QuickStick Configurator User Manual

Transcription

1 QuickStick Configurator User Manual Rev. C

2 Although every effort is made to ensure the accuracy of this manual, assumes no responsibility for any errors, omissions, or inaccuracies. Information provided in this manual is subject to change without notice. Any sample code referenced in this manual and that may be included with software is included for illustration only and is, therefore, unsupported., MagneMover, QuickStick, MM LITE, and SYNC IT are trademarks or registered trademarks of, a Rockwell Automation Company. Rockwell Automation is a registered trademark of Rockwell Automation, Inc. Microsoft and Windows are registered trademarks of Microsoft Corporation. EtherNet/IP is a trademark of ODVA, Inc. All other trademarks are properties of their respective owners. This product is protected under one or more U.S. and International patents. Additional U.S. and International patents pending. Copyright , a Rockwell Automation Company. All Rights Reserved. The information included in this manual is proprietary or confidential to Rockwell Automation, Inc. Any disclosure, reproduction, use or re-distribution of this information by or to an unintended recipient is prohibited. A Rockwell Automation Company 139 Barnum Road Devens, MA USA Phone: Fax: This technology is subject to United States Export Administration Regulations and authorized to the destination only; diversion contrary to U.S. law is prohibited. Printed in the U.S.A Rev. C

3 Contents Figures... 9 Tables Changes Overview...15 Rev. A...15 Rev. B...15 Rev. C...16 About This Manual Overview...17 Purpose...17 Audience...17 Prerequisites...17 Documentation...18 Manual Conventions...18 Notes, Safety Notices, and Symbols...19 Notes...19 Safety Notices...19 Symbol Identification...20 Manual Structure...21 Related Documentation...21 Contact Information Introduction Overview...23 QuickStick Configurator Overview...24 Transport System Components Overview...25 Transport System Software Overview...26 Getting Started with the QuickStick Configurator Using the QuickStick Configurator Overview...31 Install the QuickStick Configurator...32 QuickStick Configurator User Manual 3

4 Contents Run the QuickStick Configurator...36 Node Controller Configuration File Overview...38 Required Node Controller Configuration File Elements...38 Optional Node Controller Configuration File Elements...39 Create and Save Node Controller Configuration Files...40 Create a New Node Controller Configuration File...40 Save a New Node Controller Configuration File...40 Edit Existing Node Controller Configuration Files...42 Upload the Node Controller Configuration File Transport System Configuration Overview...47 Configuration Tree...48 Configure Global Settings...49 Set EtherNet/IP for a PLC...52 Defining HLC Control Groups...54 Master/Slave HLC Control Groups...54 Configuring HLC Control Groups...55 Connecting Control Groups with Gateway Nodes...57 Vehicle ID Management...58 Startup Considerations...58 Vehicle Master HLC Start or Restart...58 Vehicle Slave HLC Start or Restart...59 Cautions...59 System Startup...59 Vehicle ID Range Minimum and Maximum...59 Terminus Node Vehicle ID Assignment...59 Create and Edit Paths...60 Create a Path...60 Edit a Path...61 Define and Edit Motors and Vehicles...64 View and Edit Motor Default Parameters...64 Define Vehicle Defaults...66 Define Motor Defaults...68 Define a Motor...70 Edit a Motor...71 Configure Keepout Areas...74 Create and Edit Nodes...75 Create a Node...75 Edit a Node...76 Node Types...77 Simple Node...77 Relay Node...79 Terminus Node...81 Gateway Node...83 Merge Node...86 Diverge Node Rev. C

5 Contents Shuttle Node...94 Overtravel Node...97 Moving Path Node Node Parameters Clear on Startup Node Clearance Distances and Entry Gate Positions Gap Delta Define and Edit Node Controllers Define a Node Controller Edit a Node Controller Create and Edit Stations Create a Station Edit a Station View All Stations Create and Edit Single Vehicle Areas Create a Single Vehicle Area Edit a Single Vehicle Area Define and Edit E-Stops Define an E-Stop Edit an E-Stop Define and Edit Interlocks Define an Interlock Edit an Interlock Define and Edit Light Stacks Define a Light Stack Edit a Light Stack Editing Functions Copy Configuration Properties Add Configuration Elements Delete Configuration Elements Options Station Insert Mode Select the Station Insert Mode Show Per Motor Control Loop Parameters Show Per Motor Control Loop Parameters Use Advanced Parameters Show Advanced Parameters Create and Edit Simulated Vehicles Show Simulated Vehicles Create a Simulated Vehicle Edit a Simulated Vehicle European Number Formatting Show European Number Formatting UI Reference Overview Window Layout QuickStick Configurator User Manual 5

6 Contents Window Behavior User Interface Features Dialog Boxes Messages Dialog Box and Window Elements Window and Dialog Box Reference Main Window Configuration Configurator Menu Bar File Edit Options Help Shortcut Menus Add Shortcut Menu Edit Shortcut Menu Insert Shortcut Menu Copy Shortcut Menu Global Settings PLC EtherNet/IP Settings HLC Control Group Settings Paths Motors Motor Defaults Vehicle Motor Control Loop Parameters Advanced Parameters Keepout Areas Motor #n in Path n Stations Single Vehicle Areas Simulated Vehicles Nodes Simple Node Relay Node Terminus Node Gateway Node Merge Node Diverge Node Shuttle Node Overtravel Node Moving Path Node Node Controllers Light Stacks All Stations Rev. C

7 Contents 5 Troubleshooting Overview QuickStick Configurator Troubleshooting Appendix Overview File Maintenance Backup Files Creating Backup Files Restoring from Backup Files Additional Documentation Release Notes Upgrade Procedure Transport System Limits Glossary Index QuickStick Configurator User Manual 7

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9 Figures 1-1 Simplified View of QuickStick Transport System Components Simplified View of Transport System Software Organization Configurator Tool Installer NET Installation Alert Configurator Tool Installation Setup Configurator Tool Installation Confirmation Configurator Tool Installation Progress Configurator Tool Installation Complete QS Configurator Tool Icon QuickStick Configurator Configuration Properties Pane New Configuration Confirmation Message Save XML Configuration File Dialog Open XML Configuration File Dialog Load Node Controller Configuration File XML Read Error Load Node Controller Configuration File Old Motor Types Exit Configurator Confirmation Message Node Controller Web Interface Configuration Files Page Node Controller Web Interface Configuration File Upload Successful Global Settings Page Global Settings Page with Advanced Parameters PLC EtherNet/IP Settings Page HLC Control Group Page HLC Control Group Example Path Overview Configuration Tree with Paths Selected Add a Path Path Details Page Configuration Tree Expanded with Motors Selected Configuration Tree Expanded with Motor Defaults Selected Motor Defaults Page Magnet Array Type Change Prompt Vehicle Length in Curves QuickStick Motor Types Configuration Tree Expanded with Motors Shown Configuration Tree Showing Motor Added...71 QuickStick Configurator User Manual 9

10 Figures 3-18 Motor Details Page Keepout Area, Downstream Vehicle Motion Keepout Area, Upstream Vehicle Motion Configuration Tree with Nodes Selected Add a Node New (Undefined) Node Page Simple Node, Top View Simple Node Properties Simple Node Example Relay Node, Top View Relay Node Properties Relay Node Example Terminus Node, Top View Terminus Node Properties Terminus Node Example Gateway Node, Top View Gateway Node Properties Gateway Node Example Merge Node, Top View Merge Node Properties Merge Node Example Diverge Node, Top View Diverge Node Properties Diverge Node Example Shuttle Node, Top View Shuttle Node Properties Shuttle Node Example Overtravel Node, Startup Top View Overtravel Node, Extended Vehicle Top View Overtravel Node Properties Overtravel Node Example, Startup Overtravel Node Example, Extended Vehicle Moving Path Node, Top View Single Node Moving Path Node, Top View Dual Nodes Moving Path Node Properties Moving Path Node, Single Node Example Moving Path Node, Dual Nodes Example Node Clearance Distance and Entry Gate Position Diverge Node Gap Delta Diverge Node Gap Delta Example Moving Path Node Gap Delta Moving Path Node Gap Delta Example Configuration Tree with Node Controllers Selected Add a Node Controller New (Undefined) Node Controller Page Node Controller Example, NC LITE Configuration Tree with Stations Selected Rev. C

11 Figures 3-65 Add a Station Station Page Station Example All Stations List Single Vehicle Area, Top View Configuration Tree with Single Vehicle Areas Selected Add a Single Vehicle Area Single Vehicle Area Page Single Vehicle Area Example Downstream Single Vehicle Area Example Upstream Adding an E-Stop to a Path Editing an E-Stop on a Path Adding an Interlock to a Path Editing an Interlock on a Path Configuration Tree with Light Stacks Selected Add a Light Stack New (Undefined) Light Stack Page Light Stack Example Transport System Light Stack Example Duplicate ID Alert Station Insert Mode Option Selected Station Insert Modes Show Per Motor Control Loop Parameters Option Selected Show Advanced Parameters Option Selected Show Simulated Vehicles Option Selected Configuration Tree with Simulated Vehicles Selected Add a Simulated Vehicle Simulated Vehicle Page Simulated Vehicle Example Number Formatting Conventions European Number Formatting Option Selected Window Layout Dialog Box Example Message Examples Check Box Example Drop-Down Menu and List Box Examples Text and Display Field Example Button Example QuickStick Configurator Main Window Overview Menu Bar, Configuration Tree, and Configuration Properties Pane Configurator Menu Bar Configurator Menus About Configurator Message Configurator Shortcut Menus Global Settings Page PLC EtherNet/IP Settings Page QuickStick Configurator User Manual 11

12 Figures 4-16 HLC Control Group Settings Page Path Details Page Motor Defaults Page Vehicle and Magnet Array Motor Page Stations Page Single Vehicle Areas Page Simulated Vehicles Page Node Page Simple Node Properties Relay Node Properties Terminus Node Properties Gateway Node Properties Merge Node Properties Diverge Node Properties Shuttle Node Properties Overtravel Node Properties Moving Path Node Properties Node Controllers Page Light Stack Page All Stations Configuration Tree Category Rev. C

13 Tables 3-1 Configuration Tree Overview Initial QuickStick Configurator Troubleshooting A-1 Transport System Limits A-2 Transport System Motion Limits QuickStick Configurator User Manual 13

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15 Changes Overview Changes may be made to this manual to ensure that it continues to provide the most complete documentation possible for the QuickStick Configurator. This section provides a brief description of each change. NOTE: Distribution of this manual and all addendums and attachments is not controlled. Changes may have been made at any time. To identify the current revision, contact Customer Support. Rev. A MMConfigTool version Initial release to support MMConfigTool.exe, which replaces MM_Config.exe. Rev. B Updated to support MMConfigTool version Added Use Extended Vehicle Status to the PLC configuration. Added information on how to Define Vehicle Defaults. Added configuration information and descriptions for the Overtravel Node and the Moving Path Node. Added a section providing details of common Node Parameters, these include Clear on Startup, Node Clearance Distances and Entry Gate Positions, and Gap Delta. Added configuration information and descriptions for the Show Per Motor Control Loop Parameters and European Number Formatting options. Updated trademark information. Updated the description of the Changes section. Added description of the Virtual Scope Utility and updated the Simplified View of Transport System Software Organization. Updated screenshots as required to show changes to the Configurator. Updated the description of HLC Control Groups. Updated the description of Gateway Node use. Updated the Examples for Single Vehicle Areas. Updated the Define and Edit Light Stacks overview. Updated the description of Copy Configuration Properties. Updated QSHT velocity in the Transport System Limits. QuickStick Configurator User Manual 15

16 Changes Removed references to the unused Node Look Ahead Count and Startup Station functions. Removed configuration items for Switch Type and Serial Port from Merge and Diverge Nodes. Rev. C Updated to support MMConfigTool version Added new Global Settings (TCP Control Port Enable and TCP Control Port Timeout). Added new PLC EtherNet/IP Settings (Enable System Monitoring, Enable Motor Inverter Command, and Enable Sensor Mapping). Added additional terms to the Glossary. Updated trademark and copyright information. Updated Manual Conventions. Updated Contact Information. Updated process to Define and Edit Motors and Vehicles Rev. C

17 About This Manual Overview This section provides information about the use of this manual, including the manual structure, related documentation, format conventions, and safety conventions. Purpose This manual explains how to use the QuickStick Configurator to create and modify the Node Controller Configuration File (Configuration File) for the QuickStick (QS) transport system. The Configuration File is used to configure all of the parameters for the components in a QuickStick transport system. This manual is not intended to provide a design guide for the installation, or a reference for the operation of a QuickStick transport system. Use this manual in combination with the other manuals and documentation that accompanies the transport system and with the training classes offered by to install, configure, test, and operate a QuickStick transport system. Audience This manual is intended for all users of QuickStick transport systems and provides information on how to install and use the QuickStick Configurator to create and maintain the Node Controller Configuration File. Prerequisites The information and procedures that are provided in this manual assume the following: Basic familiarity with general-purpose computers and with the Windows operating system. Complete design specifications, including the physical layout of the transport system, are available. All personnel configuring or operating the transport system are properly trained. QuickStick Configurator User Manual 17

18 About This Manual Documentation Documentation The documentation provided with the QuickStick transport system includes this manual, which provides complete documentation for the use of the QuickStick Configurator (Configurator). Other manuals in the document set, which is listed in the Related Documentation section, support installation and operation of the transport system. The examples in this manual are included solely for illustrative purposes. Because of the many variables and requirements that are associated with any linear motor transport system installation, cannot assume responsibility or liability for actual use based on these examples. Manual Conventions The following conventions are used throughout this manual: Bulleted lists provide information in no specific order, not procedural steps. Numbered lists provide procedural steps or hierarchical information. Keyboard keys and key combinations (pressing multiple keys at a time) are shown enclosed in angle brackets. Examples: <F2>, <Enter>, <Ctrl>, <Ctrl-x>. Dialog box titles or headers are shown in bold type, capitalized exactly as they appear in the software. Example: the Open XML Configuration File dialog box. Responses to user actions are shown in italics. Example: Motion on all specified Paths is enabled. Selectable menu choices, option titles (button, checkbox, and text box), function titles, and area or field titles in dialog boxes are shown in bold type and are capitalized exactly as they appear in the software. Examples: Add to End..., Paths, Path Details, OK. Dialog Box A window that solicits a user response. Click or Left-click Press and release the left mouse button 1. Right-click Press and release the right mouse button. Double-click Press and release the left mouse button twice in quick succession. Control-click Hold down <Ctrl> and press and release the left mouse button. Click-and-hold Press down the left mouse button and hold it down while moving the mouse. Select Highlight a menu item with the mouse or the tab or arrow keys. Code Samples Shown in monospaced text. Example: Paths. 1. Mouse usage terms assume typical right-hand mouse configuration Rev. C

19 Data Entry There are several conventions for data entry: About This Manual Documentation Exact The text is shown in single quotes. Example: Enter the name Origin in the text field. Variable The text is shown in italics. Example: Save the file as file_ name.xml. Numbers All numbers are assumed to be decimal unless otherwise noted and use US number formatting; that is one thousand = 1, Non-decimal numbers (binary or hexadecimal) are explicitly stated. Binary Followed by 2, for example, , Hex Hexadecimal numbers are preceded by 0x, for example, 0xC15, 0xFFFF. Measurements All measurements are SI (International System of Units). The format for dual dimensions is SI_units [English_units]; for example, 250 mm [9.8 in]. Text in blue is a hyperlink. These links are active when viewing the manual as a PDF. Selecting a hyperlink changes the manual view to the page of the item referenced. In some cases, the item that is referenced is on the same page, so no change in the view occurs. Notes, Safety Notices, and Symbols Notes Notes, Safety Notices, and Symbols used in this manual have specific meanings and formats. Examples of notes, the different types of safety notices and their general meanings, and symbols and their meanings are provided in this section. Adhere to all safety notices provided throughout this manual to ensure safe installation and use. Notes are set apart from other text and provide additional or explanatory information. The text for Notes is in standard type as shown below. NOTE: A note provides additional or explanatory information. Safety Notices Safety Notices are set apart from other text. The color of the panel at the top of the notice and the text in the panel indicates the severity of the hazard. The symbol on the left of the notice identifies the type of hazard (refer to Symbol Identification for symbol descriptions). The text in the message panel identifies the hazard, methods to avoid the hazard, and the consequences of not avoiding the hazard. Examples of the standard safety notices that are used in this manual are provided in this section. Each example includes a description of the hazard level indicated. QuickStick Configurator User Manual 19

20 About This Manual Documentation DANGER Danger indicates a hazardous situation which, if not avoided, will result in death or serious injury. WARNING Warning indicates a hazardous situation which, if not avoided, could result in death or serious injury. CAUTION Caution indicates a hazardous situation, which if not avoided, could result in minor or moderate injury. NOTICE Notice indicates practices that are not related to personal injury that could result in equipment or property damage. Symbol Identification Symbols are used in this manual to identify hazards, mandatory actions, and prohibited actions. The symbols used in this manual and their descriptions are provided in this section. Symbol Description General Hazard Alert Indicates that failure to follow recommended procedures can result in unsafe conditions, which may cause injury or equipment damage. Automatic Start Hazard Indicates the possibility of machinery automatically starting or moving, which could cause personal injury. Hazardous Voltage Indicates a severe shock hazard is present that could cause personal injury Rev. C

21 About This Manual Documentation Manual Structure This manual contains the following chapters: Introduction: Provides an overview of the QuickStick Configurator, which is used to create and modify the Node Controller Configuration File. Using the QuickStick Configurator: Describes how to install the QuickStick Configurator. Provides step-by-step procedures and examples for creating and editing the Node Controller Configuration File for the transport system and identifies the other types of files that are used in the transport system. Transport System Configuration: Provides step-by-step procedures and examples for each section of the Node Controller Configuration File: Global Settings, Paths, Motors, Nodes, Node Controllers, Stations, and other features of the transport system. UI Reference: Provides an overview of all panes and pages displayed through the QuickStick Configurator window and a description of each option on those panes and pages. Troubleshooting: Provides identification of errors produced by the QuickStick Configurator, their meaning, and how to resolve them. Appendix: Provides additional information related to the QuickStick Configurator and QuickStick transport systems. Glossary: A list of terms and definitions used in this manual and for the transport system and its components. Index: A cross-reference to this manual organized by subject. NOTE: The software version of the QuickStick Configurator supplied by may be newer than the version that is described in this manual (indicated in Changes on page 15). However, all features documented in this manual are supported as indicated. Note that specific builds of the QuickStick Configurator may not implement all of the features described in this manual. Related Documentation Before configuring or running the transport system, consult the following documentation: QuickStick Configurator User Manual, (this manual). Node Controller Interface User Manual, NCHost TCP Interface Utility User Manual, Host Controller TCP/IP Communication Protocol User Manual, , Host Controller EtherNet/IP Communication Protocol User Manual, , or Mitsubishi PLC TCP/IP Library User Manual, QuickStick Configurator User Manual 21

22 About This Manual Documentation QuickStick 100 User Manual, or QuickStick HT User Manual, LSM Synchronization Option User Manual, Virtual Scope Utility User Manual, NOTE: Distribution of this manual and all addendums and attachments are not controlled. Changes may have been made to this manual, additional documents may have been added to the documentation set, or changes may have been made to the software at any time. To identify the current revisions or to obtain a current version, contact Customer Support. Contact Information Main Office A Rockwell Automation Company 139 Barnum Road Devens, MA USA Phone: Fax: Customer Support MMI-customersupport@ra.rockwell.com Rev. C

23 Introduction 1 Overview This chapter provides an overview of the QuickStick Configurator, the transport system hardware and software, and the basic set of tasks needed to use the QuickStick Configurator with QuickStick (QS) transport systems. Use this manual to configure and maintain the Node Controller Configuration File. This manual supports: QuickStick transport systems. Included in this chapter are overviews of: The QuickStick Configurator. The transport system components. The transport system software. Getting started with the Configurator. QuickStick Configurator User Manual 23

24 Introduction QuickStick Configurator Overview QuickStick Configurator Overview The QuickStick Configurator is a Windows.NET software application provided by Magne- Motion to create and edit the transport system s Node Controller Configuration File (Configuration File). This file uses XML to define all of the parameters for the components in the transport system. The transport system is a configuration of QuickStick linear synchronous motors placed end-to-end to form long chains, or Paths, that move vehicles in a controlled manner at various acceleration/deceleration and velocity profiles while carrying a wide range of payloads with high precision. The transport system consists of the following components, at a minimum, that are defined in the Node Controller Configuration File: QuickStick motors. Node Controllers. Vehicles with Magnet Arrays. Paths and Nodes. User-supplied Host Controller. Each of the components of the transport system must be completely defined in the Node Controller Configuration File to ensure proper operation of the transport system. The QuickStick Configurator allows creation or changing of the Node Controller Configuration File without having to access the XML directly. NOTE: While the Node Controller Configuration File can be viewed, and edited, in various applications such as web browsers, text editors, and XML editors, recommends using only the QuickStick Configurator to ensure the file is formatted correctly and contains the correct entries. The QuickStick Configurator provides a tree-like structure for accessing the various sections of the Node Controller Configuration File. Using the Configurator, each element in the Node Controller Configuration File, displayed in the Configuration Tree, has a related Properties page where all of the properties for that element can be defined or modified Rev. C

