MINILOAD_CTRL
Mini-load tote cycle: flat bin address resolved to a column position and a level index, with tote-identity and lift-at-level proof before transfer.
When to use it
Use MINILOAD_CTRL when a tote or carton mini-load AS/RS receives a flat bin address from the warehouse-management system and has to travel the aisle to it, with the lift axis commanded separately and the tote licence plate recorded against the bin.
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 | — |
| STORE | BOOL | — |
| RETRIEVE | BOOL | — |
| TOTE_ID | STRING | — |
| BIN | UINT | — |
| POS | REAL | m |
| POS_OK | BOOL | — |
| MAX_BIN | UINT | — |
| LEVELS_PER_COL | UINT | — |
| COL_PITCH | REAL | m |
| X_HOME | REAL | m |
| TRAVEL_VMAX | REAL | m/s |
| TRAVEL_ACC | REAL | m/s2 |
| POS_WIN | REAL | m |
| SPOT_DWELL | TIME | — |
| LIFT_AT_LEVEL | BOOL | — |
| TOTE_PRESENT | BOOL | — |
| ID_REQUIRED | BOOL | — |
| XFER_DONE | BOOL | — |
| POS_TMO | TIME | — |
| XFER_TMO | TIME | — |
| ACK | BOOL | — |
Outputs
| Port | Type | Unit |
|---|---|---|
| SPEED | REAL | m/s |
| AT_BIN | BOOL | — |
| XFER_PERMIT | BOOL | — |
| COL_IDX | UINT | — |
| LEVEL_IDX | UINT | — |
| TGT_X | REAL | m |
| VALID | BOOL | — |
| INITO | BOOL | — |
| CNF | BOOL | — |
| DONE | BOOL | — |
| BUSY | BOOL | — |
| FAULT | BOOL | — |
| FAULT_ID | INT | — |
IEC 61499 event interface
EI INIT, REQ·EO INITO, CNF
Validation evidence
- Tests
- 15
- Simulated scans
- 140
- 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
- Conforms to IEC 61499
Download MINILOAD_CTRL — free
Create a free Ri Tech account to download the block. You get the Structured Text body, the Rockwell Add-On Instruction (.L5X), the Schneider Control Expert DFB (.XDB), PLCopen XML, the IEC 61499 function block type (.fbt) and the datasheet.
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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.