This will usually be
captureMarker
, to stop at a marker. It is possible to use either end of the tape, if
two sensors are present, but markers offer more flexibility.
•
markerNumber
This represents which marker on the tape the AMR will stop at.
•
markerLength
This represents the physical length of the marker (300 mm is typical).
•
acquireTrackAfterMarker
This represents where the AMR will enter the tape, relative to the markers on the tape. This is deter-
mined by the location and angle of the goal, relative to the tape and markers. Normally this will be 0
to indicate that the AMR will enter the tape before any markers.
Engage Task
The Engage task calls a macro when the AMR arrives at the goal, so the AMR can be sent on a series
of tasks such as a FollowGuide task to go to a marker.
If successive goals are at the same location and each has the Engage task on it, the AMR can be sent
on multiple tasks without returning to the goal location. This allows you to have the AMR go to multiple
markers without ever leaving the tape to return to the goal location.
Make the following considerations when using the Engage task.
• Each marker needs its own goal.
• Each of the goals needs to be at the same location.
• Each of the goals needs to have the Engage task.
• Each of the Engage tasks will have a different Engage macro.
If the next goal assigned to that AMR is at the same location as the previous goal and it has an En-
gage task, the AMR will not drive back to the goal when the Engage macro finishes. It will instead exe-
cute the Engage macro associated with the new goal.
The parameters associated with the Engage task are provided below.
•
EngageMacro
A macro (generally containing the FollowGuide task) that instructs how to arrive at the correct spot
on the tape.
•
DisengageMacro
A macro that determines how the AMR will remove itself from the tape safely from that marker posi-
tion. If no macro is given, the AMR will go to autonomous mode automatically.
•
UseGoalPosition
Determines how close goals need to be for them to be considered as the same location. A tolerance
larger than the distance between the goals will indicate that the goals are at the same location. After
entering
True
for this value, you will be given a choice of distance. The defaults are generally suita-
ble.
This is the goal position (not the position) that will result after the FollowGuide or Engage tasks.
•
FaultEngageMacro
Determines how the AMR will manage failures when engaging.
•
FaultDisengageMacro
Determines how the AMR will manage failures when disengaging.
•
EngageOnlyIfFromGoal
This should be set to
False
or blank when using FollowGuide.
•
lockModeduringMacro
Boolean value to decide if the AMR mode will be locked during the engage process.
3 Installation
3-33
HD-1500 Platform User's Manual (I645)
3-9 HAPS Installation and Configuration
3
3-9-3
Goals and T
asks
Summary of Contents for HD-1500 Platform
Page 1: ...HD 1500 Platform User s Manual I645 E 03 ...
Page 6: ...Manual Information 4 HD 1500 Platform User s Manual I645 ...
Page 38: ...Revision History 36 HD 1500 Platform User s Manual I645 ...
Page 206: ...5 Troubleshooting 5 14 HD 1500 Platform User s Manual I645 ...
Page 236: ...6 Maintenance 6 30 HD 1500 Platform User s Manual I645 ...
Page 250: ...Appendices A 14 HD 1500 Platform User s Manual I645 ...
Page 251: ...I Index I 1 HD 1500 Platform User s Manual I645 I ...
Page 254: ...Index I 4 HD 1500 Platform User s Manual I645 ...
Page 255: ......