25 Transport System Components Overview Introduction Transport System Components Overview This section identifies the components of a QuickStick transport system as shown in Figure 1-1 and described after the figure. DC Power Cables Motors Vehicles Power Supply Host Controller (PLC or PC) Network (Ethernet) Communication Cables Figure 1-1: Simplified View of QuickStick Transport System Components DC Power Cables and Communication Cables Distributes DC power to the motors and carries communications between the components of the transport system. High Level Controller (HLC) Software application running on one Node Controller that handles all communication with the user-supplied Host Controller and directs communication as appropriate to individual Node Controllers. Host Controller Provides user control and monitoring of the QuickStick transport system. Supplied by the user, it can be either PC-based or a PLC. Motor Refers to the QuickStick linear synchronous motor (LSM). Network Ethernet network providing communications (TCP/IP or EtherNet/IP) between the Host Controller and the HLC (TCP/IP is used between Node Controllers). Node Controller (NC) Coordinates motor operations and communicates with the High Level Controller. Two types of Node Controllers are available: NC-12 Node Controller (not shown) Provides one network port, two RS-232 ports, 12 RS-422 ports, 16 digital inputs, and 16 digital outputs. Node Controller LITE Provides one network port and four RS-422 ports. Power Supply Provides DC power to the motors. Node Controller (and High Level Controller) Vehicle with Magnet Array Carries a payload through the QuickStick transport system as directed. The magnet array is mounted to the vehicle and interacts with the motors, which moves each vehicle independently. QuickStick Configurator User Manual 25

26 Introduction Transport System Software Overview Transport System Software Overview Several software applications are used to configure, test, and administer a QuickStick transport system, as shown in Figure 1-2, and described after the figure. Refer to Related Documentation on page 21 for the reference manuals for these applications. User s Host Controller (EtherNet/IP or TCP/IP) NC Web Interface NC Console Interface Virtual Scope Utility (MMI_Virtual_Scope.exe) NCHost TCP Interface Utility (NCHost.exe) System Control Node Controller Administration Node Controller Administration Performance Monitoring System Testing Node Controller Node Controller Software Image (controller_image) Motor ERF Image Files (motor_image.erf) Motor Type Files (motor_type.xml) Magnet Array Type Files (magnet_array_type.xml) Node Controller Configuration File (node_configuration.xml) demo_script.txt track_file.mmtrk node_configuration.xml Motor(s) Configurator (MMConfigTool.exe) Figure 1-2: Simplified View of Transport System Software Organization NC Web Interface A web-based software application supplied by, resident on the Node Controllers, for administration of transport system components. NC Console Interface A serial communication software application supplied by, resident on the Node Controllers, for administration of the Node Controller. NCHost TCP Interface Utility A Windows software application supplied by to move vehicles for test or demonstration purposes without the Host Controller to verify that vehicles move correctly before integrating a transport system into a production environment. QS Configurator (Configurator) A Windows software application supplied by to create or change the Node Controller Configuration File without editing the file directly Rev. C

27 Introduction Transport System Software Overview Virtual Scope Utility A Windows software application that is supplied by Magne- Motion to monitor and record the change of performance parameters displayed as waveforms to analyze the performance of the transport system. Demonstration Script (Demo Script) A text file (demo_script.txt) uploaded to the NCHost TCP Interface Utility to move vehicles on the transport system for test or demonstration purposes. Node Controller Software Image File (IMG file) The software file for the Node Controllers (controller_image), includes the Node Controller and High Level Controller applications. The Node Controller Software Image File is uploaded to all Node Controllers in the transport system. Motor ERF Image Files (ERF file) The software files for the motors (motor_ image.erf). The Motor ERF Image Files are uploaded to all Node Controllers in the transport system and then programmed into all motors. Motor Type Files XML files (motor_type.xml) that contain basic information about the specific QuickStick motor types being used. The Motor Type Files are uploaded to all Node Controllers in the transport system. Magnet Array Type Files XML files (magnet_array_type.xml) that contain basic information about the specific magnet array type used on the vehicles in the QuickStick transport system. The Magnet Array Type File is uploaded to all Node Controllers in the transport system. Node Controller Configuration File (Configuration File) An XML file (node_configuration.xml) that contains all of the parameters for the components in the transport system. The Node Controller Configuration File is uploaded to all Node Controllers in the transport system. Track File A text file (track_file.mmtrk) that contains graphical path and motor information about the transport system. The Track File is used by the NCHost TCP Interface Utility to provide a graphical representation of the transport system. Contact Customer Support for the development of a Track File for QuickStick transport systems. NOTICE Modifying the Image or Type files could cause improper operation of the transport system. QuickStick Configurator User Manual 27

28 Introduction Getting Started with the QuickStick Configurator Getting Started with the QuickStick Configurator Use this manual as a guide and reference when performing tasks with the QuickStick Configurator. Follow the steps in this section to get the entire transport system operational quickly with the aid of the other manuals (refer to Related Documentation on page 21). NOTE: Ensure that complete design specifications, including the physical layout of the transport system, are available before starting to configure the QuickStick system. To get started quickly with the transport system: 1. Save the files and folders from the QuickStick transport system software package to a folder on a computer for user access. NOTE: The minimum requirements for running software applications are a general-purpose computer running Microsoft Windows 7 with.net 4.0, an Ethernet port (Web Interface), and an RS-232 port (Console Interface). 2. Install the components of the QuickStick transport system as described in the appropriate QuickStick User Manual. 3. Install the QuickStick Configurator on a computer for user access as described in Install the QuickStick Configurator on page Create or edit the Node Controller Configuration File (node_configuration.xml) with the QuickStick Configurator to completely define the components and operating parameters of the transport system as described in the following sections of this manual. A. Run the QuickStick Configurator on page 36. B. Create and Save Node Controller Configuration Files on page 40. C. Set EtherNet/IP for a PLC on page 52, when using a PLC (typically an Allen-Bradley ControlLogix PLC) to control the transport system. D. Defining HLC Control Groups on page 54, when the transport system is subdivided into smaller transport systems (Control Groups) with multiple Host Controllers and multiple High Level Controllers and where Gateway Nodes are used to transfer vehicles from one Control Group to another. E. Create sections for each transport system component defined by the Node Controller Configuration File: Create and Edit Paths on page 60. Define and Edit Motors and Vehicles on page 64. Create and Edit Nodes on page 75. Define and Edit Node Controllers on page Rev. C

29 Introduction Getting Started with the QuickStick Configurator 5. Set the Node Controller IP addresses; specify the Node Controller to be used as the High Level Controller, and upload the configuration, image, and type files to each Node Controller (refer to the Node Controller Interface User Manual). 6. Test and debug the transport system by using the NCHost TCP Interface Utility and Demo Scripts (refer to the NCHost TCP Interface Utility User Manual). This provides an easy method to verify proper operation and make adjustments such as refining the control loop tuning. NOTE: The NCHost TCP Interface Utility is for test and verification trials only. The user s Host Controller must be used to control the QuickStick transport system after verification of functionality. 7. Configure the Host Controller (either PC or PLC based) to control the QuickStick transport system as required to meet the material movement needs of the facility where the system is installed (refer to the Host Controller TCP/IP Communication Protocol User Manual, the Host Controller EtherNet/IP Communication Protocol User Manual, or the Mitsubishi PLC TCP/IP Library User Manual). QuickStick Configurator User Manual 29

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31 Using the QuickStick Configurator 2 Overview This chapter describes how to install and use the QuickStick Configurator to create and edit the Node Controller Configuration File for QuickStick transport systems. Included in this chapter are: Installing the QuickStick Configurator. Running the Configurator. Node Controller Configuration File overview. Creating, editing, and saving Node Controller Configuration Files. Overview of uploading the Node Controller Configuration File to the Node Controllers. NOTE: The Node Controller Configuration File must be uploaded to each Node Controller in the transport system any time changes are made to the file. QuickStick Configurator User Manual 31

32 Using the QuickStick Configurator Install the QuickStick Configurator Install the QuickStick Configurator The QuickStick Configurator supplied with the transport system must be installed prior to use. During the installation process the computer will be checked to ensure all required software components are installed on the computer. The minimum software requirements for installing and running the Configurator are: Microsoft Windows 7, SP1. Microsoft.NET Using a PC, access the folder where the software was copied and run MMConfigTool- SetupQS.msi. NOTE: The computer s permissions and security settings may need to be adjusted to allow this installation. The QS Configurator Tool setup wizard is opened as shown in Figure 2-1. If Microsoft.NET 4.0 is not installed on the computer where the QuickStick Configurator is being installed the alert shown in Figure 2-2. is displayed instead. Figure 2-1: Configurator Tool Installer Figure 2-2:.NET Installation Alert A. If the.net Framework alert is displayed, select YES. Note that the computer must be connected to the internet. The Microsoft.NET download page is opened Rev. C

33 Using the QuickStick Configurator Install the QuickStick Configurator B. If not preselected, scroll down the.net download page and select the Microsoft.NET Framework 4 (Standalone Installer) option. C. Select Download. The File Download dialog is opened. D. Select Run. Note that the computer s security settings may need to be adjusted to allow this installation. E. Once.NET 4.0 is installed restart the installation process from Step Select Next. The Configurator Tool setup wizard prompts for an installation path and usage permissions as shown in Figure 2-3. Figure 2-3: Configurator Tool Installation Setup QuickStick Configurator User Manual 33

34 Using the QuickStick Configurator Install the QuickStick Configurator 3. Accept the defaults and select Next. The Configurator Tool setup wizard prompts for confirmation of the installation as shown in Figure 2-4. Figure 2-4: Configurator Tool Installation Confirmation 4. Select Next. Note that the computer s security settings may need to be adjusted to allow this installation. The Configurator Tool setup wizard installs the software as shown in Figure 2-5 and places an Icon for access on the desktop as shown in Figure 2-7. Figure 2-5: Configurator Tool Installation Progress Once the installation is complete, as shown in Figure 2-6, the QuickStick Configurator may be used as described in Run the QuickStick Configurator on page Rev. C

35 Using the QuickStick Configurator Install the QuickStick Configurator 5. Select Close. Figure 2-6: Configurator Tool Installation Complete QuickStick Configurator User Manual 35

36 Using the QuickStick Configurator Run the QuickStick Configurator Run the QuickStick Configurator The Node Controller Configuration File that contains all of the parameters for the components in the transport system is created and edited using the QuickStick Configurator that was supplied with the transport system. 1. Select the QS Configurator Tool icon, shown in Figure 2-7, on the desktop. Figure 2-7: QS Configurator Tool Icon NOTE: An alternative method is to start the program from the Window s Start icon; select All Programs, scroll to and select from the folder list, then select QS Configurator Tool. The QuickStick Configurator window is opened with an empty Configuration Tree and the Global QuickStick Settings page displayed in the Configuration Properties pane (see Figure 2-8). Configurator Menu Bar Configuration Tree Configuration Properties Pane Figure 2-8: QuickStick Configurator Configuration Properties Pane Rev. C

37 Using the QuickStick Configurator Run the QuickStick Configurator 2. Use the scroll bars to see the text in the pane, or re-size the window as necessary. NOTE: Moving the cursor over the separator bar causes it to change to the Horizontal Resize cursor ( ). Click-and-hold the left mouse button to drag the bar. 3. Do one of the following: If this is a new install, refer to Node Controller Configuration File Overview on page 38, then proceed to Create and Save Node Controller Configuration Files on page 40, to create the Node Controller Configuration File. If this is an existing install, refer to Edit Existing Node Controller Configuration Files on page 42. QuickStick Configurator User Manual 37

38 Using the QuickStick Configurator Node Controller Configuration File Overview Node Controller Configuration File Overview The Node Controller Configuration File is an XML file that defines all of the elements and parameters of the QuickStick transport system. The QuickStick Configurator provides a tool for editing this file eliminating the need to either view or edit the XML directly. The file can have any name for convenient reference, but it must always have the.xml extension. When the file is uploaded to a Node Controller it is automatically renamed node_configuration.xml. Refer to the physical layout drawings of the transport system to determine the system s components and their configuration in the transport system. Required Node Controller Configuration File Elements The main elements of the transport system are represented by categories in the Node Controller Configuration File. These categories must be completely defined to ensure proper operation of the transport system. Global Settings Basic parameters that control how all vehicles behave when moving through the transport system, how the transport system reacts to loss of communication, and startup conditions. These parameters are used as default values for all Paths, Motors, and Nodes unless override values are defined for specific Path, Motor, or Node elements. Paths Software components that define the route that a vehicle travels. Paths include one or more QuickStick motors arranged end to end. All Paths connect to one Node at the beginning of the Path and may connect to a second Node at the end of the Path, depending upon whether vehicles are to travel from the end of the Path onto another Path. Paths are unique and do not overlap. Refer to Create and Edit Paths on page 60 for details. Motors Hardware components that move the vehicle on the track, this is typically a QuickStick motor. Refer to Define and Edit Motors and Vehicles on page 64 for details. Nodes Software components that define the connections between Paths. All Paths have a Node at the beginning of the Path. Additional Nodes provide junctions where two or more Paths meet. Node Types are defined by their use, refer to Create and Edit Nodes on page 75 for details. Node Controllers Hardware components that provide monitoring and control of the components of the transport system. One Node Controller is designated as the High Level Controller (HLC), which provides communication between all Node Controllers in the transport system and the user s Host Controller. The Upstream end of a Path must communicate with a Node Controller. Refer to Define and Edit Node Controllers on page 113 for details Rev. C

39 Optional Node Controller Configuration File Elements Using the QuickStick Configurator Node Controller Configuration File Overview Optional elements of the transport system are represented by additional categories in the Node Controller Configuration File. These categories may be defined to provide additional functionality. PLC EtherNet/IP Provides communication configuration if the Host Controller is a PLC (typically an Allen-Bradley ControlLogix PLC). HLC Control Group Provides structuring of the transport system as a set of smaller transport systems (Control Groups) with separate High Level Controllers and separate Host Controllers for each Control Group. E-Stop Provides monitoring of a user installed button (typically locking) that is pressed by an operator if an emergency situation arises to halt all motion on the specified Paths. Interlock Provides monitoring of a user installed circuit that is activated to temporarily halt all motion on a specific Path. Stations Specific, designated positions on a Path to send a vehicle. Single Vehicle Area of a Path An area of a Path where only one vehicle may move at any time. This option allows one vehicle to move backward and forward along a portion of a Path without interfering with any other vehicles. Simulated Vehicles Used to define simulated vehicles for use in software configuration testing. Light Stacks Used to provide a visual indication of transport system status. After creating the Node Controller Configuration File using the Configurator, upload the file to each Node Controller in the transport system. Refer to Upload the Node Controller Configuration File on page 44 for more details. QuickStick Configurator User Manual 39

40 Using the QuickStick Configurator Create and Save Node Controller Configuration Files Create and Save Node Controller Configuration Files Once the QuickStick Configurator is running, create an initial Node Controller Configuration File and then save it so that there is a Node Controller Configuration File from which to work. NOTE: Once the Node Controller Configuration File is created ensure that all parameters are completely configured before uploading it to the Node Controllers. Create a New Node Controller Configuration File 1. On the Configurator File menu, select New Configuration. The New Configuration confirmation message, shown in Figure 2-9, is displayed. Figure 2-9: New Configuration Confirmation Message 2. Select Yes on the message to start a new configuration (any unsaved work will be lost). 3. Define the configuration of the transport system (refer to Transport System Configuration on page 47). Save a New Node Controller Configuration File 1. On the Configurator File menu, select Save As. The Save XML Configuration file dialog box, shown in Figure 2-10, is displayed Rev. C

41 Using the QuickStick Configurator Create and Save Node Controller Configuration Files Figure 2-10: Save XML Configuration File Dialog 2. Browse to the appropriate location to save the file. 3. For File name, enter an appropriate descriptive name, and select Save. The Node Controller Configuration File is saved and the title of the Configurator window changes to Configurator file_name.xml. NOTE: The copy of the file on the Node Controller will be automatically renamed node_configuration.xml when it is uploaded to the Node Controllers. The file name on the PC remains unchanged. 4. Exit the QuickStick Configurator by selecting Exit on the Configurator File menu or edit the Node Controller Configuration File as necessary. QuickStick Configurator User Manual 41

42 Using the QuickStick Configurator Edit Existing Node Controller Configuration Files Edit Existing Node Controller Configuration Files Once the QuickStick Configurator is running, open and edit an existing Node Controller Configuration File as required and then save all changes. 1. On the Configurator File menu, select Open XML Configuration... The Open XML Configuration file dialog box, shown in Figure 2-11, is displayed. Figure 2-11: Open XML Configuration File Dialog 2. Use the dialog box controls to select the Node Controller Configuration File previously created and select Open. The Node Controller Configuration File is loaded and the title of the Configurator window changes to Configurator file_name.xml. The configuration information in the Node Controller Configuration File is available through the Configuration Tree on the left side of the window. NOTE: If the Node Controller Configuration File contains any errors, when the file is opened an informational message similar to the one shown in Figure 2-12 is displayed. Figure 2-12: Load Node Controller Configuration File XML Read Error Select OK to close the message Rev. C

43 Using the QuickStick Configurator Edit Existing Node Controller Configuration Files NOTE: If the Node Controller Configuration File contains unsupported Motor Types, when the file is opened the message shown in Figure 2-13 is displayed. Figure 2-13: Load Node Controller Configuration File Old Motor Types Select YES to automatically convert all legacy motor types contained within the Node Controller Configuration File to default motor types supported by the current revision of software. NOTE: Once the conversion completes, review the new motor types to ensure they were properly converted to match the motor types supported within the transport system configuration. If NO was selected, or the conversion process did not execute correctly, contact support for assistance. 3. Edit the file as required to define the configuration of the transport system (refer to Transport System Configuration on page 47). 4. Save all changes to the file by selecting Save on the Configurator File menu. 5. Exit the QuickStick Configurator by selecting Exit on the Configurator File menu. The Exit Configurator confirmation message, shown in Figure 2-14, is displayed. Figure 2-14: Exit Configurator Confirmation Message 6. Select Yes on the message to exit (any unsaved work will be lost). The Configurator window closes. NOTE: After saving any changes to the Node Controller Configuration File the updated file must be uploaded to all Node Controllers in the transport system (refer to Upload the Node Controller Configuration File on page 44). QuickStick Configurator User Manual 43

44 Using the QuickStick Configurator Upload the Node Controller Configuration File Upload the Node Controller Configuration File A Node Controller Configuration File for the transport system s specific configuration must be uploaded to every Node Controller in the transport system using the Node Controller Web Interface (refer to the Node Controller Interface User Manual). If a Node Controller Configuration File for the transport system has not been created refer to Create and Save Node Controller Configuration Files on page 40. To upload the Node Controller Configuration File to each Node Controller in the transport system: 1. Open the Node Controller Web Interface for the Node Controller in a web browser and log in. 2. From the menu on the left side of the page, select Configuration Files. The Configuration Files page, shown in Figure 2-15, is displayed. Figure 2-15: Node Controller Web Interface Configuration Files Page 3. In the Upload Node Controller Configuration section, select Browse. The Choose File to Upload dialog box is displayed Rev. C

45 Using the QuickStick Configurator Upload the Node Controller Configuration File 4. Use the dialog box controls to select the Node Controller Configuration File that was saved in Create and Save Node Controller Configuration Files on page 40, and select Open. The path and name of the Node Controller Configuration File is displayed in the text box next to the Browse button. 5. Select Upload File. After the Node Controller Configuration File is loaded, an Upload Successful message is displayed, shown in Figure 2-16, and then a Restart message is displayed. Figure 2-16: Node Controller Web Interface Configuration File Upload Successful 6. Restart the Node Controller. 7. If there is more than one Node Controller in the transport system, repeat this procedure for each additional Node Controller. NOTE: If the Node Controller Configuration File was uploaded on the Node Controller configured as the HLC it can also be distributed to multiple Node Controllers throughout the system. For more information, refer to the Node Controller Interface User Manual. QuickStick Configurator User Manual 45

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47 Transport System Configuration 3 Overview This chapter provides step-by-step procedures and examples for manually defining or editing each section of the Node Controller Configuration File for the QuickStick transport system using the QuickStick Configurator. NOTE: The Node Controller Configuration File must be uploaded to all Node Controllers in the transport system each time changes are made to the Node Controller Configuration File. Included in this chapter are: Configuration Tree overview. Configuration settings, including: Global Settings. PLC EtherNet/IP. HLC Control Group. Paths. Motors. Nodes. Node Controllers. Stations. Single Vehicle Areas. E-Stops and Interlocks. Light Stacks. Optional Configuration settings, including: Show Per Motor Control Loop Parameters. Advanced Parameters. Simulated Vehicles. European Number Formatting. Editing Functions, including: Copy, Add, and Delete Configuration Properties. Station Insert Mode. QuickStick Configurator User Manual 47

48 Transport System Configuration Configuration Tree Configuration Tree The Configuration Tree displayed on the left side of the QuickStick Configurator provides categories for each type of component in the transport system. Each category can be expanded to display the individual elements of that component type. The properties for each element, and those categories that do not have elements, can be displayed on the right side of the Configurator by selecting the element, or category, in the Configuration Tree. Table 3-1 provides an overview of the Configuration Tree and identifies those categories and elements that have Property pages associated with them. Note that options that are not currently supported are not listed in the table. Table 3-1: Configuration Tree Overview Configuration Tree Description Properties Page Node Configuration (Global Settings) Category Y 49 PLC EtherNet/IP Category Y 52 HLC Control Group Category Y 54 Paths Category 60 Path n Element Y Motors Category 64 Motor Defaults Element Y Motor n Element Y Stations Category 116 Station n Element Y Single Vehicle Areas Category 120 Single Vehicle Area n Element Y Simulated Vehicles Category 141 Simulated Vehicle n Element Y Nodes Category 74 Node n Element Y Node Controllers Category 112 Node Controller n Element Y Light Stacks Category 130 Light Stack n Element Y All Stations Category 119 Station n Element Y Rev. C

