LHD_FORK_CTRL
Telescopic-fork load-handling device: single/double-deep reach with an in-position interlock, home proof and load verification.
When to use it
Use LHD_FORK_CTRL when a storage/retrieval machine, transfer car or mini-load carries telescopic forks that reach into single- or double-deep locations on either side of the aisle, and the machine must not travel until the forks are proven home.
Interface
The published port signature. This is the whole of what the block exposes to your program — the implementation body is not shown here and ships with the download.
Inputs
| Port | Type | Unit |
|---|---|---|
| ENABLE | BOOL | — |
| INIT | BOOL | — |
| EXTEND | BOOL | — |
| RETRACT | BOOL | — |
| SIDE | BOOL | — |
| DEPTH | USINT | — |
| LOAD_PRESENT | BOOL | — |
| PICK | BOOL | — |
| POS_PROVEN | BOOL | — |
| FORK_ACT | REAL | mm |
| HOME_SW | BOOL | — |
| DEPTH_1_MM | REAL | mm |
| DEPTH_2_MM | REAL | mm |
| FORK_VMAX | REAL | mm/s |
| FORK_ACC | REAL | mm/s2 |
| POS_WIN | REAL | mm |
| HOME_WIN | REAL | mm |
| FOLLOW_ERR | REAL | mm |
| FOLLOW_TMO | TIME | — |
| MOVE_TMO | TIME | — |
| ACK | BOOL | — |
Outputs
| Port | Type | Unit |
|---|---|---|
| FORK_POS | REAL | mm |
| LOAD_OK | BOOL | — |
| FORK_SPD | REAL | mm/s |
| HOME | BOOL | — |
| AT_TARGET | BOOL | — |
| TRAVEL_PERMIT | BOOL | — |
| INITO | BOOL | — |
| CNF | BOOL | — |
| BUSY | BOOL | — |
| FAULT | BOOL | — |
| FAULT_ID | INT | — |
| VALID | BOOL | — |
Validation evidence
- Tests
- 15
- Simulated scans
- 480
- Simulator
- v0.1.0
Complete IEC 61131-3 implementation with a published test suite that runs on the vplant simulator. The counts above are that suite, executed on this build.
- Conforms to IEC 61131-3
Download LHD_FORK_CTRL — free
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Source is never published on this page. The implementation is released to a signed-in Ri Tech account — free of charge, but never anonymously.