detected new
vehicles into a downstream motor block or it is unable to move existing vehicles for room, it
switches directions and begins scanning in the upstream direction from the downstream end of
the path. The node controller assigns a vehicle ID to the next vehicle it can move into an adja-
cent upstream motor block to determine its position.
NOTE: There must be at least one motor block free per path for startup to succeed.
The node controller continues to scan back and forth in the downstream and upstream direc-
tions until all vehicles detected have been assigned a vehicle ID. This scanning could take sev-
eral seconds to several minutes depending on how many vehicles are on a path. If the node
controller scans in the downstream direction and then scans in the upstream direction of a path
without being able to move any vehicles, startup fails for that path. This failure could be due
to either due to no space to move a detected vehicle or a jammed vehicle.
Once a vehicle ID is assigned, it remains with that vehicle until the vehicle is removed from
the QuickStick HT transport system, the vehicle is deleted, or a Reset is issued for the path.
Vehicles are removed via a Terminus Node or deleted with a Delete Vehicle command.