49 Transport System Configuration Configure Global Settings Configure Global Settings This section provides an introduction to Global Settings in the Node Controller Configuration File. Global Settings control how all vehicles behave when moving through the transport system, how the transport system reacts to loss of communication, and startup conditions. The Global Settings that are selected, and/or the values specified, will be used for all Paths, Motors, and Nodes throughout the system unless override values are defined for specific Path, Motor, or Node elements. 1. Run the QuickStick Configurator. Refer to Run the QuickStick Configurator on page 36 for details. 2. If necessary, expand the window to display all parameters in the Configuration Properties pane. 3. Open the Node Controller Configuration File. Refer to Edit Existing Node Controller Configuration Files on page 42 for details. 4. In the Configuration Tree, select Node Configuration. The Global QuickStick Settings page, shown in Figure 3-1, is displayed in the Configuration Properties pane. Figure 3-1: Global Settings Page 5. Update the global settings for the transport system as required (refer to Global Settings on page 159 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. QuickStick Configurator User Manual 49

50 Transport System Configuration Configure Global Settings In the Configuration Name field, enter an optional name for this configuration. Note that a name for the configuration is not required and is for reference only. In the Acceleration Limit and Velocity Limit fields, enter the maximum values for this configuration. Vehicle motion commands that exceed these values will be rejected by the HLC. In the Terminus Acceleration and Terminus Velocity fields, enter the default values for this configuration. In the Arrival Position Tolerance and Arrival Velocity Tolerance fields, enter the maximum values for a vehicle to be considered to have arrived at its destination. From the PC Host Disconnect Action drop-down list box, select how vehicles will be stopped on all Paths, in the event the Host Controller s interface disconnects. Select Obstructed Status Notification to have the HLC send an asynchronous message to the Host Controller using the TCP/IP communications protocol (does not apply to the EtherNet/IP communications protocol) whenever vehicles become obstructed (unable to acquire permission to move further because of a vehicle in the way, a hardware fault, or movement is suspended). NOTE: If enabled, this can result in a large number of Obstructed Vehicle Status messages being sent when vehicles are in a queue. Select Send Node Status Asynchronously to have the system automatically send Node status when any Node changes state, such as a vehicle entering/exiting, to the Host Controller, instead of requiring the Host Controller to poll the HLC to obtain the status information. NOTE: If enabled, this can result in a large number of Node Status messages being sent whenever any Node changes state. Select Shuttle Auto-Return if Shuttle Nodes are being used to have the shuttle move back to its first position after a vehicle exits from the Node. Select TCP Control Port Enable 1 if the Host Controller is using TCP/IP to communicate with the HLC. In the TCP Control Port Timeout 1 field specify the maximum amount of time the TCP/IP control port should be available after it is enabled through the NC Web Interface. 6. To access the advanced global settings, select Show Advanced Parameters from the Options menu in the Configurator menu bar. The Global QuickStick Settings page displayed in the Configuration Properties pane is updated with the advanced parameters as shown in Figure 3-2 on page This feature is only available for QSHT systems Rev. C

51 Transport System Configuration Configure Global Settings Figure 3-2: Global Settings Page with Advanced Parameters 7. Update the advanced global settings for the transport system as required (refer to Global Settings on page 159 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. In the Min Vehicle ID and Max Vehicle ID fields, enter the values for this transport system only when controlling multiple separate transport systems each with its own HLC using the same Host Controller. NOTE: Do not change the Min Vehicle ID and Max Vehicle ID values if using HLC Control Groups, the vehicle range setting must be set to the defaults: minimum equals 1 and maximum equals (refer to Defining HLC Control Groups on page 54). From the Automatic Path Recovery drop-down list box, select the vehicle recovery method. 8. Save all changes to the Global Settings by selecting Save on the File menu in the Configurator menu bar. QuickStick Configurator User Manual 51

52 Transport System Configuration Set EtherNet/IP for a PLC Set EtherNet/IP for a PLC This section describes how to set the EtherNet/IP settings in the Node Controller Configuration File. EtherNet/IP is only used when the Host Controller (typically an Allen-Bradley ControlLogix PLC) is communicating with the transport system using the EtherNet/IP interface. If the Host Controller is communicating with the transport system using the TCP/IP interface, do not enable or change the EtherNet/IP settings. 1. In the Configuration Tree, select PLC EtherNet/IP. The PLC EtherNet/IP Settings page, shown in Figure 3-3, is displayed in the Configuration Properties pane. Figure 3-3: PLC EtherNet/IP Settings Page 2. Select Use a PLC for Host Control to enable the use of EtherNet/IP communications. The PLC EtherNet/IP Settings page shows the default settings. 3. Update the EtherNet/IP settings as required for the transport system (refer to PLC EtherNet/IP Settings on page 163 for detailed descriptions of all properties and the Host Controller EtherNet/IP Communication Protocol User Manual for descriptions of the tag memory). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. In the PLC IP Address and PLC CPU Slot fields, enter the IP address and slot in the PLC of the CPU that will be communicating with the HLC Rev. C

53 Transport System Configuration Set EtherNet/IP for a PLC In the PLC Max Vehicle ID field, enter the size of the MMI_vehicle_status array. In the Vehicle Records per Status Period field, enter the number of vehicle records to update in PLC memory each time the HLC pushes vehicle status to the PLC memory. In the Send Vehicle Status Period field, enter the vehicle status record update period. In the Tag Request Retry Timeout field, enter the amount of time the HLC should wait for the PLC to acknowledge a tag operation. From the PLC Host Disconnect Action drop-down list box, select how vehicles will be stopped on all Paths, in the event the Host Controller s EtherNet/IP interface disconnects. Select Enable Digital I/O Commands to enable the use of Digital I/O tags (MMI_node_controller_dio_command and the MMI_node_controller_dio_status). Select Use Extended Vehicle Status to enable the use of the MMI_extended_ vehicle_status tag. Select Enable System Monitoring 1 to enable the use of the system monitoring UDTs. Select Enable Motor Inverter Command 2 to enable the use of the motor inverter control UDTs. Select Enable Sensor Mapping 2 to enable the use of the sensor mapping UDTs. In the Sensor Map Paths per Push Period field enter the number of Paths to update in PLC memory each time the HLC pushes QuickStick HT motor sensor map data to PLC memory. In the Sensor Map Push Period field enter the period (in milliseconds) to send the next batch of QuickStick HT motor sensor map data to PLC memory. 4. Save all changes to the PLC EtherNet/IP Settings by selecting Save on the File menu in the Configurator menu bar. 1. This feature is only available for QS 100 systems. 2. This feature is only available for QSHT systems. QuickStick Configurator User Manual 53

54 Transport System Configuration Defining HLC Control Groups Defining HLC Control Groups This section describes how to configure the High Level Controller (HLC) Control Group in the Node Controller Configuration File. HLC Control Groups are only used in transport systems that have been subdivided into smaller transport systems (Control Groups) with multiple Host Controllers and multiple High Level Controllers where Gateway Nodes are used to transfer vehicles from one Control Group to another (refer to Gateway Node on page 82). The primary function of the HLC Control Group is to manage Vehicle IDs and maintain unique Vehicle IDs across a transport system with multiple HLC Control Groups. These properties control how the HLCs are organized and how Vehicle IDs are tracked. NOTE: Each HLC Control Group must have a unique Node Controller Configuration File defining just that Control Group and its relationship to the other Control Groups. Master/Slave HLC Control Groups With very large or complex transport systems, it may be more practical or necessary to subdivide the system into one or more Control Groups (refer to Figure 3-33), to simplify system management or to satisfy architecture and operational requirements. When a transport system is partitioned into Control Groups, a Gateway Node must be configured between each Control Group (subsection) to enable vehicles to pass freely between Control Groups and to allow vehicles to keep their assigned ID values as they traverse from Control Group to Control Group. Once configured, a Gateway Node interconnects the end of a Path in one Control Group to the end of a Path in another Control Group, allowing vehicles to pass freely between the two Control Groups. NOTE: There is a maximum of two Gateway Nodes per NC. One located at the upstream end of a Path and one located at the downstream end of a Path. The Gateway Nodes do not need to be located on the same Path. There is a maximum of 64 Node Controllers per Control Group and a maximum of 16 Control Groups per transport system. To support the assignment and management of unique Vehicle IDs across interconnected Control Groups, each subsection must be configured as a unique HLC Control Group. When splitting a transport system into Control Groups, a hierarchy must be created where the HLC in one of the HLC Control Groups is assigned the role of Vehicle Master while the HLCs in all other HLC Control Groups are assigned the role of Vehicle Slaves. Once the roles are established, the Vehicle Master HLC is responsible for the overall management and tracking of Vehicle IDs throughout the entire transport system. During operation, the Vehicle Master HLC will exchange messages periodically with all Vehicle Slave HLCs as part of the Vehicle ID management process. NOTE: To support HLC Control Groups, each Control Group must have one Node Controller configured as an HLC. Each Control Group has its own unique Node Controller Configuration File, which defines the parameters specific to the HLC and other Node Controllers for that Control Group Rev. C

55 Transport System Configuration Defining HLC Control Groups The Node Controller Configuration File for the Control Group with the Vehicle Master includes the IP address of the Vehicle Master HLC, and the IP Addresses for each Vehicle Slave HLC within the transport system. The Node Controller Configuration File for each slave Control Group will only contain the IP address of the Vehicle Slave HLC for that Control Group. Configuring HLC Control Groups 1. In the Configuration Tree, select HLC Control Group. The HLC Control Group Settings page, shown in Figure 3-4, is displayed in the Configuration Properties pane. Figure 3-4: HLC Control Group Page 2. Select Enable HLC Control Group if the transport system configuration will be using multiple High Level Controllers (Control Groups). The HLC Control Group Settings page shows the default settings. 3. Update the HLC Control Group settings as required for the transport system (refer to HLC Control Group Settings on page 166 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. From the HLC Control Group Role drop-down list box, select either Master or Slave. NOTE: Each transport system must have only one Master. The HLCs for all other Control Groups must be defined as Slaves. QuickStick Configurator User Manual 55

56 Transport System Configuration Defining HLC Control Groups Example In the Number of HLCs field (if the HLC Control Group Role is Master), enter the total number of HLC Control Groups in the transport system. The HLC that is running the Vehicle Master function is counted (that is, a system with one master and one slave will have two HLCs). In the HLC Master IP Address field (if the HLC Control Group Role is Master) enter the IP address of the Master HLC. In the HLC Slave n IP Address fields (if the HLC Control Group Role is Master) enter the IP address of each Slave HLC. 4. Save all changes to the HLC Control Group Settings by selecting Save on the File menu in the Configurator menu bar. If the configuration of the transport system contains two HLCs (the same as that shown in the configuration for the Gateway Node in Figure 3-33), the Node Controller Configuration File for HLC Control Group 1 will be configured as the Master HLC as shown in the upper example in Figure 3-5. The Node Controller Configuration File for HLC Control Group 2 will be configured as a Slave HLC as shown in the lower example in Figure 3-5. Control Group 1 (Master) Control Group 2 (Slave) Figure 3-5: HLC Control Group Example Rev. C

57 Transport System Configuration Defining HLC Control Groups Connecting Control Groups with Gateway Nodes Depending upon size, layout, and configuration, transport systems may require several Node Controllers to manage system operation. One Node Controller within the transport system must also be configured to operate as the High Level Controller (HLC). The HLC is an application responsible for facilitating communication between the user-supplied Host Controller and all other Node Controllers within the system. Collectively, the HLC along with all Node Controllers it communicates with are referred to as an HLC Control Group. In addition to operating as a communications server, the HLC manages the assignment of unique ID numbers for all vehicles within the system. Vehicle IDs are assigned by the High Level Controller to vehicles when the transport system first starts up and whenever a vehicle enters the system via a Terminus Node. All assigned Vehicle IDs are maintained from the time a Vehicle ID is assigned, until one of the following occurs: The vehicle leaves the system. The Path where the vehicle is located is reset. The Host Controller issues a delete vehicle command. In large transport systems that have been subdivided into smaller transport systems (Control Groups) with multiple Host Controllers and multiple High Level Controllers, Gateway Nodes are typically configured at the Paths making the connection between subsections. This enables the Host Controllers to pass vehicles freely between transport system subsections while maintaining the Vehicle IDs assigned to the vehicles the last time the system started up or the vehicle entered the system. To send a vehicle between subsections, a Host Controller orders the vehicle to a location past the Gateway Node at the end of its local Path. Node Controllers in each subsection handoff vehicles between HLC Control Groups ensuring the Vehicle ID is preserved across the adjoining subsections. For a graphical description, refer to Figure 3-33, Gateway Node, Top View, on page 82. NOTE: recommends that when the subdivisions within a large transport system are interconnected by Gateway Nodes, and HLC Control Groups are used for assigning Vehicle IDs throughout the system the Min Vehicle ID and Max Vehicle ID advanced parameters on the Global QuickStick Settings page be left at their default values (refer to Global Settings on page 159). This allows the full range of Vehicle IDs to be available for system use across the entire system. Each NC can have one Gateway Node that is the upstream Node in a gateway pair (with a corresponding downstream Node on another NC in another Control Group) and a second Gateway Node that is the downstream Node in a gateway pair (with corresponding upstream Node on another NC in another Control Group). There is a maximum of 2 Gateway Nodes per NC, one upstream and one downstream. QuickStick Configurator User Manual 57

58 Transport System Configuration Defining HLC Control Groups Vehicle ID Management To ensure unique IDs across interconnected Control Groups, the Vehicle Master HLC must know the status of all Vehicle IDs in the system. When the Vehicle Master HLC is started, other Control Groups may not be running. The Vehicle Master HLC will not allocate any Vehicle IDs until every Vehicle Slave HLC in the system (as defined in the Node Controller Configuration File) has reported the Vehicle IDs that are under their local control. As Vehicle IDs are reported by the Vehicle Slave HLCs, the Vehicle Master HLC updates the Vehicle ID status. When the Vehicle Master HLC has received information from every Vehicle Slave HLC, each ID will be placed in one of the following three states: Active An HLC reported that this vehicle is already active on the system. Allocated An HLC has reported that it has been assigned this Vehicle ID (from an earlier Vehicle ID Master run) and that it is available to be allocated to a newly discovered vehicle (for example, during Path startup). Available This ID is available to be allocated when an HLC requests additional Vehicle IDs. When an HLC starts up, other HLCs may already be running. During startup, each Vehicle Slave HLC reports to the Vehicle Master HLC a list of all Vehicle IDs that are already active on motors under its control. During operation, Vehicle Slave HLCs periodically request additional blocks of available IDs from the Vehicle Master HLC to be used for assignment to newly discovered vehicles. At any given time, each Vehicle Slave HLC tries to maintain a pool of at least 100 Vehicle IDs for assignment to newly discovered vehicles. Startup Considerations The startup process for the HLC in each Control Group is independent and does not assume the operational state of any other Control Group s HLC. There are two startup cases, a Vehicle Master HLC start and a Vehicle Slave HLC start. Vehicle Master HLC Start or Restart The following conditions must be met for 10 seconds before the Vehicle Master HLC comes out of its initialization state and is available to allocate Vehicle IDs. During those 10 seconds, information about already active or allocated Vehicle IDs are reported up to the Vehicle Master HLC. All Vehicle Slave HLC Control Groups under the Vehicle Master HLC s control must be communicating with the Vehicle Master HLC and in the operational state. Node Controllers have advanced from the initialization state to the operational state indicating all motors under their control have been successfully configured Rev. C

59 Transport System Configuration Defining HLC Control Groups Vehicle Slave HLC Start or Restart If the system is operational and a Vehicle Slave HLC is reset, the rest of the system will continue to run. During the restart process, the Vehicle Slave HLC will report active vehicles under its control. Since the Vehicle Slave HLC has just been restarted, its pool of Vehicle IDs available to hand out to newly discovered vehicles will be empty. The Vehicle Slave HLC will report the restart to the Vehicle Master HLC, which will redeliver Vehicle IDs that were allocated to that Vehicle Slave HLC prior to the restart. NOTE: Vehicle IDs that had been assigned prior to the restart may not be reassigned to the same vehicles. Cautions System Startup During transport system startup, the Vehicle Master HLC remains in the initialization state for 10 seconds after all of the subordinate HLCs are in the operational state. During this time Vehicle Slave HLCs report allocated Vehicle ID status to the Vehicle Master. If a subordinate HLC is stuck in the initialization state, it cannot report its allocated Vehicle ID status to the Vehicle Master HLC. In this case, the Vehicle Master HLC will remain in the initialization state. When the Vehicle Master HLC is stuck in the initialization state, subordinate HLCs may fail a Path startup attempt if those subordinate HLCs have not been allocated Vehicle IDs to use during startup. In this case, the startup process will time out and fail. A log message will be placed in the subordinate HLC s log stating that there are no vehicle records available. Vehicle ID Range Minimum and Maximum Vehicle ID ranges should not be configured when HLC Control Groups are used. The two methods of Vehicle ID allocation are incompatible. When HLC Control Groups are configured (Master and Slave HLCs) the vehicle range setting must be set to the defaults: minimum equals 1 and maximum equals Terminus Node Vehicle ID Assignment When a Host Controller sends an entry request command to enter a vehicle at a Terminus Node, the Host Controller must allow the controlling HLC to assign the Vehicle ID by specifying a Vehicle ID of zero in the entry request. The Host can then determine the assigned Vehicle ID by examining the Node status for that particular Terminus Node. QuickStick Configurator User Manual 59

60 Transport System Configuration Create and Edit Paths Create and Edit Paths This section describes how to create and edit Paths in the Node Controller Configuration File. Paths are a main part of a QuickStick transport system, defining the routes that vehicles travel. Paths must include one or more QuickStick motors arranged end to end. The beginning of a Path is the zero point for vehicle positioning on that Path and must originate at a Node. The end of a Path must terminate in a Node if vehicles will move beyond the end of the Path. Typically, vehicles enter a Path on the Upstream end, and exit on the Downstream end (this is the default forward direction). The motor at the Upstream end of a Path must communicate with a Node Controller. The Downstream end of a Path must communicate with a Node Controller if vehicles will move beyond that end of the Path. Refer to Figure 3-6 for an overview of a Path and the Nodes and motors associated with it. NOTE: There is a maximum of 2 Nodes per path, with each Node requiring a minimum of one connection to a Node Controller. The maximum number of connections to a Node Controller is Node Controller dependent, refer to Table A-1, Transport System Limits, on page 206. Paths must be defined before motors can be defined. Node at Beginning of Path Upstream End of QS Motor Downstream End of QS Motor Forward Vehicle Motion Upstream End of Path 0 Guideway 1 m 2 m Vehicle Downstream End of Path Figure 3-6: Path Overview Create a Path Each Path in the transport system must be defined. NOTE: The maximum number of Paths is system dependent, refer to Table A-1, Transport System Limits, on page Rev. C

61 1. In the Configuration Tree, select Paths (see Figure 3-7). Transport System Configuration Create and Edit Paths Figure 3-7: Configuration Tree with Paths Selected 2. On the Edit menu in the Configurator menu bar, select Add To End... (or right-click on Paths and select Add To End...). NOTE: Right-clicking on an existing Path will open the Edit shortcut menu to allow the new Path to be inserted before or after the selected Path. The Paths list is expanded and displayed below Paths in the Configuration Tree as shown in Figure 3-8 with the new Path added to the list. The Path is automatically numbered with the next available Path ID. Figure 3-8: Add a Path Edit a Path 1. Expand the Paths list in the Configuration Tree by selecting the symbol in front of Paths or double-clicking on Paths. The Paths list is expanded and displayed below Paths in the Configuration Tree. 2. Open the Path to be edited by selecting the Path s ID. The selected Path is highlighted and the Path Details page, shown in Figure 3-9, is displayed in the Configuration Properties pane. QuickStick Configurator User Manual 61

62 Transport System Configuration Create and Edit Paths Figure 3-9: Path Details Page 3. Update the Path properties as required (refer to Paths on page 167 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. The ID field contains the assigned Path ID, recommends that this not be changed. In the Name field, enter a reference name for this Path. Note that a name for the Path is not necessary and is for reference only. From the Upstream Port and Downstream Port drop-down list boxes, select the RS-422 ports connected to the Path. NOTE: recommends that the odd numbered (female) RS-422 connectors on the NC LITE be used for upstream connections and the even numbered (male) RS-422 connectors be used for downstream connections. From the E-Stop Bit Number drop-down list box, select the Digital Input bit being used for the E-Stop input on the NC-12 Node Controller if an E-Stop (Emergency Stop) is being used (refer to Define and Edit E-Stops on page 124). From the Interlock Bit Number drop-down list box, select the Digital Input bit being used for the interlock input on the NC-12 Node Controller if an Interlock is being used (refer to Define and Edit Interlocks on page 127) Rev. C

63 Transport System Configuration Create and Edit Paths 4. Update the advanced parameters for the Path as required (refer to Paths on page 167 for detailed descriptions of all properties). In the Arrival Position Tolerance field, enter the maximum distance that the vehicle may deviate from the actual destination to be considered as arrived at its destination. Change this value only if the tolerance for this Path must be different from the global setting, otherwise ensure it is set to 0.0. In the Arrival Velocity Tolerance field, enter the maximum velocity of the vehicle to be considered as not moving. Change this value only if the tolerance for this Path must be different from the global setting, otherwise ensure it is set to Save all changes to the Path settings by selecting Save on the File menu in the Configurator menu bar. QuickStick Configurator User Manual 63

