SRM_CTRL
Stacker-crane store/retrieve cycle: bin-coordinate resolution, coordinated travel and lift, spotting and a fork permissive.
When to use it
Use SRM_CTRL when a single-mast or twin-mast storage/retrieval machine serves one rack aisle from a pick-and-deposit station, and a store or retrieve task arrives as an aisle/column/level bin address that has to be turned into a coordinated two-axis move and a proven transfer position.
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 | — |
| AISLE | UINT | — |
| COL | UINT | — |
| LEVEL | UINT | — |
| POS_X | REAL | m |
| POS_Y | REAL | m |
| POS_OK | BOOL | — |
| MY_AISLE | UINT | — |
| MAX_COL | UINT | — |
| MAX_LEVEL | UINT | — |
| COL_PITCH | REAL | m |
| LEVEL_PITCH | REAL | m |
| X_HOME | REAL | m |
| Y_HOME | REAL | m |
| TRAVEL_VMAX | REAL | m/s |
| TRAVEL_ACC | REAL | m/s2 |
| LIFT_VMAX | REAL | m/s |
| LIFT_ACC | REAL | m/s2 |
| POS_WIN | REAL | m |
| SPOT_DWELL | TIME | — |
| SYNC_AXES | BOOL | — |
| FORK_HOME | BOOL | — |
| LOAD_ON_BOARD | BOOL | — |
| XFER_GO | BOOL | — |
| XFER_LIFT | REAL | m |
| XFER_DONE | BOOL | — |
| POS_TMO | TIME | — |
| XFER_TMO | TIME | — |
| ACK | BOOL | — |
Outputs
| Port | Type | Unit |
|---|---|---|
| TRAVEL_SPD | REAL | m/s |
| LIFT_SPD | REAL | m/s |
| AT_BIN | BOOL | — |
| FORK_PERMIT | BOOL | — |
| XFER_AT | BOOL | — |
| INITO | BOOL | — |
| CNF | BOOL | — |
| DONE | BOOL | — |
| BUSY | BOOL | — |
| FAULT | BOOL | — |
| FAULT_ID | INT | — |
| VALID | BOOL | — |
| TGT_X | REAL | m |
| TGT_Y | REAL | m |
Validation evidence
- Tests
- 17
- Simulated scans
- 230
- 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 SRM_CTRL — free
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