64 Transport System Configuration Define and Edit Motors and Vehicles Define and Edit Motors and Vehicles This section describes how to define and edit motors in the Node Controller Configuration File. Motors are used to move the vehicles on the transport system. A Motor must be defined in the Node Controller Configuration File for each motor in the transport system. View and Edit Motor Default Parameters The Default Motor Parameters for a Path define the initial parameter values that are applied to all motors as they are added to a Path. Changes to the motor parameters that apply to all motors should be made in the Motor Defaults section. Once motors are added to a Path, changes to the Motor Defaults for that Path are reflected in all motor s parameters. To change the parameters for a specific motor after adding it to the Path, see Define a Motor on page 70. NOTE: Any parameter that has been changed for a specific motor will not be affected if changes are made to the Motor Defaults. 1. Expand the Paths list in the Configuration Tree by selecting the symbol in front of Paths or double-clicking on Paths. The Paths list is expanded and displayed below Paths in the Configuration Tree. 2. Expand the Path where the motors will be located by selecting the symbol in front of its ID or double-clicking on the ID. The selected Path is highlighted and expands to show Motors, Stations, and other items related to that Path. 3. Expand the Motors section by selecting the symbol in front of Motors or double-clicking on Motors. Motors is highlighted and the Motors list is expanded to show the Motor Defaults, and any configured motors, as shown in Figure Figure 3-10: Configuration Tree Expanded with Motors Selected 4. Select Motor Defaults as shown in Figure The Motor Defaults page, shown in Figure 3-12, is displayed in the Configuration Properties pane, and identifies the Path that it is associated with at the top of the page Rev. C

65 Transport System Configuration Define and Edit Motors and Vehicles The defaults shown will be applied to all motors when they are initially defined in the Path indicated. Figure 3-11: Configuration Tree Expanded with Motor Defaults Selected Figure 3-12: Motor Defaults Page 5. Update the default motor settings as required for the transport system (refer to Motors on page 169 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. To define the vehicles and magnet arrays that will be used on the Path refer to Define Vehicle Defaults on page 66. To define the parameters related to motors and vehicle motion on the Path refer to Define Motor Defaults on page 68. Update the parameters related to the Control Loops including the vehicle weight and PID settings as required (refer to Control Loop Parameters on page 174 for detailed descriptions of all properties). QuickStick Configurator User Manual 65

66 Transport System Configuration Define and Edit Motors and Vehicles Update the parameters related to thrust and the PID integrator as required (refer to Advanced Parameters on page 175 for detailed descriptions of all properties). Note that Show Advanced Parameters must be selected on the Options menu in the Configurator menu bar. Update the parameters related to Keep Out Areas as required (refer to Keepout Areas on page 176 for detailed descriptions of all properties). 6. Save all changes to the Motor Defaults settings by selecting Save on the File menu in the Configurator menu bar. Define Vehicle Defaults The Vehicle parameters in the Motors Defaults for a Path define the vehicles and their magnet array(s) that will be used on the Path and are applied to all motors as they are added to the Path. Typically, all Paths in the transport system use the same vehicle. NOTE: The Vehicle parameters, except for vehicle length, are not available on the individual motor pages since the vehicle definition must be the same for the entire Path. 1. Update the vehicle settings as required for the transport system (refer to Vehicle on page 171 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. From the Magnet Array Type drop-down list box, select the magnet array type that will be used (for QS 100 systems this is always QS_100, QSHT systems this is always QS_HT). If the Magnet array type is changed, the QuickStick Configurator will prompt to change all other magnet array settings as shown in Figure Unless this is a special case, recommends selecting Yes to accept the change. Figure 3-13: Magnet Array Type Change Prompt From the Magnet Array Length drop-down list box, select the length of the magnet array that is attached to the vehicles. The length is described in cycles to convert to millimeters use the formulas below: Standard magnet array: MagnetArrayLength = (Cycles x 48) + 6 mm High flux magnet array: MagnetArrayLength = (Cycles x 48) + 5 mm Rev. C

67 Transport System Configuration Define and Edit Motors and Vehicles In the Vehicle Length field, enter the length of the vehicle. Included in the vehicle length should be any corrections for vehicle geometry and any additional overhang attributed to the payload the vehicle is transporting. If the track has curves in it, the vehicle length should be configured so that it is equal to the longest dimension of the vehicle. This prevents vehicles from hitting each other when moving through curves (refer to Figure 3-14). NOTE: Only the vehicle length is used to calculate the amount of space required between vehicles. To ensure vehicles do not contact each other while moving, the vehicle length in the configuration should be based on the vehicle s longest dimension. Actual Vehicle Virtual Vehicle Magnet Array Motor Figure 3-14: Vehicle Length in Curves In the Propulsion Array Offset field, enter the distance from the physical center of the vehicle to the front of the magnet array. In the Number of Bogies field, enter the number of separate sections on the bottom of a vehicle that contain magnet arrays (this will be either 1 or 2). In the Gap Between Bogies field, enter the space between the inner edges of the magnet arrays on each of the vehicles. Only applies when there are 2 bogies on the vehicles. In the Interbogie Position Correction field, enter the skewing correction for the independent magnet arrays when the vehicle travels on curves in the transport system. Only applies when there are 2 bogies on the vehicles. 2. Save all changes to the Motor Defaults settings by selecting Save on the File menu in the Configurator menu bar. QuickStick Configurator User Manual 67

68 Transport System Configuration Define and Edit Motors and Vehicles Define Motor Defaults The Motor parameters in the Motor Defaults for a Path define the default motor parameters that will be used on the Path and are applied to all motors as they are added to the Path. Once a Motor is added, the settings for that specific Motor can be edited as required. NOTE: The Motor parameters for specific motors may be updated as required once the individual motors are added. QS_G2_100 QS_G2_HT QS_G2_100_HALF QS_G2_HT_HALF QS_G2_HT_DUAL_HALF QS_G2_HT_HALF_DW Figure 3-15: QuickStick Motor Types 1. Update the motor default settings as required for the Path (refer to Motors on page 169 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. From the Motor Type drop-down list box, select the motor type that is most common on this Path (refer to Figure 3-15). In the Acceleration Limit and Velocity Limit fields, enter the maximum values for this Path. If the value is less than the system limit, vehicle motion commands that exceed the values specified will be limited to the specified values. In the Arrival Position Tolerance and Arrival Velocity Tolerance fields, enter the maximum values for a vehicle to be considered to have arrived at its destination. NOTE: This triggers an asynchronous vehicle status message to the Host Controller, and does not trigger the command complete message. Only changing these values in the Global Settings (refer to Configure Global Settings on page 49) or advanced Path parameters (refer to Edit a Path on page 61) will trigger the command complete message. In the Constant Thrust field, enter the constant thrust that must be applied to vehicles for sloped transport systems. In the Drag Compensation Thrust field, enter the additional thrust that must be applied to vehicles to overcome friction between the vehicle and the track Rev. C

69 Transport System Configuration Define and Edit Motors and Vehicles 2. Update the control loop default settings of each PID Set being used as required for the Path (refer to Control Loop Parameters on page 174 for detailed descriptions of all properties). Select PID Loop Set Enable to enable the definition. In the Vehicle Mass field, enter the mass of the vehicle while that set is being used (for example, Set 0 is the Unloaded mass, Set 1 is the Loaded mass). In the Proportional Gain (Kp) field, enter the proportional gain while that set is being used (controls the amount of force applied proportional to the position error). In the Integral Gain (Ki) field, enter the integral gain while that set is being used (controls the amount of force applied proportional to the integral loop gain error, correcting errors in position over time). In the Derivative Gain (Kd) field, enter the derivative gain while that set is being used (controls the amount of force applied proportional to the velocity error, providing damping in the control loop). In the Feed Forward Scale (Kff) field, enter the feed forward scale while that set is being used (increases or decreases the feed-forward force without affecting other control loop gains). 3. Update the advanced parameter settings as required for the Path (refer to Advanced Parameters on page 175 for detailed descriptions of all properties). In the Thrust Constant field, enter the thrust constant of the motor per cycle of engaged magnet array based on the gap between the magnet array and the motor. Select Integrator Always On to ensure the PID loop is always running. In the Integrator Velocity Threshold field, enter the velocity below which the PID control loop integrator is enabled. In the Integrator Distance Threshold field, enter the distance to the destination below which the PID control loop integrator is enabled. When set to -1.0 m, the integrator is always on unless disabled due to another setting. 4. Update the Keepout Area settings as required for the Path (refer to Keepout Areas on page 176 for detailed descriptions of all properties). In the No Move Permission Before field, enter the starting location of the Keepout Area for upstream motion (refer to Configure Keepout Areas on page 73). In the No Move Permission After field, enter the starting location of the Keepout Area for downstream motion (refer to Configure Keepout Areas on page 73). 5. Save all changes to the Motor Defaults settings by selecting Save on the File menu in the Configurator menu bar. QuickStick Configurator User Manual 69

70 Transport System Configuration Define and Edit Motors and Vehicles Define a Motor When a new motor is added to the configuration its definition is populated from the Motor Default settings for the Path where the motor is located. Once the motor is added, the settings for that specific motor can be edited as required. Ensure the quantity and type of motors defined in the Node Controller Configuration File matches the quantity and type of motors in the transport system per Path. NOTE: When adding motors to the configuration, the order they are listed in the Configuration Tree must correspond to their actual physical position on the Path. The maximum number of motors per Path is system dependent, refer to Table A-1, Transport System Limits, on page Expand the Paths list in the Configuration Tree by selecting the symbol in front of Paths or double-clicking on Paths. The Paths list is expanded and displayed below Paths in the Configuration Tree. 2. Expand the Path where the motor is located by selecting the symbol in front of its ID or double-clicking on its ID. The selected Path is highlighted and expands to show Motors, Stations, and other items related to the Path. 3. Expand the Motors section by selecting the symbol in front of Motors or double-clicking on Motors. Motors is highlighted and the Motors list is expanded to show the Motor Defaults and all motors on the Path as shown in Figure Figure 3-16: Configuration Tree Expanded with Motors Shown NOTE: Before adding any motors to a Path, ensure all of the Motor Defaults are correctly specified (refer to View and Edit Motor Default Parameters). 4. On the Edit menu in the Configurator menu bar, select Add To End... (or right-click on Motors and select Add To End...). NOTE: Right-clicking on an existing motor will open the Edit shortcut menu to allow the new motor to be inserted before or after the selected motor. If a motor is inserted into the list of existing motors, all motors following the new motor will be renumbered Rev. C

71 Transport System Configuration Define and Edit Motors and Vehicles The new motor, with the same settings as the Motor Defaults for the Path, is added to the motors list and displayed below Motors in the Configuration Tree as shown in Figure The motor is automatically numbered with the next ID in the list. Figure 3-17: Configuration Tree Showing Motor Added 5. Save all changes to the motor settings by selecting Save on the File menu in the Configurator menu bar. Edit a Motor Once the motors in a transport system are defined, the properties for specific motors may be changed if required. 1. Expand the Paths list in the Configuration Tree by selecting the symbol in front of Paths or double-clicking on Paths. The Paths list is expanded and displayed below Paths in the Configuration Tree. 2. Expand the Path where the motor to be edited is located by selecting the symbol in front of its ID or double-clicking on its ID. The selected Path expands to show Motors, Stations, and other items related to the Path. 3. Expand the Motors section by selecting the symbol in front of Motors or double-clicking on Motors. Motors is highlighted and the Motors list is expanded to show the Motor Defaults and all motors on the Path. 4. Open the motor to be edited (in this case Motor 1) by selecting the motor s ID. The Motor Details page for the selected motor, shown in Figure 3-18, is displayed in the Configuration Properties pane, and identifies the Path that it is associated with at the top of the page. NOTE: Unless the motor is a different type than the motor specified in the Motor Defaults or the motor is being used in a special way there should be no need to change the configuration from the assigned defaults. QuickStick Configurator User Manual 71

72 Transport System Configuration Define and Edit Motors and Vehicles The Vehicle and Advanced Parameters sections are only displayed when Show Advanced Parameters is selected in the Options menu in the Configurator menu bar. The Control Loop Parameters section is only displayed when Show Per Motor Control Loop Parameters is selected in the Options menu in the Configurator menu bar. Figure 3-18: Motor Details Page 5. Update the motor properties as required (refer to Motors on page 169 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. In the Motor Type field ensure the correct motor type is selected for the motor (refer to Figure 3-15). Select On Curve if the motor is located on a curve and a custom Curve Correction Table is being used. Change the remaining parameters only if they are different from the Path defaults for this motor: In the Keepout Areas fields specify a keepout area if required (refer to Configure Keepout Areas on page 73). 6. Save all changes to the motor settings by selecting Save on the File menu in the Configurator menu bar Rev. C

73 Transport System Configuration Define and Edit Motors and Vehicles Configure Keepout Areas Examples The Keepout Area allows the definition of certain areas on a Path where the motors will prevent vehicles from entering unless they have permission to pass completely through the area. NOTE: Keepout Areas may start using a section of a motor but must always end at the end of a motor. A vehicle with a final destination beyond the Keepout Area will not be allowed to enter the area until it has acquired movement permission beyond the Keepout Area. A vehicle with a final destination within the Keepout Area will not be allowed to enter and stop in the area until it has acquired movement permission beyond the area (that is, there are no vehicles between it and the area just past the Keepout Area). For vehicle motion downstream, if the Keepout Area configuration is the same as that shown in Figure 3-19, set the No Move Permission After values for the motors in the Keepout area as shown (refer to Keepout Areas on page 176 for detailed descriptions of the properties). Motion Downstream Motor 1 Motor 2 Motor 3 Motor m 2 m 3 m 1.25 m Keepout Area Figure 3-19: Keepout Area, Downstream Vehicle Motion Motor 1: 5.0 m (not in Keepout Area) Motor 2: 0.25 m Motor 3: (minus) m Motor 4: (minus) m For vehicle motion upstream, if the Keepout Area configuration is the same as that shown in Figure 3-20, set the No Move Permission Before values for the motors in the Keepout area as shown (refer to Keepout Areas on page 176 for detailed descriptions of the properties). Motion Upstream Motor 1 Motor 2 Motor 3 Motor m 2 m 3 m Keepout Area 3.25 m Figure 3-20: Keepout Area, Upstream Vehicle Motion Motor 1: 0.0 m (not in Keepout Area) Motor 2: 2.25 m Motor 3: 1.25 m Motor 4: 0.25 m QuickStick Configurator User Manual 73

74 Transport System Configuration Create and Edit Nodes Create and Edit Nodes This section describes how to create and edit all Node types in the Node Controller Configuration File. Nodes are an important element of a QuickStick transport system, defining the beginning, end, and intersection of Paths. NOTE: There is a maximum of 2 Nodes per Path. The maximum number of Paths per transport system is system dependent, refer to Table A-1, Transport System Limits, on page 206. The maximum number of Paths per Node is dependant on the Node type. The ends of all Paths meeting in a Node must be connected to the same Node Controller. Create a Node Each Node in the transport system must be defined. 1. In the Configuration Tree, select Nodes (see Figure 3-21). Figure 3-21: Configuration Tree with Nodes Selected 2. On the Edit menu in the Configurator menu bar, select Add To End... (or right-click on Nodes and select Add To End...). NOTE: Right-clicking on an existing Node will open the Edit shortcut menu to allow the new Node to be inserted before or after the selected Node. The Nodes list is expanded and displayed below Nodes in the Configuration Tree as shown in Figure 3-22 with the new Node added to the list. The Node is automatically numbered with the next available Node ID. Figure 3-22: Add a Node Rev. C

75 Transport System Configuration Create and Edit Nodes Edit a Node 1. Expand the Nodes list in the Configuration Tree by selecting the symbol in front of Nodes or double-clicking on Nodes. The Nodes list is expanded and displayed below Nodes in the Configuration Tree. 2. Open the Node to be edited by selecting the Node s ID. The Node Details page for the selected Node, shown in Figure 3-23, is displayed in the Configuration Properties pane. Figure 3-23: New (Undefined) Node Page 3. Update the Node properties as required (refer to Nodes on page 181 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. The ID field contains the assigned Node ID, recommends that this not be changed. In the Name field enter a reference name for the Node (this name will be displayed in the Owned Nodes List in the Node Controller properties). Note that a name for the Node is not necessary and is for reference only. Select a type for the Node. All Node types require entering additional information to complete the definition of the Node. Refer to Node Types on page 76 in this chapter for more information about Node types and how to define them. 4. Save all changes to the Node settings by selecting Save on the File menu in the Configurator menu bar. QuickStick Configurator User Manual 75

76 Transport System Configuration Create and Edit Nodes Node Types Simple Node Node types are defined by their use and are presented in this section in order from least to most complex. Simple Node on page 76 Relay Node on page 78 Terminus Node on page 80 Gateway Node on page 82 Merge Node on page 85 Diverge Node on page 89 Shuttle Node on page 93 Overtravel Node on page 96 Moving Path Node on page 100 A Simple Node is used to begin a Path that is not connected to anything else at the upstream end and where no vehicles can be commanded to enter or exit the Path. Refer to Figure 3-24, where the shaded circle represents the Simple Node. Note that Paths can also begin at other Node types. This Node type is supported by: QuickStick 100 transport systems. QuickStick HT transport systems. Simple Node Exit Path (Path 1) Forward (Downstream) QS Motor Guideway Figure 3-24: Simple Node, Top View 1. Open the Node to be edited by selecting the Node s ID in the Configuration Tree. 2. From the Node Type drop-down list box, select Simple. The Node Details page is updated to show the Simple Node properties as shown in Figure Rev. C

77 Transport System Configuration Create and Edit Nodes Example Figure 3-25: Simple Node Properties 3. Update the Node properties as required (refer to Simple Node on page 182 for detailed descriptions of all properties). From the Exit Path ID drop-down list box, select the number of the Path leaving this Node. 4. Save the changes to the Node by selecting Save on the File menu in the Configurator menu bar. If the configuration of this Node is the same as that shown in Figure 3-24, change Exit Path ID to 1 as shown in Figure Figure 3-26: Simple Node Example QuickStick Configurator User Manual 77

78 Transport System Configuration Create and Edit Nodes Relay Node A Relay Node is used to connect the downstream end of one Path and the upstream end of another Path. Relay Nodes are used to connect two Paths when the maximum number of motors on the first Path is reached. Relay Nodes are also used to join the downstream and upstream ends of the same Path, creating a simple loop. Refer to Figure 3-27, where the shaded circle represents the Relay Node. This Node type is supported by: QuickStick 100 transport systems. QuickStick HT transport systems. Relay Node Guideway QS Motor Forward (Downstream) Entry Path Ends Exit Path Begins (Path 1) (Path 2) Figure 3-27: Relay Node, Top View 1. Open the Node to be edited by selecting the Node s ID in the Configuration Tree. 2. From the Node Type drop-down list box, select Relay. The Node Details page is updated to show the Relay Node properties as shown in Figure Figure 3-28: Relay Node Properties 3. Update the Node properties as required (refer to Relay Node on page 182 for detailed descriptions of all properties). From the Entry Path ID drop-down list box, select the number of the Path entering this Node. From the Exit Path ID drop-down list box, select the number of the Path leaving this Node Rev. C

79 Example Transport System Configuration Create and Edit Nodes Select Clear on Startup when the Host Controller is ensuring the area around the Node is clear during startup (refer to Clear on Startup on page 106). When selected, the system will assume any needed additional space is available. 4. Save the changes to the Node settings by selecting Save on the File menu in the Configurator menu bar. If the configuration of this Node is the same as that shown in Figure 3-27, change Entry Path ID to 1 and Exit Path ID to 2 as shown in Figure Figure 3-29: Relay Node Example QuickStick Configurator User Manual 79

80 Transport System Configuration Create and Edit Nodes Terminus Node A Terminus Node is used on a Path where vehicles move to or from a non-quickstick transport system. Terminus Nodes may be located at either the upstream or downstream end of the Path. Refer to Figure 3-30, where the shaded circle represents the Terminus Node at the downstream end of the Path. This Node type is supported by: QuickStick 100 transport systems. QuickStick HT transport systems. Forward (Downstream) Path Ends (Path 3) Terminus Node QS Motor Guideway User s Guideway QuickStick Transport System User s Remote Equipment Figure 3-30: Terminus Node, Top View 1. Open the Node to be edited by selecting the Node s ID in the Configuration Tree. 2. From the Node Type drop-down list box, select Terminus. The Node Details page is updated to show the Terminus Node properties as shown in Figure Figure 3-31: Terminus Node Properties 3. Update the Node properties as required (refer to Terminus Node on page 183 for detailed descriptions of all properties). From the Path drop-down list box, select the number of the Path connected to this Node Rev. C

81 Example Transport System Configuration Create and Edit Nodes From the Path End drop-down list box, select the end of the Path where the transfer between the non-quickstick transport system will take place. NOTE: Typically the upstream end is used to bring vehicles into the transport system and the downstream end is used to remove vehicles from the transport system. However, vehicle motion can be bidirectional allowing movement in either direction at either end of the Path. Select Clear on Startup when the Host Controller is ensuring the area around the Node is clear during startup (refer to Clear on Startup on page 106). When selected, the system will assume any needed additional space is available. 4. Save the changes to the Node settings by selecting Save on the File menu in the Configurator menu bar. If the configuration of this Node is the same as that shown in Figure 3-30, change Path to 3 and Path End to Downstream as shown in Figure Figure 3-32: Terminus Node Example QuickStick Configurator User Manual 81

82 Transport System Configuration Create and Edit Nodes Gateway Node A Gateway Node is used to connect a Path on one transport system (Control Group) to a Path on another transport system (Control Group), where each transport system has different High Level Controllers and may be controlled by different Host Controllers. Refer to Figure 3-33, where the shaded circles represents the Gateway Nodes. Note that each transport system Control Group will have its own unique Node Controller Configuration File and the HLC Control Group Settings must be configured in each Node Controller Configuration File (refer to Defining HLC Control Groups on page 54). This Node type is supported by: QuickStick 100 transport systems. QuickStick HT transport systems. NOTE: There is a maximum of two Gateway Nodes per NC. One located at the upstream end of a Path (with a corresponding downstream Path end in the connecting Control Group) and one located at the downstream end of a Path (with a corresponding upstream Path end in the connecting Control Group). The Gateway Nodes do not need to be located on the same Path or connect to the same Control Group. Host Controller Control Group 1 Ethernet Switch Control Group 2 Host Controller HLC (master) NC HLC/NC (slave) Forward (Downstream) RS-422 Exit Path Entry Path 5.0 m (Path 3) (Path 1) 1.0 m Forward (Downstream) Motor Gateway Node Gateway Node (Node 5) (Node 2) Figure 3-33: Gateway Node, Top View 1. Open the Node to be edited by selecting the Node s ID in the Configuration Tree. 2. From the Node Type drop-down list box, select Gateway. The Node Details page is updated to show the Gateway Node properties as shown in Figure Rev. C

83 Transport System Configuration Create and Edit Nodes Figure 3-34: Gateway Node Properties 3. Update the Node properties in both Node Controller Configuration Files as required (refer to Gateway Node on page 184 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. From the Path drop-down list box, select the number of the Path connected to this Node. From the Path End drop-down list box, select the end of the Path where the Gateway Node is located. In the Peer IP Address field, enter the IP address of the Node Controller responsible for the Gateway Node in the other Control Group. In the Peer Node ID field, enter the Node ID of the Gateway Node in the other Control Group. In the Dest. Path ID field, enter the Path ID of the destination Path for vehicles entering from the other Control Group through this Gateway Node. In the Dest. Position field, enter the position on the Path specified in the Dest. Path ID field, where vehicles will move once they enter the Control Group if there is no pending vehicle order for the vehicle. Select Clear on Startup when the Host Controller is ensuring the area around the Node is clear during startup (refer to Clear on Startup on page 106). When selected, the system will assume any needed additional space is available. 4. Save the changes to the Node settings by selecting Save on the File menu in the Configurator menu bar. QuickStick Configurator User Manual 83

84 Transport System Configuration Create and Edit Nodes Example If the configuration of this Node is the same as that shown in Figure 3-33, the Node Controller Configuration File for Control Group 1 will contain the Gateway Node definition shown in the upper example in Figure The Node Controller Configuration File for Control Group 2 will contain the Gateway Node definition shown in the lower example in Figure Note that HLC Control Groups must be configured as shown in Figure 3-5 on page 56 for this example. Gateway Node in Control Group 1 (Master) Gateway Node in Control Group 2 (Slave) Figure 3-35: Gateway Node Example Rev. C

85 Transport System Configuration Create and Edit Nodes Merge Node A Merge Node is used where the downstream ends of two Paths connect to the upstream end of a third Path using a user-defined and supplied switching mechanism. Refer to Figure 3-36, where the shaded circle represents the Merge Node. This Node type is supported by: QuickStick 100 transport systems. QuickStick HT transport systems. Straight Entry Path Ends (Path 1) Merge Node Forward (Downstream) QS Motor Guideway Merged Exit Path Begins (Path 3) Curve Entry Path Ends (Path 2) Switch Mechanism (User Defined) Figure 3-36: Merge Node, Top View 1. Open the Node to be edited by selecting the Node s ID in the Configuration Tree. 2. From the Node Type drop-down list box, select Merge. The Node Details page is updated to show the Merge Node properties as shown in Figure QuickStick Configurator User Manual 85

86 Transport System Configuration Create and Edit Nodes Figure 3-37: Merge Node Properties 3. Update the Node properties as required (refer to Merge Node on page 186 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. Select Anticipate Switch Feedback to specify the method for ensuring the switch mechanism is in the correct position. NOTICE Selecting the Anticipate Switch Feedback check box for Merge Nodes increases overall vehicle throughput however, there is risk that the switch will not be properly positioned prior to the arrival of a vehicle. It is the responsibility of the Host Controller to ensure the switch operates quickly and reliably so the switch mechanism will be in the correct position by the time a vehicle enters the switch. In the Simulated Move Time field, enter the time (in milliseconds) for the switch mechanism to change directions, for use when running in Simulation mode. For each Entry or Exit Path identified under Entries and Exits, select the number of the Path connected to this Node from the appropriate Path drop-down list box Rev. C

87 Transport System Configuration Create and Edit Nodes For each Entry Path identified under Entries and Exits, select the number of the digital I/O input bit being used to identify that the switch is in that position from the appropriate Digital I/O Input Bit drop-down list box. NOTE: Maintain a log of the Digital I/O bits used on each Node Controller to ensure that a bit is not configured for multiple uses and that all connections for a Node use the same Node Controller. For each Entry Path identified under Entries and Exits, select the number of the digital I/O output bit being used to command the switch to that position from the appropriate Digital I/O Output Bit drop-down list box. NOTE: Maintain a log of the Digital I/O bits used on each Node Controller to ensure that a bit is not configured for multiple uses and that all connections for a Node use the same Node Controller. For each Entry or Exit Path identified under Entries and Exits, in the Clearance Distance field, enter the distance in meters from the Merge Node where a vehicle s trailing edge is considered cleared from the Node (refer to Node Clearance Distances and Entry Gate Positions). For each Entry or Exit Path identified under Entries and Exits, in the Entry Gate ID field, the Configurator automatically enters a unique ID number for that Entry Gate when a Path specified. For each Entry or Exit Path identified under Entries and Exits, in the Entry Gate Position field enter the minimum distance (in meters) a vehicle can be located from the Merge Node, without risking contact with another vehicle and its payload on an adjoining Path (refer to Node Clearance Distances and Entry Gate Positions). Gap Delta Not applicable to Merge Nodes. 4. Save the changes to the Node settings by selecting Save on the File menu in the Configurator menu bar. QuickStick Configurator User Manual 87

88 Transport System Configuration Create and Edit Nodes Example If the configuration of this Node is the same as that shown in Figure 3-36, configure the Node as shown in Figure Figure 3-38: Merge Node Example Rev. C

89 Transport System Configuration Create and Edit Nodes Diverge Node A Diverge Node is used where the downstream end of one Path connects to the upstream ends of two Paths using a user-defined and supplied switching mechanism. Refer to Figure 3-39, where the shaded circle represents the Diverge Node. This Node type is supported by: QuickStick 100 transport systems. QuickStick HT transport systems. Forward (Downstream) Diverge Node Straight Exit Path Begins (Path 2) Single Entry Path Ends (Path 1) Curve Exit Path Begins (Path 3) QS Motor Guideway Switch Mechanism (User Defined) Figure 3-39: Diverge Node, Top View 1. Open the Node to be edited by selecting the Node s ID in the Configuration Tree. 2. From the Node Type drop-down list box, select Diverge. The Node Details page is updated to show the Diverge Node properties as shown in Figure QuickStick Configurator User Manual 89

90 Transport System Configuration Create and Edit Nodes Figure 3-40: Diverge Node Properties 3. Update the Node properties as required (refer to Diverge Node on page 188 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. Select Anticipate Switch Feedback to specify the method for ensuring the switch mechanism is in the correct position. NOTICE Selecting the Anticipate Switch Feedback check box for Diverge Nodes increases overall vehicle throughput however, there is risk that the switch will not be properly positioned prior to the arrival of a vehicle. It is the responsibility of the Host Controller to ensure the switch operates quickly and reliably so the switch mechanism will be in the correct position by the time a vehicle enters the switch. In the Simulated Move Time field, enter the time (in milliseconds) for the switch mechanism to change directions, for use when running in Simulation mode. For each Entry or Exit Path identified under Entries and Exits, select the number of the Path connected to this Node from the appropriate Path drop-down list box Rev. C

91 Transport System Configuration Create and Edit Nodes For each Exit Path identified under Entries and Exits, select the number of the digital I/O input bit being used to identify that the switch is in that position from the appropriate Digital I/O Input Bit drop-down list box. NOTE: Maintain a log of the Digital I/O bits used on each Node Controller to ensure that a bit is not configured for multiple uses and that all connections for a Node use the same Node Controller. For each Exit Path identified under Entries and Exits, select the number of the digital I/O output bit being used to command the switch to that position from the appropriate Digital I/O Output Bit drop-down list box. NOTE: Maintain a log of the Digital I/O bits used on each Node Controller to ensure that a bit is not configured for multiple uses and that all connections for a Node use the same Node Controller. For each Entry or Exit Path identified under Entries and Exits, in the Clearance Distance field, enter the distance in meters from the Diverge Node where a vehicle s trailing edge is considered cleared from the Node (refer to Node Clearance Distances and Entry Gate Positions). For each Entry or Exit Path identified under Entries and Exits, in the Entry Gate ID field, the Configurator automatically enters a unique ID number for that Entry Gate when a Path is specified. For each Entry or Exit Path identified under Entries and Exits, in the Entry Gate Position field enter the minimum distance (in meters) a vehicle can be located from the Diverge Node, without risking contact with another vehicle and its payload on an adjoining Path (refer to Node Clearance Distances and Entry Gate Positions). For each Exit Path identified under Entries and Exits, in the Gap Delta field, enter the difference in distance in meters from the upstream end of the motor and the Downstream Gap specified for the last motor in the Entry Path (refer to Gap Delta). 4. Save the changes to the Node settings by selecting Save on the File menu in the Configurator menu bar. QuickStick Configurator User Manual 91

92 Transport System Configuration Create and Edit Nodes Example If the configuration of this Node is the same as that shown in Figure 3-39, configure the Node as shown in Figure Figure 3-41: Diverge Node Example Rev. C

93 Transport System Configuration Create and Edit Nodes Shuttle Node A Shuttle Node is used to move vehicles between multiple parallel guideways. The Paths in the Shuttle part of the Node are called the Drive (static) and the Shuttle (dynamic) Paths. The Drive Path is fixed in place and moves the Shuttle Path. The Shuttle Path supports and moves the vehicles between the Entry and Exit Paths. Up to six Paths can be configured as either Entry Paths or Exit Paths. Refer to Figure 3-42, where the shaded area represents the Shuttle Node. Vehicles move from a fixed Entry Path and Enter the Shuttle Path. The Drive Path then moves the Shuttle Path from the Entry Path to the appropriate Exit Path to satisfy the vehicle s movement order. The vehicle then exits the Shuttle Path at the Exit Path. Note that in Figure 3-42 if the vehicle is moving from Entry Path 1 to Exit Path 4 the shuttle does not need to move. This Node type is supported by: QuickStick 100 transport systems. QuickStick HT transport systems. NOTE: The Shuttle Path is a QuickStick motor that is attached to a shuttle, which is propelled by the Drive Path QuickStick motor. Entry Path Ends Shuttle Node Exit Path Begins (Path 1) (Path 4) Forward (Downstream) QS Motor Shuttle Path Begins (Path 3) Vehicle on Shuttle Path Drive Path (Path 2) Figure 3-42: Shuttle Node, Top View Shuttle Path Ends (Path 3) Exit Path Begins (Path 5) Vehicle Guideway 1. Open the Node to be edited by selecting the Node s ID in the Configuration Tree. 2. From the Node Type drop-down list box, select Shuttle. The Node Details page is updated to show the Shuttle Node properties as shown in Figure QuickStick Configurator User Manual 93

94 Transport System Configuration Create and Edit Nodes Figure 3-43: Shuttle Node Properties 3. Update the Node properties as required (refer to Shuttle Node on page 190 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. From the Path ID on Shuttle drop-down list box, select the number of the Shuttle Path (mounted on the Drive Path). From the Drive Path ID drop-down list box, select the number of the Drive Path where the shuttle is mounted. In the Velocity With Load and Acceleration With Load fields, enter the loaded movement parameters. In the Velocity Without Load and Acceleration Without Load fields, enter the unloaded movement parameters. In the Arrival Position Tolerance field, enter the location tolerance for the shuttle when located at an Entry or Exit. Select Move on Vehicle Clearance if the shuttle is allowed to move as soon as the vehicle is fully on the shuttle (before the vehicle has stopped moving) Rev. C

95 Example Transport System Configuration Create and Edit Nodes For each Entry or Exit Path identified under Entries and Exits, select the direction of movement relative to the shuttle from the Entries and Exits drop-down list box. For each Entry or Exit Path identified under Entries and Exits, select the number of the Path connected at that point to this Node from the Path drop-down list box. For each Entry or Exit Path identified under Entries and Exits, in the Position field, enter the position (in meters) of the shuttle on the Drive Path (measuring from the beginning of the Path) for access to the Path at that position. 4. Save the changes to the Node settings by selecting Save on the File menu in the Configurator menu bar. If the configuration of this Node is the same as that shown in Figure 3-42, configure the Node as shown in Figure Figure 3-44: Shuttle Node Example QuickStick Configurator User Manual 95

96 Transport System Configuration Create and Edit Nodes Overtravel Node An Overtravel Node is used to permit a vehicle to move past the end of the motor at the end of a Path. Additional support structure (guideway) for the vehicle must be provided, or the vehicle s supports (wheels) must not be allowed to move past the end of the Path. If appropriate cautions are not taken for the vehicle it could fall off of the guideway or get caught on the end of the guideway preventing further movement. Refer to Figure 3-45 and Figure 3-46, where the shaded area represents Overtravel Nodes. NOTE: There is only a certain amount of thrust and attractive force available per magnet array cycle. Ensure the magnet array on the vehicle has enough coverage to allow the motor to exert enough force on the vehicle to move it. The overtravel feature can be used for the following applications: Providing space for vehicle movement during startup (Figure 3-45). Allowing movement of a vehicle that is longer than the motor(s) on the Path (Figure 3-46). This Node type is supported by: QuickStick HT transport systems. Overtravel Node Upstream Path End (Path 1) Forward (Downstream) Vehicle QS Motor Guideway Figure 3-45: Overtravel Node, Startup Top View Upstream Forward Downstream Overtravel Node 2 Overtravel Node 1 Path End (Downstream) Path End (Path 1) (Path 1) 1.25 Vehicle QS Motor Guideway Figure 3-46: Overtravel Node, Extended Vehicle Top View 1. Open the Node to be edited by selecting the Node s ID in the Configuration Tree. 2. From the Node Type drop-down list box, select Overtravel. The Node Details page is updated to show the Overtravel Node properties as shown in Figure Rev. C

97 Transport System Configuration Create and Edit Nodes Figure 3-47: Overtravel Node Properties 3. Update the Node properties as required (refer to Overtravel Node on page 192 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. From the Path drop-down list box, select the number of the Path connected to this Node. From the Path End drop-down list box, select the end of the Path where the Overtravel Node is located. From the Startup Direction drop-down list box, select the direction of initial vehicle movement during startup. In the Maximum Position field, enter the position (in meters) of maximum vehicle over-travel from the beginning of the Path (a negative number before an upstream Node or a positive number after a downstream Node). Select Drive Path to specify this is a standalone Path that has a single vehicle that is longer than the Path. 4. Save the changes to the Node settings by selecting Save on the File menu in the Configurator menu bar. QuickStick Configurator User Manual 97

98 Transport System Configuration Create and Edit Nodes Examples If the configuration of this Node is the same as that shown in Figure 3-45, configure the Node as shown in Figure Figure 3-48: Overtravel Node Example, Startup Rev. C

99 Transport System Configuration Create and Edit Nodes If the configuration of this Node is the same as that shown in Figure 3-46, two Overtravel Nodes are required. Configure the Nodes as shown in Figure Upstream Overtravel Node Downstream Overtravel Node Figure 3-49: Overtravel Node Example, Extended Vehicle QuickStick Configurator User Manual 99

100 Transport System Configuration Create and Edit Nodes Moving Path Node A Moving Path Node is used to connect the ends of multiple Paths using a Path being moved by a Host-controlled mechanism. This mechanism may be any user-supplied mechanism, including a QuickStick Path. This enables vehicles to move between multiple guideways. The Paths in the Moving Path Node are called Entry and Exit Paths. Either type of Path may be moved but the connecting Paths must all be of the other type (that is, Entry Paths move and all Exit Paths are fixed). Up to 12 Paths can be configured as either Entry Paths or Exit Paths. Refer to Figure 3-50, where the shaded area represents the Moving Path Node. Use of the Moving Path Node requires the Host Controller to command the drive mechanism to position one of the moving Paths so that it aligns with one of the fixed Paths. The Host Controller must then issue a Link command (refer to the Host Controller TCP/IP Communication Protocol User Manual or the Host Controller EtherNet/IP Communication Protocol User Manual) to connect the two Paths to allow vehicle movement. Once the vehicle has moved beyond the Node the Host Controller must issue an Unlink command before the Moving Path may be moved to a new position. This Node type is supported by: QuickStick 100 transport systems. Figure 3-50 shows a single Moving Path Node configuration where vehicles can move between the three Exit Paths using either of the two Moving Paths. Entry Path Ends (Path 1) Vehicle on Moving Path Moving Path Node Exit Path Begins (Path 3) Forward (Downstream) Exit Path Begins (Path 4) QS Motor Exit Path Begins (Path 5) Entry Path Ends (Path 2) Host-controlled Drive Mechanism Figure 3-50: Moving Path Node, Top View Single Node Guideway Vehicle Rev. C

101 Transport System Configuration Create and Edit Nodes Figure 3-51 shows a dual Moving Path Node configuration where vehicles can move from either of the two Entry Paths in Moving Path Node 1 to any of the Exit Paths in Moving Path Node 2 using either of the two Moving Paths. In this type of configuration the Moving Paths are associated with both Moving Path Nodes. For Moving Path Node 1 these Paths are Exit Paths. For Moving Path Node 2 these Paths are Entry Paths. Note that in Figure 3-51 if the vehicle is moving from Moving Path Node 1 Entry Path 1 to Moving Path Node 2 Exit Path 5 the Moving Path does not need to move. Moving Path Node 1 Entry Path Ends (Path 1) Vehicle on Moving Path Moving Path Node 2 Exit Path Begins (Path 5) Forward (Downstream) Exit Path Begins (Path 3) Entry Path Ends (Path 3) Exit Path Begins (Path 6) Entry Path Ends (Path 2) Exit Path Begins (Path 4) Entry Path Ends (Path 4) Exit Path Begins (Path 7) QS Motor Host-controlled Drive Mechanism Figure 3-51: Moving Path Node, Top View Dual Nodes Guideway Vehicle 1. Open the Node to be edited by selecting the Node s ID in the Configuration Tree. 2. From the Node Type drop-down list box, select Moving Path. The Node Details page is updated to show the Moving Path Node properties as shown in Figure QuickStick Configurator User Manual 101

102 Transport System Configuration Create and Edit Nodes Figure 3-52: Moving Path Node Properties 3. Update the Node properties as required (refer to Moving Path Node on page 194 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. From the Entry Paths Route Type drop-down list box, select Specific-route if a specific Moving Path in the Node will be used to satisfy the route (specified by the HLC) or Equivalent-route if any Moving Path in the Node can satisfy the route (specified by the Host Controller). If the Moving Path Node configuration is similar to that shown in Figure 3-50, Equivalent-route should be selected. If the Moving Path Node configuration is similar to that shown in Figure 3-51, Specific-route should be selected for Node 1 and Equivalent-route should be selected for Node 2. From the Exit Paths Route Type drop-down list box, select Specific-route if a specific Moving Path in the Node will be used to satisfy the route (specified by the HLC) or Equivalent-route if any Moving Path in the Node can satisfy the route (specified by the Host Controller) Rev. C

103 Transport System Configuration Create and Edit Nodes If the Moving Path Node configuration is similar to that shown in Figure 3-50, Specific-route should be selected. If the Moving Path Node configuration is similar to that shown in Figure 3-51, Equivalent-route should be selected for Node 1 and Specific-route should be selected for Node 2. Select Clear on Startup when the Host Controller is ensuring the area around the Node is clear during startup (refer to Clear on Startup on page 106). When selected, the system will assume any needed additional space is available. For each entry or exit in the Node, select the direction of movement relative to the Node from the Entries and Exits drop-down list box. For each entry or exit identified under Entries and Exits, select the number of the Path connected to this Node from the Path drop-down list box. For each entry or exit identified under Entries and Exits, in the Clearance Distance field, enter the distance in meters from the Node where a vehicle s trailing edge is considered cleared from the Node (refer to Node Clearance Distances and Entry Gate Positions). For each Entry or Exit Path identified under Entries and Exits, in the Entry Gate ID field, the Configurator automatically enters a unique ID number for that Entry Gate. For each entry or exit identified under Entries and Exits, in the Entry Gate Position field enter the minimum distance in meters a vehicle can be located from the Node, without risking contact with another vehicle and its payload on an adjoining Path (refer to Node Clearance Distances and Entry Gate Positions). For each Exit Path identified under Entries and Exits, in the Gap Delta field enter the difference in distance in meters from the upstream end of the motor and the Downstream Gap specified for the motor on the Moving Path (refer to Gap Delta). 4. Save the changes to the Node settings by selecting Save on the File menu in the Configurator menu bar. QuickStick Configurator User Manual 103

104 Transport System Configuration Create and Edit Nodes Examples If the configuration of this Node is the same as that shown in Figure 3-50, configure the Node as shown in Figure Figure 3-53: Moving Path Node, Single Node Example Rev. C

105 Transport System Configuration Create and Edit Nodes If the configuration of this Node is the same as that shown in Figure 3-51, configure the Nodes as shown in Figure Moving Path Node 1 Moving Path Node 2 Figure 3-54: Moving Path Node, Dual Nodes Example QuickStick Configurator User Manual 105

106 Transport System Configuration Create and Edit Nodes Node Parameters Clear on Startup Clear On Startup identifies whether collision avoidance between vehicles during startup at the specified Node will be handled by the Node Controller responsible for the Node or by the Host Controller. Not selected (unchecked) The system will check for additional space beyond the vehicle s specified Vehicle Length (refer to Vehicle on page 171) during startup when the vehicle is located at the end of a Path connected to the Node. The additional space is necessary to help avoid collisions with adjacent vehicles (and their payload) on the other Path during startup. Selected (checked) The system will not check for additional space beyond a vehicle s specified Vehicle Length during startup for vehicles located at the end of a Path connected to the Node. Collision avoidance during startup at this Node is the responsibility of the end-user. NOTICE Selecting Clear On Startup may cause vehicles and/or vehicle payloads to collide during startup if the Host Controller has not ensured proper clearance before startup. Be aware that vehicles may need to be moved (by the Host Controller or manually) prior to startup, to avoid collisions Rev. C

107 Transport System Configuration Create and Edit Nodes Node Clearance Distances and Entry Gate Positions Clearance Distances and Entry Gate Positions for switching Nodes (Merge, Diverge, and Moving Path) are anti-collision parameters used to define safe clearance for vehicles entering and exiting switching Nodes. This is used to avoid collisions with other vehicles on adjoining Paths or with any mechanisms related to the Node. The Clearance Distance defines a location on the Paths associated with a Node where the vehicle s trailing edge (including payload), regardless of vehicle movement direction, is safely located to avoid collisions with other vehicles on adjoining Paths or with any mechanisms related to the Node. The Node Clearance Distance is measured from the end of the motor closest to the Node. The Entry Gate Position defines a location on the Paths associated with a Node where the vehicle s leading edge (including payload) is safely located to avoid collisions with other vehicles on adjoining Paths or with any mechanisms related to the Node, regardless of vehicle movement direction. The location of the Entry Gate Position is measured from the end of the motor closest to the Node. Each Entry Gate is assigned a unique ID number. Figure 3-55 shows a Diverge Node configured with entry Path 6 and exit Paths 7 and 8. For each of the three Paths, both the Clearance Distance (dashed arrows, applies to the trailing edge of each vehicle exiting the Node, regardless of direction of travel) and Entry Gate Position (solid arrows, applies to the leading edge of each vehicle as it enters the Node, regardless of direction of travel) have been set the same (0.5 m) and Gate IDs 16, 17, and 18 assigned to each Entry Gate. Forward (Downstream) Diverge Node QS Motor Entry Gate ID 16 Path 6 Entry Gate ID 17 Path 7 Entry Gate Position (Vehicle Front Edge Entering Node) Entry Gate ID 18 Path 8 Clearance Distance (Vehicle Trailing Edge Exiting Node) Figure 3-55: Node Clearance Distance and Entry Gate Position QuickStick Configurator User Manual 107

108 Transport System Configuration Create and Edit Nodes All measurements for both Clearance Distances and Entry Gate Positions on each Path are from the edge of the motor closest to the Node as shown in Figure For best results, position one vehicle with payload on each of the Paths in the Node. Adjust the vehicle locations to obtain satisfactory Clearance Distances and Entry Gate Positions between the vehicles on each Path. Measure and record the Clearance Distance and the Entry Gate Position for each Path, then enter the values measured in the corresponding fields within the Node configuration page. NOTE: The vehicle s full length and width (including payload) should be factored into the values for each Path s Clearance Distance and Entry Gate Position. Payload width should be measured from front left corner of payload to rear right corner of payload to account for vehicle movement around curves and corners Rev. C

109 Transport System Configuration Create and Edit Nodes Gap Delta The Gap Delta is used to correct for the difference in the motor gaps between the exit Paths in a switching Node with multiple exit Paths (Diverge Nodes and Moving Path Nodes). Diverge Nodes For Diverge Nodes, the last motor in the entry Path is configured with its downstream gap set to the distance from the motor s downstream end to the upstream end of the motor on the exit Path that is closest (shortest downstream gap). The difference between that downstream gap and the downstream gap to the motor on the other exit Path is the Gap Delta and is entered into the Gap Delta field for that exit Path. Figure 3-56 shows a Diverge Node where the Gap Delta for the Curve Exit Path is 10.0 mm since the downstream gap between the last motor in the straight entry Path and the first motor on the curve exit Path is 10.0 mm longer that the downstream gap for the last motor in the straight entry Path and the first motor on the straight exit Path. The Downstream Gap for the Node would be configured as shown in Figure Forward (Downstream) Diverge Node 350 mm QS Motor 360 mm Figure 3-56: Diverge Node Gap Delta Figure 3-57: Diverge Node Gap Delta Example QuickStick Configurator User Manual 109

110 Transport System Configuration Create and Edit Nodes Moving Path Nodes For Moving Path Nodes, the last motor in each entry Path is configured with its downstream gap (from the motor s downstream end) set to a common reference. This is typically the end of the motor extending farthest into the Node or the end of the entry Path guideway. The distance from that point to the upstream end of the motor on each exit Path is the Gap Delta and is entered into the Gap Delta field for that exit Path. Figure 3-58 shows a Moving Path Node, the measurements for each of the Entry Path motors, which will be entered as the downstream gap in the motor configuration, and the measurements for each of the Exit Path motors. Note that the common point for all measurements is the end of the guideways where the moving motors are mounted. The Gap Delta for each of the Exit Paths is shown in the figure. This value is then entered into the configuration for that Path in the Node configuration. The Downstream Gaps for the Node would be configured as shown in Figure End of Entry Path Guideway 6 mm (Path 3) 4 mm (Path 5) 2 mm (Path 4) Exit Path (Path 3) Entry Path (Path 1) 2 mm Forward (Downstream) Entry Path (Path 2) Exit Path (Path 4) QS Motor 6 mm End of Entry Path Guideway Exit Path (Path 5) Moving Path Node Figure 3-58: Moving Path Node Gap Delta Rev. C

111 Transport System Configuration Create and Edit Nodes Figure 3-59: Moving Path Node Gap Delta Example QuickStick Configurator User Manual 111

112 Transport System Configuration Define and Edit Node Controllers Define and Edit Node Controllers This section describes how to define and edit a Node Controller in the Node Controller Configuration File. Node Controllers communicate vehicle information between Motor Controllers (internal to the QuickStick 100 motors, external to the QuickStick HT motors) and the High Level Controller. Each Node Controller in the transport system and the motors it is responsible for must be defined in the Node Controller Configuration File. The Node Controller coordinates vehicle movements along Paths of motors, and is responsible for the motion on all motors on all Paths originating from Nodes that the Node Controller owns. The motor at the Upstream end of each Path, designated by a Node, must communicate with a Node Controller. The motor at the Downstream end of a Path that connects to other Paths through a Node must also communicate with a Node Controller. The communication lines from all motors associated with a specific Node must all connect to the same Node Controller. There can be multiple Node Controllers in a transport system, each responsible for a subset of the Nodes within the transport system. Any Node Controller in the transport system can also function as the High Level Controller (refer to the Node Controller Interface User Manual). NOTE: The maximum number of Node Controllers per transport system is system dependent, refer to Table A-1, Transport System Limits, on page 206. Define a Node Controller 1. In the Configuration Tree, select Node Controllers (see Figure 3-60). Figure 3-60: Configuration Tree with Node Controllers Selected 2. On the Edit menu in the Configurator menu bar, select Add To End... (or right-click on Node Controllers and select Add To End...). NOTE: Right-clicking on an existing Node Controller will open the Edit shortcut menu to allow the new Node Controller to be inserted before or after the selected Node Controller. The Node Controllers list is expanded and displayed below Node Controllers in the Configuration Tree as shown in Figure 3-61 with the new Node Controller added to the list. The Node Controller is automatically numbered with the next available Node Controller ID Rev. C

113 Transport System Configuration Define and Edit Node Controllers Figure 3-61: Add a Node Controller Edit a Node Controller 1. Expand the Node Controllers list in the Configuration Tree by selecting the symbol in front of Node Controllers or double-clicking on Node Controllers. The Node Controllers list is expanded and displayed below Node Controllers in the Configuration Tree. 2. Open the Node Controller to be edited by selecting the controller s ID. The Node Controller Details page for the selected Node Controller, shown in Figure 3-62, is displayed in the Configuration Properties pane. Figure 3-62: New (Undefined) Node Controller Page 3. Update the Node Controller s properties as required (refer to Node Controllers on page 196 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. QuickStick Configurator User Manual 113

114 Transport System Configuration Define and Edit Node Controllers The ID field contains the assigned Node Controller ID, recommends that this not be changed. In the Name field, enter a reference name for this Node Controller. Note that a name for the NC is not necessary and is for reference only. In the IP Address field, enter the specific IP address for the Node Controller. From the Digital I/O Board Type drop-down list box, select the type of I/O board installed in the Node Controller. NOTE: This does not apply to NC LITE Node Controllers. From the Node ID drop-down list box under Node Ownership Control, select a Node to be monitored and controlled by the Node Controller then select Take Ownership. The Owned Nodes List is updated with the Node ID, Node Type, and the name of the Node. The Node Connection List is updated with the IDs of all Paths connected to the Node, the end of the Path (upstream or downstream) connected, and the Node membership (enter or exit). From the RS-422 Port drop-down list box, for the upstream end of each Path select the port that will be used to control that Path at that Node. Note that this also requires a physical connection from the selected port on the Node Controller to the upstream end of the motor at the beginning of the Path. NOTE: recommends that the odd numbered (female) RS-422 connectors on the NC LITE be used for upstream connections. The RS-422 Ports selected here will be displayed in the properties for each Path, refer to Create and Edit Paths on page 60. Ensure that all connections for a Node use the same Node Controller. From the RS-422 Port drop-down list box, for the downstream end of each Path where vehicles will move beyond the Path, select the port that will be used to communicate with the Path at that Node. Note that this also requires a physical connection from the selected port on the Node Controller to the downstream end of the motor at the end of the Path. NOTE: recommends that the even numbered (male) RS-422 connectors on the NC LITE be used for downstream connections. The RS-422 Ports selected here will be displayed in the properties for each Path, refer to Create and Edit Paths on page 60. Ensure that all connections for a Node use the same Node Controller. 4. Save all changes to the Node Controller settings by selecting Save on the File menu in the Configurator menu bar Rev. C

115 Transport System Configuration Define and Edit Node Controllers Example Figure 3-63 shows an NC LITE Node Controller configured with one Merge Node configured as shown in Figure Note that the Node is not named and that all three RS-422 communications lines associated with the Merge Node connect to this Node Controller. Figure 3-63: Node Controller Example, NC LITE QuickStick Configurator User Manual 115

116 Transport System Configuration Create and Edit Stations Create and Edit Stations This section describes how to create and edit Stations in the Node Controller Configuration File. Stations are specific, designated positions measured from the beginning of a Path to order vehicles to instead of having to provide the physical position each time a vehicle is ordered to that position. Depending on the transport system, a Station may be a more convenient reference point than a Position, which is simply a physical position referenced from the beginning of a Path. Stations are one of two methods for identifying specific positions within the transport system. The other method is to provide the specific Position on a Path measured from the beginning of the Path, such as 0.25 meters or 1.5 meters. NOTE: The maximum number of Stations per transport system is system dependent, refer to Table A-1, Transport System Limits, on page 206. Stations should not be setup in the gap between motors. Before adding new Stations to a Path with existing Stations ensure the Station Insert Mode is set appropriately (refer to Station Insert Mode on page 137). Create a Station 1. Expand the Paths list in the Configuration Tree by selecting the symbol in front of Paths or double-clicking on Paths. The Paths list is expanded and displayed below Paths in the Configuration Tree. 2. Expand the Path where the Station will be added by selecting the symbol in front of its ID or double-clicking on the ID. The Path is highlighted and expands to show Motors, Stations, and other items related to the Path. 3. In the Configuration Tree, select Stations (see Figure 3-64). Figure 3-64: Configuration Tree with Stations Selected 4. On the Edit menu in the Configurator menu bar, select Add To End... (or right-click on Stations and select Add To End...). NOTE: Right-clicking on an existing Station will open the Edit shortcut menu to allow the new Station to be inserted before or after the selected Station Rev. C

117 Transport System Configuration Create and Edit Stations The Stations list is expanded and displayed below Stations in the Configuration Tree as shown in Figure 3-65 with the new Station added to the list. The Station is automatically numbered with a Station ID based on the setting of the Station Insert Mode option. NOTE: Stations IDs are unique and can only be used once per configuration. Figure 3-65: Add a Station Edit a Station 1. Expand the Paths list in the Configuration Tree by selecting the symbol in front of Paths or double-clicking on Paths. The Paths list is expanded and displayed below Paths in the Configuration Tree. 2. Expand the Path where the station to be edited is located by selecting the symbol in front of its ID or double-clicking on the ID. The Path expands to show Motors, Stations, and other items related to the Path. 3. Expand the Stations section by selecting the symbol in front of Stations or double-clicking on Stations. Stations is highlighted and the Stations list is expanded to show all Stations on the Path. 4. Open the Station to be edited (in this case Station 1) by selecting it. The Station Details page for the selected Station, shown in Figure 3-66, is displayed in the Configuration Properties pane, and identifies the Path that it is associated with at the top of the page. QuickStick Configurator User Manual 117

118 Transport System Configuration Create and Edit Stations Figure 3-66: Station Page 5. Update the station s properties as required (refer to Stations on page 178 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. The ID field contains the assigned station ID, recommends that this not be changed. In the Name field, enter a reference name for this station. Note that a name for the station is not necessary and is for reference only. In the Location field, enter the specific position for the station as measured from the beginning of the Path. 6. Save all changes to the Station settings by selecting Save on the File menu in the Configurator menu bar Rev. C

119 Transport System Configuration Create and Edit Stations Example Figure 3-67 shows a typical Station located 2.5 meters from the beginning of Path 1. Figure 3-67: Station Example View All Stations After stations have been created, all Stations can be accessed for editing or viewing by Station ID instead of having to open each Path and view only the Stations associated with that Path. NOTE: Accessing a Station through the All Stations list provides the same functionality as accessing a Station through the Path it is associated with. 1. Expand the All Stations list in the Configuration Tree by selecting the symbol in front of All Stations or double-clicking on All Stations. The All Stations list is expanded and displayed below All Stations in the Configuration Tree as shown in Figure Figure 3-68: All Stations List 2. Open the Station to be viewed or edited by selecting it. The Station Details page for the selected Station is displayed in the Configuration Properties pane, and identifies the Path that the station is associated with at the top of the page. 3. Update the station s properties if required (refer to Stations on page 178 for detailed descriptions of all properties). 4. Save all changes to the Station settings by selecting Save on the File menu in the Configurator menu bar. QuickStick Configurator User Manual 119

120 Transport System Configuration Create and Edit Single Vehicle Areas Create and Edit Single Vehicle Areas This section describes how to define and edit Single Vehicle Areas in the Node Controller Configuration File. In the transport system, this is an area of a Path where only one vehicle may move at any time. Other vehicles on the track must form a queue to enter this area and wait until the previous vehicle leaves the area. This option allows one vehicle to move backward and forward along a portion of a Path without interference from any other vehicles. NOTE: Single Vehicle Areas cannot overlap. Single Vehicle Areas cannot be defined in switches. Single Vehicle Areas cannot be defined for the full length of the path. Multiple Single Vehicle Areas cannot begin on the same motor. Upstream End of Path (3.125 m) (4.500 m) Forward Single Vehicle Area (Downstream) Vehicles Waiting to Enter Single Vehicle Area Vehicle in Single Vehicle Area QS Motor Figure 3-69: Single Vehicle Area, Top View Guideway Create a Single Vehicle Area 1. Expand the Paths list in the Configuration Tree by selecting the symbol in front of Paths or double-clicking on Paths. The Paths list is expanded and displayed below Paths in the Configuration Tree. 2. Expand the Path where the Single Vehicle Area will be added by selecting the symbol in front of its ID. The Path is highlighted and expands to show Motors, Stations, Single Vehicle Areas, and other items related to the Path. 3. In the Configuration Tree, select Single Vehicle Areas (see Figure 3-70). Figure 3-70: Configuration Tree with Single Vehicle Areas Selected Rev. C

121 Transport System Configuration Create and Edit Single Vehicle Areas 4. On the Edit menu in the Configurator menu bar, select Add To End... (or right-click on Single Vehicle Areas and select Add To End...). NOTE: Right-clicking on an existing Single Vehicle Area will open the Edit shortcut menu to allow the new Single Vehicle Area to be inserted before or after the selected Single Vehicle Area. The Single Vehicle Areas list is expanded and displayed below Single Vehicle Areas in the Configuration Tree as shown in Figure 3-71 with the new Single Vehicle Area added. The Single Vehicle Area is automatically numbered with the next Area ID. NOTE: If a Single Vehicle Area is inserted into the existing list of Single Vehicle Area, all Single Vehicle Areas following the new area will be renumbered. Figure 3-71: Add a Single Vehicle Area 5. Save all changes to the Single Vehicle Area by selecting Save on the File menu in the Configurator menu bar. Edit a Single Vehicle Area 1. Expand the Paths list in the Configuration Tree by selecting the symbol in front of Paths or double-clicking on Paths. The Paths list is expanded and displayed below Paths in the Configuration Tree. 2. Expand the Path where the Single Vehicle Area to be edited is located by selecting the symbol in front of its ID. The Path expands to show Motors, Stations, Single Vehicle Areas, and other items related to the Path. 3. Expand the Single Vehicle Areas section by selecting the symbol in front of Single Vehicle Areas. Single Vehicle Areas is highlighted and the Single Vehicle Areas list is expanded to show all Single Vehicle Areas on the Path. 4. Open the Single Vehicle Area to be edited by selecting it. The Single Vehicle Area Details page for the selected Single Vehicle Area, shown in Figure 3-72, is displayed in the Configuration Properties pane, and identifies the Path that it is associated with at the top of the page. QuickStick Configurator User Manual 121

122 Transport System Configuration Create and Edit Single Vehicle Areas Figure 3-72: Single Vehicle Area Page 5. Update the Single Vehicle Area s properties as required (refer to Single Vehicle Areas on page 179 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. From the Type drop-down list box, select the direction of movement on the Path where the Single Vehicle Area is located. In the Start Location field, enter the specific position for the start of the Single Vehicle Area as measured from the beginning of the Path. In the End Location field, enter the specific position for the end of the Single Vehicle Area as measured from the beginning of the Path. NOTE: For a downstream Single Vehicle Area, the end location on the Path will be further downstream (larger number than the Start Location). For an upstream Single Vehicle Area, the end location on the Path will be further upstream (smaller number than the Start Location). 6. Save all changes to the Single Vehicle Area settings by selecting Save on the File menu in the Configurator menu bar Rev. C

123 Transport System Configuration Create and Edit Single Vehicle Areas Examples If the configuration of the downstream Single Vehicle Area is the same as that shown in Figure 3-69, configure the Single Vehicle Area as shown in Figure This will create a m long Single Vehicle Area starting m from the beginning of the Path. Figure 3-73: Single Vehicle Area Example Downstream If the configuration of the upstream Single Vehicle Area is the same as that shown in Figure 3-69, configure the Single Vehicle Area as shown in Figure This will create a m long Single Vehicle Area starting 4.5 m from the beginning of the Path. Figure 3-74: Single Vehicle Area Example Upstream QuickStick Configurator User Manual 123

124 Transport System Configuration Define and Edit E-Stops Define and Edit E-Stops When using Node Controllers equipped with Digital I/O ports, the I/O ports can be connected directly to an E-Stop circuit. An E-Stop is a user-supplied button (typically locking) that can be pressed by an operator if an emergency situation arises to halt all motion on any specified Paths. When the Node Controller detects that the E-Stop button is activated, it commands all Paths associated with that E-Stop to suspend vehicle movement. All motors on those Paths suspend vehicle target requests and permission granting and all vehicles come to a controlled stop and are held in position by the motors at their last granted position. Stopping time for each vehicle is dependent on the vehicle s load and the acceleration setting of the vehicle s current movement command. The E-Stop is cleared by releasing the button that was pressed and issuing a Resume command. This section describes how to define and edit E-Stops (Emergency Stops) in the Node Controller Configuration File. Refer to the QuickStick User Manual or the QuickStick HT User Manual to wire the transport system to use an E-Stop. Multiple E-Stop circuits may be connected to a single Node Controller. Each Path can then be configured to be associated with a specific E-Stop bit. Any or all Paths may be associated with the same E-Stop bit. A single E-Stop circuit may have multiple buttons wired together in series so that pressing any button will initiate an E-Stop. The same E-Stop circuit may be used for multiple Paths on different Node Controllers by wiring the E-Stop circuit to each Node Controller in series to a maximum of eight Node Controllers and referencing the appropriate Digital Input Bit on each Path. Refer to the QuickStick 100 User Manual or the QuickStick HT User Manual for more details. CAUTION Electrical Hazard The E-Stop only executes the actions described, it is not the same as an EMO (Emergency Off) which removes all power to the transport system. Define an E-Stop 1. Expand the Paths list in the Configuration Tree by selecting the symbol in front of Paths or double-clicking on Paths. The Paths list is expanded and displayed below Paths in the Configuration Tree. 2. Open the Path where the E-Stop will be located by selecting the Path s ID. The Path Details page for the selected Path, shown in Figure 3-75, is displayed in the Configuration Properties pane Rev. C

125 Transport System Configuration Define and Edit E-Stops Figure 3-75: Adding an E-Stop to a Path 3. From the E-Stop Bit Number drop-down list box, select the Digital Input bit to use for the E-Stop. NOTE: Maintain a log of Digital I/O bits used on each Node Controller to ensure that a bit is not configured for multiple uses and that all connections for a Path use the same Node Controller. 4. Add the E-Stop to other Paths being monitored and controlled by the Node Controller as required by setting the E-Stop Bit Number to the same input bit being used for the E-Stop. 5. Save all changes to the E-Stop by selecting Save on the File menu in the Configurator menu bar. Edit an E-Stop 1. Expand the Paths list in the Configuration Tree by selecting the symbol in front of Paths or double-clicking on Paths. The Paths list is expanded and displayed below Paths in the Configuration Tree. 2. Open the Path where the E-Stop to be edited is located by selecting the Path s ID. The Path Details page for the selected Path, shown in Figure 3-76, is displayed in the Configuration Properties pane. QuickStick Configurator User Manual 125

126 Transport System Configuration Define and Edit E-Stops Figure 3-76: Editing an E-Stop on a Path 3. Change the E-Stop bit by selecting the new Digital Input bit to use for the E-Stop from the E-Stop Bit Number drop-down list box. NOTE: Update the log of Digital I/O bits used on each Node Controller to ensure that a bit is not configured for multiple uses and that all connections for a Path use the same Node Controller. 4. Update the E-Stop on other Paths being monitored and controlled by the Node Controller as required by setting the E-Stop Bit Number to the same input bit being used for the E-Stop. 5. Save all changes to the E-Stop settings by selecting Save on the File menu in the Configurator menu bar Rev. C

127 Transport System Configuration Define and Edit Interlocks Define and Edit Interlocks When using Node Controllers equipped with Digital I/O ports, the I/O ports can be connected directly to an Interlock circuit. An Interlock is a user installed circuit that can be activated by another piece of equipment in the facility to temporarily halt all motion on any specified Paths. When the Node Controller detects that the Interlock circuit is activated, it commands all Paths associated with that Interlock to suspend vehicle movement. All motors suspend vehicle target requests and permission granting and all vehicles come to a controlled stop and are held in position by the motors. Stopping time for each vehicle is dependent on the vehicle s load and the acceleration setting of the vehicle s current movement command. The Interlock is cleared by deactivating the Interlock circuit. This section describes how to define and edit Interlocks in the Node Controller Configuration File. Refer to the QuickStick User Manual or the QuickStick HT User Manual to wire the transport system to use an Interlock. Multiple Interlock circuits may be connected to a single Node Controller. Each Path can then be configured to be associated with a specific Interlock bit. Any or all Paths may be associated with the same Interlock bit. The same Interlock circuit may be used for multiple Paths on different Node Controllers by wiring the Interlock circuit to each Node Controller in series to a maximum of eight Node Controllers and referencing the appropriate Digital Input Bit on each Path. Refer to the QuickStick 100 User Manual or the QuickStick HT User Manual for more details. WARNING Automatic Movement Hazard Movement of the vehicles on the QuickStick transport system is automatically resumed when the Interlock is cleared, which could result in personal injury. Define an Interlock 1. Expand the Paths list in the Configuration Tree by selecting the symbol in front of Paths or double-clicking on Paths. The Paths list is expanded and displayed below Paths in the Configuration Tree. 2. Open the Path that will be interlocked by selecting the Path s ID. The Path Details page for the selected Path, shown in Figure 3-77, is displayed in the Configuration Properties pane. QuickStick Configurator User Manual 127

128 Transport System Configuration Define and Edit Interlocks Figure 3-77: Adding an Interlock to a Path 3. From the Interlock Bit Number drop-down list box, select the Digital Input bit to use for the Interlock. NOTE: Maintain a log of Digital I/O bits used on each Node Controller to ensure that a bit is not configured for multiple uses and that all connections for a Path use the same Node Controller. 4. Add the Interlock to other Paths being monitored and controlled by the Node Controller as required by setting the Interlock Bit Number to the same input bit being used for the Interlock. 5. Save all changes to the Interlock by selecting Save on the File menu in the Configurator menu bar. Edit an Interlock 1. Expand the Paths list in the Configuration Tree by selecting the symbol in front of Paths or double-clicking on Paths. The Paths list is expanded and displayed below Paths in the Configuration Tree. 2. Open the Path where the Interlock to be edited is located by selecting the Path s ID. The Path Details page for the selected Path, shown in Figure 3-78, is displayed in the Configuration Properties pane Rev. C

129 Transport System Configuration Define and Edit Interlocks Figure 3-78: Editing an Interlock on a Path 3. Change the Interlock bit by selecting the new Digital Input bit to use for the Interlock from the Interlock Bit Number drop-down list box. NOTE: Update a log of Digital I/O bits used on each Node Controller to ensure that the bit is not configured for multiple uses and that all connections for a Path use the same Node Controller. 4. Update the Interlock on other Paths being monitored and controlled by the Node Controller as required by setting the Interlock Bit Number to the same input bit being used for the Interlock. 5. Save all changes to the Interlock settings by selecting Save on the File menu in the Configurator menu bar. QuickStick Configurator User Manual 129

130 Transport System Configuration Define and Edit Light Stacks Define and Edit Light Stacks This section describes how to define and edit Light Stacks in the Node Controller Configuration File. When using Node Controllers equipped with Digital I/O ports, the I/O ports can be connected directly to a Light Stack. A Light Stack is a user-supplied visual signal used to provide transport system status. Standard three color light stacks (typically green, yellow, and red) are supported. Transport system status is displayed by the Light Stack through monitoring the status of Paths and Nodes in the transport system as specified in the Light Stack page for a specific Node Controller. The status information displayed by Light Stacks includes: Run Bit (Green Light) Vehicle Movement Active/Enabled. Warning Bit (Yellow Light) System Faults. Stop Bit (Red Light) Vehicle Movement Halted/Stopped. NOTE: Each light on the Light Stack must be physically connected to the Digital I/O output port on the Node Controller configured for that light. The transport system status visually displayed through a Light Stack is dynamic, vehicle movement and transport system status can change at any time, without notification or warning. If the Run light is lit, vehicle movement should be expected. If the Fault light is lit, the system may still be operational with vehicles moving. If the Stop light is lit, movement may resume at any time with no warning. WARNING Automatic Movement Hazard The Light Stack only shows the current status of those Paths and/or Nodes being monitored. There is a potential for movement on those Paths or any other Paths as long as power is applied to the transport system. Define a Light Stack 1. Expand the Node Controllers list in the Configuration Tree by selecting the symbol in front of Node Controllers or double-clicking on Node Controllers. Node Controllers is highlighted and the Node Controllers list is expanded and displayed below Node Controllers in the Configuration Tree Rev. C

131 Transport System Configuration Define and Edit Light Stacks 2. Open the Node Controller that the Light Stack will be connected to by selecting the symbol in front of the Node Controller s ID or by double-clicking on the ID. The Node Controller is highlighted and expands to show Light Stacks. 3. In the Configuration Tree, select Light Stacks (see Figure 3-79). Figure 3-79: Configuration Tree with Light Stacks Selected 4. On the Edit menu in the Configurator menu bar, select Add To End... (or right-click on Light Stacks and select Add To End...). The Light Stacks list is expanded and displayed below Light Stacks in the Configuration Tree as shown in Figure 3-80 with the new Light Stack added to the end of the list. Figure 3-80: Add a Light Stack Edit a Light Stack 1. Expand the Node Controllers list in the Configuration Tree by selecting the symbol in front of Node Controllers or double-clicking on Node Controllers. The Node Controllers list is expanded and displayed below Node Controllers in the Configuration Tree. 2. Expand the Node Controller where the Light Stack to be edited is located by selecting the symbol in front of its ID. The Node Controller expands to show Light Stacks. 3. Expand the Light Stacks section by selecting the symbol in front of Light Stacks. Light Stacks is highlighted and the Light Stacks list is expanded to show all Light Stacks associated with the Node Controller. 4. Open the Light Stack to be edited by selecting it. QuickStick Configurator User Manual 131

132 Transport System Configuration Define and Edit Light Stacks The Light Stack Details page for the selected Light Stack, shown in Figure 3-81, is displayed in the Configuration Properties pane, and identifies the Node Controller that it is associated with at the top of the page. Figure 3-81: New (Undefined) Light Stack Page 5. Update the Light Stack s properties as required (refer to Light Stacks on page 198 for detailed descriptions of all properties). From the Run Bit drop-down list box, select the Digital Output bit to use for the light indicating there is, or can be, movement (typically the green light). From the Warning Bit drop-down list box, select the Digital Output bit to use for the light indicating a fault has occurred (typically the yellow light). From the Stop Bit drop-down list box, select the Digital Output bit to use for the light indicating that all movement has stopped (typically the red light). NOTE: Maintain a log of Digital I/O bits used on each Node Controller to ensure that a bit is not configured for multiple uses and that all connections for a Path use the same Node Controller. 6. Save all changes to the Light Stack settings by selecting Save on the File menu in the Configurator menu bar Rev. C

133 Transport System Configuration Define and Edit Light Stacks Example Figure 3-82 shows a typical Light Stack configuration. In this case, the Light Stack displays the status for the three Paths and two Nodes shown in the Transport System Light Stack Example in Figure Figure 3-82: Light Stack Example LS 1 G YR NC 1 +V -V PS Diverge Path 2 Path 1 Path 3 NOTE: Arrows indicate direction of forward motion. Merge Figure 3-83: Transport System Light Stack Example QuickStick Configurator User Manual 133

134 Transport System Configuration Editing Functions Editing Functions There are several editing functions available through the Edit menu in the Configurator menu bar at the top of the QuickStick Configurator window. These functions are also available through the context sensitive shortcut menus that are displayed by right-clicking on the categories and elements in the Configuration Tree. Copy Configuration Properties Configuration information can be copied from any element and pasted into another element of the same type. It is not necessary for the elements to be on the same Path, but they must be in the same Node Controller Configuration File. The values of all properties are copied. Motor configuration information can also be copied from the Motor Defaults, and pasted into any Motor or the Motor Defaults on another Path. NOTE: When a copy operation is performed, the source element is preserved in the Configuration Tree. Cutting configuration information will copy the information from the selected element, temporarily store it, and delete the element from the Configuration Tree. The stored information can then be pasted into the target element (the same as a copy operation). If the copy operation creates a duplicate ID number (Nodes, Node Controllers, Stations) an alert similar to the one shown in Figure 3-84 is displayed. Change the ID number of the element to a number that is not being used. Figure 3-84: Duplicate ID Alert 1. Expand the element list in the Configuration Tree by selecting the symbol in front of the category or double-clicking on the category name. The element list is expanded and displayed below the category in the Configuration Tree. 2. Right-click on the element to be copied and select Copy... from the shortcut menu. Or, select the element to be copied and select Copy on the Edit menu in the Configurator menu bar. The properties of the selected element are copied to an internal clipboard Rev. C

135 Transport System Configuration Editing Functions 3. Right-click on the element to be updated and select Paste... from the shortcut menu. Or, select the element to be updated and select Paste on the Edit menu in the Configurator menu bar. The copied properties are pasted from the internal clipboard into the selected element. 4. Save all changes to the Node Controller Configuration File by selecting Save on the File menu in the Configurator menu bar. Add Configuration Elements Additional elements can be added to any category in several ways. The typical method is to add the new element to the end of the list of existing elements by right-clicking on the category and selecting Add To End... However, new elements may be added anywhere in the list of elements by right-clicking on an existing element and selecting either Insert Before... or Insert After Expand the element list in the Configuration Tree by selecting the symbol in front of the category or double-clicking on the category name. The element list is expanded and displayed below the category in the Configuration Tree. 2. Right-click on the element in the list where the insertion will be and select either Insert Before... or Insert After... from the shortcut menu. Or, select the element where the insertion will be and select either Insert Before... or Insert After... on the Edit menu in the Configurator menu bar. A new, unconfigured, element is added to the element list before or after the selected element depending on the menu selection and numbered with the next available element number in the element s sequence. When inserting motors, the motor list is automatically renumbered. When inserting Stations, the station list is renumbered based on the Station Insert Mode (refer to Station Insert Mode on page 137). 3. Configure the new element as required. 4. Save all changes to the Node Controller Configuration File by selecting Save on the File menu in the Configurator menu bar. Delete Configuration Elements Extra elements can be deleted at any time by right-clicking on them in the Configuration Tree and selecting Delete. 1. Expand the element list in the Configuration Tree by selecting the symbol in front of the category or double-clicking on the category name. The element list is expanded and displayed below the category in the Configuration Tree. QuickStick Configurator User Manual 135

136 Transport System Configuration Editing Functions 2. Right-click on the element to be deleted and select Delete from the shortcut menu. Or, select the element to be deleted and select Delete on the Edit menu in the Configurator menu bar. The selected element is deleted from the element list. 3. Save all changes to the Node Controller Configuration File by selecting Save on the File menu in the Configurator menu bar Rev. C

137 Transport System Configuration Options Options There are several functions available through the Options menu in the Configurator menu bar at the top of the QuickStick Configurator window that may be selected at any time. Note that these functions are only available through the Options menu. Station Insert Mode This section describes the two modes available for adding Stations to the Node Controller Configuration File (refer to Create and Edit Stations on page 116) and how to select the desired mode. Note that these modes are only used when adding stations to a configuration with existing Stations using either the Insert Before... or Insert After... options from the Edit menu in the Configurator menu bar or from the shortcut menu. Absolute The next available Station ID is assigned to the new Station wherever it is located in the list of stations. Slide Existing Downstream The new Station is assigned the Station ID before or after the selected Station and all Stations after the new Station are renumbered. Select the Station Insert Mode 1. Select the Station Insert Mode by selecting Station Insert Mode in the Options menu in the Configurator menu bar as shown in Figure Figure 3-85: Station Insert Mode Option Selected The current mode is displayed with a check mark before it. NOTE: The Station Insert Mode selection is not saved within the Node Controller Configuration File and will always default to Absolute when the Configurator is started. QuickStick Configurator User Manual 137

138 Transport System Configuration Options Example Figure 3-86 shows Stations added using both insert modes. Insert Station Before Existing Stations Absolute Slide Existing Downstream New Station Added New Station Added Existing Stations Moved Figure 3-86: Station Insert Modes Existing Stations Moved and Renumbered Rev. C

139 Transport System Configuration Options Show Per Motor Control Loop Parameters This section describes how to show/hide display of the Motor Control Loop Parameters for individual motor pages in the Configurator. This is typically used if one or two motors on a Path require different PID settings to control vehicle motion based on some action being taken while the vehicle is on those specific motors. Show Per Motor Control Loop Parameters 1. Enable the Per Motor Control Loop Parameters option by selecting Show Per Motor Control Loop Parameters in the Options menu in the Configurator menu bar. A check mark is displayed before the Show Per Motor Control Loop Parameters menu item, as shown in Figure 3-87, to indicate it is selected. Figure 3-87: Show Per Motor Control Loop Parameters Option Selected 2. Edit the Control Loop parameters for specific motors as required. 3. Save all changes to the Node Controller Configuration File by selecting Save on the File menu in the Configurator menu bar. NOTE: The Show Per Motor Control Loop Parameters selection is not saved within the Node Controller Configuration File and will always default to cleared (unchecked) when the Configurator is started. QuickStick Configurator User Manual 139

140 Transport System Configuration Options Use Advanced Parameters This section describes how to show/hide display of the Advanced Parameters for the Global Settings, Paths, and Motor pages in the Configurator. Show Advanced Parameters 1. Enable the Advanced Parameters option by selecting Show Advanced Parameters in the Options menu in the Configurator menu bar. A check mark is displayed before the Show Advanced Parameters menu item, as shown in Figure 3-88, to indicate it is selected. Figure 3-88: Show Advanced Parameters Option Selected 2. Edit any of the advanced parameters in the Global Settings, Paths, and Motor pages as required. 3. Save all changes to the Node Controller Configuration File by selecting Save on the File menu in the Configurator menu bar. NOTE: The Show Advanced Parameters selection is not saved within the Node Controller Configuration File and will always default to cleared (unchecked) when the Configurator is started Rev. C

141 Transport System Configuration Options Create and Edit Simulated Vehicles This section describes how to show/hide display of Simulated Vehicles in the Configuration Tree and how to define and edit Simulated Vehicles in the Node Controller Configuration File. Simulated vehicles are required only when a Node Controller is being used as a High Level Controller simulator for development (refer to the Node Controller Interface User Manual). Show Simulated Vehicles 1. Enable the simulated vehicles option by selecting Show Simulated Vehicles in the Options menu in the Configurator menu bar. A check mark is displayed before the Show Simulated Vehicles menu item, as shown in Figure 3-89, to indicate it is selected. When a Path is selected the Simulated Vehicles element will be listed. Figure 3-89: Show Simulated Vehicles Option Selected NOTE: The Show Simulated Vehicles selection is not saved within the Node Controller Configuration File and will always default to cleared (unchecked) when the Configurator is started. However, if there are Simulated Vehicles in a Node Controller Configuration File it will default to selected (checked) once the Configuration File is loaded. Create a Simulated Vehicle 1. Enable the Simulated Vehicles option by selecting Show Simulated Vehicles in the Options menu in the Configurator menu bar. 2. Expand the Paths list in the Configuration Tree by selecting the symbol in front of Paths or double-clicking on Paths. The Paths list is expanded and displayed below Paths in the Configuration Tree. 3. Expand the Path where the Simulated Vehicle will be added by selecting the symbol in front of its ID or double-clicking on its name. The Path is highlighted and expands to show Motors, Stations, Single Vehicle Areas, and Simulated Vehicles related to the Path. 4. In the Configuration Tree, select Simulated Vehicles as shown in Figure QuickStick Configurator User Manual 141

142 Transport System Configuration Options Figure 3-90: Configuration Tree with Simulated Vehicles Selected 5. On the Edit menu in the Configurator menu bar, select Add To End... (or right-click on Simulated Vehicles and select Add To End...). The Simulated Vehicles list is expanded and displayed below Simulated Vehicles in the Configuration Tree as shown in Figure 3-91 with the new Simulated Vehicle added to the end of the list. Edit a Simulated Vehicle Figure 3-91: Add a Simulated Vehicle 1. Expand the Paths list in the Configuration Tree by selecting the symbol in front of Paths or double-clicking on Paths. The Paths list is expanded and displayed below Paths in the Configuration Tree. 2. Expand the Path where the Simulated Vehicle to be edited is located by selecting the symbol in front of its ID or double-clicking on its name. The Path is highlighted and expands to show Motors, Stations, Single Vehicle Areas, and Simulated Vehicles related to the Path. 3. Expand the Simulated Vehicles section by selecting the symbol in front of Simulated Vehicles or double-clicking on Simulated Vehicles. Simulated Vehicles is highlighted and the Simulated Vehicles list is expanded to show all Simulated Vehicles on the Path. 4. Open the Simulated Vehicle to be edited by selecting it Rev. C

143 Transport System Configuration Options The Simulated Vehicle Details page for the selected Simulated Vehicle, shown in Figure 3-92, is displayed in the Configuration Properties pane, and identifies the Path that it is associated with at the top of the page. Example Figure 3-92: Simulated Vehicle Page 5. Update the Simulated Vehicle s properties as required (refer to Simulated Vehicles on page 180 for detailed descriptions of all properties). NOTE: A red dot is displayed next to text fields if invalid or improperly formatted values are entered. In the Location field, enter the starting position for the Simulated Vehicle as measured from the beginning of the Path. 6. Save all changes to the Simulated Vehicle settings by selecting Save on the File menu in the Configurator menu bar. Figure 3-93 shows a typical Simulated Vehicle located 1.5 meters from the beginning of Path 1. Figure 3-93: Simulated Vehicle Example QuickStick Configurator User Manual 143

144 Transport System Configuration Options European Number Formatting Changes the formatting of all numbers being displayed in the Configurator to use a comma as the decimal mark and a point as the delimiter between groups when selected. This section describes how to show/hide display of European Number Formatting for the display and entry of numbers in all pages. US number formatting uses a point as the decimal mark in a number and a comma as the delimiter between groups. European number formatting uses a comma as the decimal mark in a number and a point as the delimiter between groups. Refer to Figure 3-94 for examples of both number formatting options where the number being displayed is one thousand. Figure 3-94: Number Formatting Conventions NOTE: The use of group separators is optional when using either number formatting style. Show European Number Formatting 1, ,00 US Formatting EU Formatting 1. Enable the European Number Formatting option by selecting European Number Formatting in the Options menu in the Configurator menu bar. A check mark is displayed before the European Number Formatting menu item, as shown in Figure 3-95, to indicate it is selected and all current values will be reformatted as shown in Figure Figure 3-95: European Number Formatting Option Selected NOTE: The European Number Formatting selection is saved within the Node Controller Configuration File Rev. C

145 UI Reference 4 Overview This chapter provides an overview of the User Interface (UI) for the QuickStick Configurator. Included in this chapter are examples of each window, page, and dialog in the UI and a complete description of their features. The following parts of the User Interface are covered: User Interface Window Layout. User Interface Features. Window and Dialog Box Reference. System Layout, including; the menu, global settings, and the layout area. Configuration, including the menus and all configuration settings. NOTE: This User Interface Reference reflects the version of the software indicated in Changes on page 15. Specific builds of the QuickStick Configurator may not implement all of the features described in this manual. Refer to the Release Notes supplied with this application for more information. QuickStick Configurator User Manual 147

146 UI Reference Window Layout Window Layout All User Interface elements presented through the QuickStick Configurator window follow the guidelines described below and consist of three main areas that are always visible as shown in Figure 4-1, as well as temporary dialog boxes that are displayed over the main UI window. QuickStick Configurator Menus and Window Controls Configuration Tree Configuration Properties Pane Figure 4-1: Window Layout Window Behavior Window Size The window may be sized as required, it will open at its default size and location each time the QuickStick Configurator is run. Pane Size The bar between the Configuration Tree and the Configuration Properties pane may be moved horizontally as required. The bar returns to its default location each time the QuickStick Configurator is run Rev. C

147 UI Reference User Interface Features User Interface Features Dialog Boxes Dialog boxes, shown in Figure 4-2, are used to select options, input information, and start operations. Dialog boxes are displayed when certain functions (for example, buttons that allow user input) are selected in the current window or dialog box. The dialog box that is displayed depends on the type of input that is required. To close a dialog box and save the selection, select the button for the dialog box s action (Open, OK, etc.). To close a dialog box without saving, select Cancel. NOTE: When certain dialog boxes are open, no actions are permitted until the dialog box is closed. Figure 4-2: Dialog Box Example Messages Messages, shown in Figure 4-3, are used to display information, to confirm user input, or to warn of user input that is disallowed. Messages are displayed automatically by the QuickStick Configurator when a restricted operation is attempted, or when some important operational information must be conveyed. Single button Messages provide a descriptive message related to the previously selected action. Close the Message after reading by selecting the OK button. QuickStick Configurator User Manual 149

148 UI Reference User Interface Features Multi-button Messages provide a descriptive message related to the previously selected action and options for response to the message. Close the Message after reading by selecting one of the options presented. NOTE: When certain Messages are open, no actions are permitted until the Message is closed. Single Button Message Multi-Button Message Figure 4-3: Message Examples Dialog Box and Window Elements Check boxes, shown in Figure 4-4, are used to turn an option on or off by selecting (checking) or clearing (unchecking) the box. In those areas where multiple check boxes are presented, more than one check box can be selected. Figure 4-4: Check Box Example Drop-down menus or list boxes, shown in Figure 4-5, are used to select one option from a list of available options. A drop-down menu or list box is used when no confirmation of the selection is required; once an option is selected, it is immediately activated. Drop-Down Menu Drop-Down List Box Figure 4-5: Drop-Down Menu and List Box Examples Text fields, shown in Figure 4-6, are used to enter variable information, such as names, set-points, and position values. Display fields, shown in Figure 4-6, are used to display fixed and variable information, such as property names and values returned from the controlled components Rev. C

149 UI Reference User Interface Features NOTE: If a red dot is displayed next to the text field, the value currently entered is outside the allowable range or formatting for that variable. Valid characters are: a-z, A-Z, 0-9,!#$%'*+-/=?^_`{ }~"(),:;@[\] and space. Text Field Display Field Figure 4-6: Text and Display Field Example Each window, dialog box, and message contains graphical buttons, shown in Figure 4-7, that are used to perform a variety of actions, including: Initiating an action. Changing displays. Opening dialogs, menus, or windows. Command Button (Initiate Action) Figure 4-7: Button Example Arrow Button (Open Drop-Down List Box) QuickStick Configurator User Manual 151

150 UI Reference Window and Dialog Box Reference Window and Dialog Box Reference This reference provides a detailed description of each window, page, and dialog box displayed by the QuickStick Configurator. All windows, menus, and dialog boxes within this reference are listed in functional order. The QuickStick Configurator is a software utility used to create and edit the node_configuration.xml file, which is used to configure the transport system for operation. Main Window The Main Window for the QuickStick Configurator is shown in Figure 4-8. This window provides access to all functions of the utility. All window functions are described after the figure. The Main Window provides access to the configuration menus located in the Configurator Menu Bar at the top of the window, to the items in the Configuration Tree, and to the items displayed in the Configuration Properties pane. The function of each item in the Configuration Tree and the Configuration Properties pane are described in this chapter along with all menu options and configuration properties. Configurator Menu Bar Configuration Tree Configuration Properties Pane Figure 4-8: QuickStick Configurator Main Window Overview Configurator Menu Bar Provides access to configuration and common functions Rev. C

151 UI Reference Window and Dialog Box Reference Configuration Tree Displays a list of the configuration categories and elements available. A category or element with a symbol in front of it indicates that it can be expanded to show more related categories or specific elements (select the symbol or double-click the name) or collapsed to hide the related categories or elements (select the symbol or double-click the name). Configuration Properties pane Displays the page of properties associated with the category or element selected in the Configuration Tree. QuickStick Configurator User Manual 153

152 UI Reference Configuration Configuration The QuickStick Configurator, shown in Figure 4-9, provides a configuration tool for creating the Node Controller Configuration File for the transport system. The window is divided into three sections; the Configurator Menu Bar, the Configuration Tree, and the Configuration Properties pane. Selecting a configurable item within the Configuration Tree displays the properties associated with the item in the Configuration Properties pane. Figure 4-9: Menu Bar, Configuration Tree, and Configuration Properties Pane Configurator Menu Bar The Configurator Menu Bar (see Figure 4-10), located at the top of the QuickStick Configurator, provides drop-down menus for access to various configuration functions as shown in Figure All menu functions are described after the figure. Note that all of the Edit menu functions are also available on shortcut menus accessed by right-clicking on a Category or Element in the Configuration Tree. Figure 4-10: Configurator Menu Bar Rev. C

153 UI Reference Configuration File Menu Edit Menu Options Menu Help Menu Insert Mode Menu Figure 4-11: Configurator Menus File Edit Open XML Configuration... Opens a dialog box to locate and open an existing Node Controller Configuration File. New Configuration Creates a new Node Controller Configuration that contains only the default values for the Global Settings. Save Saves the existing Node Controller Configuration File. Save As... Opens a dialog box to name and save a new Node Controller Configuration File. Exit Closes the QuickStick Configurator. The Node Controller Configuration File is not saved and any changes made since the last save will be discarded. Add To End... Adds another element of the selected type to the end of the list of elements. Also available through a shortcut menu. Insert Before... Adds another element of the selected type before the selected element. Also available through a shortcut menu. Insert After... Adds another element of the selected type after the selected element. Also available through a shortcut menu. Cut Copies the current values of all properties from the selected element to an internal clipboard and deletes the element. Only available for elements that do not have sub-elements. Also available through a shortcut menu. Copy Copies the current values of all properties from the selected element to an internal clipboard. Only available for elements that do not have sub-elements. Also available through a shortcut menu. Paste Pastes the current values of all cut or copied properties on the internal clipboard to the selected element. Note that the element being pasted to must be the same type as the element that was copied. Only available for elements that do not have sub-elements. Also available through a shortcut menu. QuickStick Configurator User Manual 155

154 UI Reference Configuration Options Delete Deletes the selected element from the Configuration Tree. Also available through a shortcut menu. Station Insert Mode Opens the Insert Mode menu. The option with a check in front of it is the active Insert Mode. Absolute When a new Station is inserted into the Station List it is assigned the next available Station ID. Slide Existing Downstream When a new Station is inserted into the Station List it is assigned the Station ID before or after the selected Station and all Stations after the new Station are renumbered. Show Per Motor Control Loop Parameters Displays the Control Loop Parameter sets for each motor on its Motor page when selected. Show Advanced Parameters Displays additional parameters in the Global Settings, Paths, and Motor pages when selected. Show Simulated Vehicles The Simulated Vehicles option is displayed under Paths in the Configuration Tree when selected. European Number Formatting Changes the formatting of all numbers being displayed to European formatting (one thousand = 1.000,00) when selected. Help About Configurator Displays the QuickStick Configurator version information. Figure 4-12: About Configurator Message Rev. C

155 UI Reference Configuration Shortcut Menus The shortcut menus for the QuickStick Configurator, accessed by right-clicking on a Category that has Elements or on an Element in the Configuration Tree, are shown in Figure All menu functions are described after the figure. Add Shortcut Menu Edit Shortcut Menu Insert Shortcut Menu Copy Shortcut Menu Add Shortcut Menu Figure 4-13: Configurator Shortcut Menus Available when right-clicking on Paths, Motors, Stations, Single Vehicle Areas, Simulated Vehicles, Nodes, Node Controllers, or Light Stacks. Add To End... Adds another element of the selected type to the end of the list of elements. Also available through a shortcut menu. Edit Shortcut Menu Available when right-clicking on a specific Motor, Station, Single Vehicle Area, Simulated Vehicle, Node, Node Controller, or Light Stack. Insert Before... Adds another element of the selected type before the selected element. Insert After... Adds another element of the selected type after the selected element. Cut... Copies the current values of all properties from the selected element to an internal clipboard and deletes the element. Copy... Copies the current values of all properties from the selected element to an internal clipboard. Paste... Pastes the current values of all cut or copied properties on the internal clipboard to the selected element. Note that the element being pasted to must be the same type as the element that was copied. Delete... Deletes the selected element from the Configuration Tree. Insert Shortcut Menu Available when right-clicking on a specific Path. Insert Before... Adds another element of the selected type before the selected element. QuickStick Configurator User Manual 157

156 UI Reference Configuration Insert After... Adds another element of the selected type after the selected element. Delete... Deletes the selected element from the Configuration Tree. Copy Shortcut Menu Available when right-clicking on the Motor Defaults for a Path. Copy... Copies the current values of all properties from the selected element. Paste... Pastes the current values of all cut or copied properties on the internal clipboard to the selected element. Note that the element being pasted to must be the same type as the element that was copied Rev. C

157 UI Reference Configuration Global Settings Global settings are properties that apply to all parts of the transport system (motors, Nodes, vehicles, etc.). The Global Settings page (with Advanced Parameters selected), shown in Figure 4-14, is accessed by selecting the Node Configuration category at the top of the Configuration Tree (refer to Configure Global Settings on page 49 for usage). NOTE: To display additional advanced settings, select Show Advance Parameters from the Options menu. Figure 4-14: Global Settings Page Configuration Name An optional name for the configuration for reference. If entered, this name is used to identify log files. Valid characters are: a-z, A-Z, 0-9,!#$%'*+-/=?^_`{ and space. Acceleration Limit Maximum acceleration/deceleration for all vehicles while they are on the transport system. Any vehicle motion commands that exceed this limit will be rejected by the High Level Controller. The maximum acceleration can be set to any value within the limits of the transport system. The default is 5.0 m/s 2 (this value is system dependent, refer to Table A-2, Transport System Motion Limits, on page 206). Velocity Limit Maximum velocity for all vehicles while they are on the transport system. Any vehicle motion commands that exceed this limit will be rejected by the High Level Controller. The maximum velocity can be set to any value within the limits of the transport system. The default is 2.5 m/s (this value is system dependent, refer to Table A-2, Transport System Motion Limits, on page 206). QuickStick Configurator User Manual 159

158 UI Reference Configuration Min Vehicle ID Used when there are multiple transport systems, interconnected by Terminus Nodes, with each transport system containing its own HLC. Used with Max Vehicle ID to enable users to allocate a block (min - max range) of specific Vehicle ID numbers to be used by the HLC when assigning IDs to vehicles within the transport system. Only available when Advanced Parameters is selected in the Options menu in the Configurator menu bar. The default is 1. NOTE: recommends that the Min Vehicle ID value be left at the default (1) when transport system subdivisions are interconnected by Gateway Nodes and HLC Control Groups are used for assigning and tracking Vehicle IDs throughout the entire transport system. Max Vehicle ID Used when there are multiple transport systems, interconnected by Terminus Nodes, with each transport system containing its own HLC. Used with Min Vehicle ID to enable users to allocate a block (min - max range) of specific Vehicle ID numbers to be used by the HLC when assigning IDs to vehicles within the transport system. Only available when Advanced Parameters is selected in the Options menu in the Configurator menu bar. The default is NOTE: recommends that the Max Vehicle ID value be left at the default (65535) when transport system subdivisions are interconnected by Gateway Nodes and HLC Control Groups are used for assigning and tracking Vehicle IDs throughout the entire transport system. Terminus Acceleration This applies only when there are Terminus Nodes in the transport system and defines the acceleration/deceleration of the vehicle in the Terminus Node. The maximum acceleration can be set to any value within the limits of the transport system. The default is 1.0 m/s 2. Terminus Velocity This applies only when there are Terminus Nodes in the transport system and defines the velocity of the vehicle in the Terminus Node. The maximum velocity can be set to any value within the limits of the transport system. The default is 0.5 m/s. Arrival Position Tolerance For all Paths, the maximum distance that the vehicle may deviate from the actual destination for the High Level Controller to consider the vehicle as arrived at its destination by monitoring motor status updates. If the tolerance is set too small, and the vehicle cannot stop within that tolerance, then the vehicle will appear to have not arrived at its position and the transport system will continue trying to move the vehicle to its destination. The default is m. NOTE: The Arrival Position Tolerance and the Arrival Velocity Tolerance are used together to ensure the vehicle has arrived. A vehicle will not be considered to have arrived at its destination by the High Level Controller (even if the Arrival Position Tolerance is met) if the Arrival Velocity Tolerance is not met. When running Demo Scripts (refer to the NCHost TCP Interface Utility User Manual) setting the Arrival Position Tolerance to a large value (for example, 1.0 m) and setting the Arrival Velocity Tolerance to the system Velocity Limit supersedes the motor settings and allows uninterrupted motion as the system will consider the vehicle to have arrived when it nears its target Rev. C

159 UI Reference Configuration position and will allow the start of the next vehicle command for the vehicle without having the vehicle slow down or stop. Arrival Velocity Tolerance For all Paths, the maximum velocity of a vehicle for the High Level Controller to consider the vehicle as not moving and as having arrived at its destination by monitoring motor status updates. If the tolerance is set too small, and the vehicle s velocity is not within the tolerance, the vehicle will appear to have not arrived at its destination and the transport system will continue trying to move the vehicle to its destination. The default is m/s. If a Reset command is sent to the Node Controller via the Host Controller interface, vehicles are commanded to stop and are not considered stopped until within this tolerance. If on a Reset command all vehicles do not come to a stop within five seconds, the Node Controller will reset the motors, which means they will stop applying stopping force to the vehicles. NOTE: The Arrival Velocity Tolerance and the Arrival Position Tolerance are used together to ensure the vehicle has arrived. A vehicle will not be considered to have arrived at its destination by the High Level Controller (even if the Arrival Velocity Tolerance is met) if the Arrival Position Tolerance is not met. When running Demo Scripts (refer to the NCHost TCP Interface Utility User Manual) setting the Arrival Velocity Tolerance to the system Velocity Limit and setting the Arrival Position Tolerance to a large value (for example, 1.0 m) supersedes the motor settings and allows uninterrupted motion as the system will consider the vehicle to have arrived when it nears its target position and will allow the start of the next vehicle command for the vehicle without having the vehicle slow down or stop. PC Host Disconnect Action Identifies the action that should be taken on all Paths, in the event the Host Controller s TCP interface disconnects. The default is Suspend. None No action performed when disconnect occurs. Suspend Directs all motors on the specified Path(s) to suspend vehicle target requests and permissions and causes all vehicles to come to a controlled stop, holding the vehicles in position by the motors. Stopping time for each vehicle is dependent on the vehicle s load and acceleration setting of the vehicle s current movement command. FastStop Causes the motor software to apply maximum thrust, opposite to that of the vehicle s current direction, halting the vehicle abruptly, and holding the vehicle at its halted position. Obstructed Status Notification Select to have Vehicle Status (0xD5) messages indicating Vehicle Obstructed sent asynchronously using the TCP/IP communications protocol (does not apply to the EtherNet/IP communications protocol) whenever vehicles become obstructed (unable to acquire permission to move further because of a vehicle in the way, a hardware fault, or movement is suspended). The default is cleared (off). NOTE: If enabled, this can result in a large number of Obstructed Vehicle Status messages being sent when vehicles are in a queue. QuickStick Configurator User Manual 161

160 UI Reference Configuration Send Node Status Asynchronously Select to have Node Status (0xD3) messages indicating a change in a Node sent asynchronously using the TCP/IP communications protocol (does not apply to the EtherNet/IP communications protocol) whenever a Node changes state (vehicle entering/exiting, switch changing direction, etc.). The default is cleared (off). NOTE: This feature is only active on certain custom configurations. Shuttle Auto-Return Select to have any Shuttle Nodes move back to their first position after a vehicle exits from the Node. The default is cleared (off). TCP Control Port Enable 1 Select to enable the TCP/IP control port. The default is selected (on). NOTE: This feature is only active on certain custom configurations. TCP Control Port Timeout 1 Used to specify an optional time-out, in minutes. Used when the TCP/IP control port is enabled through the NC Web Interface. TCP Control Port Enable must be selected. The maximum is 60 minutes The default is 0 (no time-out). Automatic Path Recovery Identifies the method for handling vehicle information for missing or new vehicles. Only available when Advanced Parameters is selected in the Options menu in the Configurator menu bar. The default is Off. Off No action is taken to identify missing or new vehicles. A Startup command must be issued to update vehicle information if there are missing or new vehicles. On Resume Vehicle information for missing or new vehicles is updated when a Resume command is issued. This assumes vehicle changes will only happen while motion is suspended (Suspend command or an E-Stop was issued). NOTE: All vehicles on the transport system are detected during normal startup. Automatic Path Recovery is only used after a Suspend command or an E-Stop is issued. 1. This feature is only available for QSHT systems and should only be used on systems that are being controlled through the EtherNet/IP control port Rev. C

161 UI Reference Configuration PLC EtherNet/IP Settings EtherNet/IP is used to communicate with a PLC (typically an Allen-Bradley ControlLogix PLC) being used as a Host Controller (refer to the Host Controller EtherNet/IP Communication Protocol User Manual). The PLC EtherNet/IP Settings page, shown in Figure 4-15, is accessed by selecting the PLC EtherNet/IP category from the Configuration Tree (refer to Set EtherNet/IP for a PLC on page 52 for usage). NOTE: If the Host Controller is using TCP/IP communications, do not enable this option or change the EtherNet/IP settings. Figure 4-15: PLC EtherNet/IP Settings Page Use a PLC for Host Control Select to enable PLC control of the transport system via EtherNet/IP protocol. The default is cleared (off). PLC IP Address The IP address of the EtherNet/IP interface in the PLC that will be used by the HLC (High Level Controller). PLC CPU Slot The slot in the PLC containing the CPU module. The HLC (High Level Controller) will communicate with this CPU module. This can be any slot and is typically a value from 0 to 13. The default is Slot 0. PLC Max Vehicle ID Maximum number of Vehicle IDs that the HLC will report vehicle status for to the PLC s tag memory. Used to limit the size of the MMI_vehicle_ status array. The default is 64 (the maximum is system dependent, refer to Table A-1, Transport System Limits, on page 206). QuickStick Configurator User Manual 163

162 UI Reference Configuration NOTE: Vehicle IDs greater than the PLC Max Vehicle ID value will not be reported. The Max Vehicle ID value specified in the Global Settings page must be equal to or smaller than the PLC Max Vehicle ID value to ensure status is reported for all possible Vehicle IDs. Vehicle Records per Status Period The number of vehicle records to update in PLC memory each time the HLC pushes vehicle status to the PLC memory. The maximum is 144 when using Extended Vehicle Status and 224 when using standard Vehicle Status and must be less than or equal to PLC Max Vehicle ID. The default is 32. Send Vehicle Status Period How often to send vehicle status records (defined in Vehicle Records per Status Period) to PLC memory in milliseconds. The maximum is 5000 ms (5 seconds). The default is 100 ms. When using a PLC with a slower CPU, this value can be increased. Care should be taken not to set this too low with a larger Vehicle Records per Status Period as the EtherNet/IP link could be saturated with traffic. If the Vehicle Records per Status Period is a low number (for example, 16 or less), decrease this parameter to get vehicle status updates that are at least as current as the data in HLC memory. Tag Request Retry Timeout Time the HLC should wait for the PLC to acknowledge a tag operation in milliseconds. The minimum is 50 ms. Increase this value for high latency network. The default is 250 ms. After 3 timeouts and retries of a tag request, the communications link will be restarted. For fast low latency networks, this value can be lowered. For slow high latency networks, or when using a PLC with a slower CPU, this value can be increased to prevent premature cycling of the link. Note that the MMI_heartbeat tag will be written at an interval three times (3x) this parameter (default every 750 ms). PLC Host Disconnect Action Identifies the action that should be taken on all Paths in the event the Host Controller s Ethernet/IP interface disconnects. The default is None. None No action performed when disconnect occurs. Suspend Directs all motors on the specified Path(s) to suspend vehicle target requests and permissions causing all vehicles to come to a controlled stop, holding the vehicles in position by the motors. Stopping time for each vehicle is dependent on the vehicle s load and acceleration setting of the vehicle s current movement command. FastStop Causes the motor software to apply maximum thrust, opposite to that of each vehicle s current direction, halting each vehicle abruptly, and holding each vehicle at its halted position. Enable Digital I/O Commands Select to enable the sending and receiving of Digital I/O Commands between the PLC and the HLC. The default is selected (true). Use Extended Vehicle Status Select to use the MMI_extended_vehicle_status tag (refer to the Host Controller EtherNet/IP Communication Protocol User Manual). Clear to use the MMI_vehicle_status tag. The default is cleared (false) Rev. C

163 UI Reference Configuration Enable System Monitoring 1 Select to enable the use of the system monitoring UDTs. The default is cleared (false). NOTE: This feature is only active on certain custom configurations. Enable Motor Inverter Command 2 Select to enable the use of the motor inverter control UDTs. The default is cleared (false). NOTE: This feature is only active on certain custom configurations. Enable Sensor Mapping 2 Select to enable the use of the sensor mapping UDTs. The default is cleared (false). NOTE: This feature is only active on certain custom configurations. Sensor Maps per Push Period The number of Paths to update in PLC memory each time the HLC pushes QuickStick HT motor sensor map data to PLC memory. The default is 8. Enable Sensor Mapping must be selected. Sensor Map Push Period The period (in milliseconds) to send the next batch of QuickStick HT motor sensor map data to PLC memory. The default is Enable Sensor Mapping must be selected. 1. This feature is only available for QS 100 systems. 2. This feature is only available for QSHT systems. QuickStick Configurator User Manual 165

164 UI Reference Configuration HLC Control Group Settings The HLC Control Group is used only when the transport system has been subdivided into smaller transport systems (Control Groups) where each Control Group has its own High Level Controller. The HLC Control Group Settings page is used to identify one of these Control Groups as the Master Control Group with its HLC providing Vehicle ID management across all Control Groups when Gateway Nodes are used to transfer vehicles from one Control Group to another (refer to Gateway Node on page 184). The HLC Control Group Settings page, shown in Figure 4-16, is accessed by selecting the HLC Control Group category from the Configuration Tree (refer to Defining HLC Control Groups on page 54 for usage). Figure 4-16: HLC Control Group Settings Page Enable HLC Control Group Select to enable use of HLC Control Groups. The default is cleared (off). HLC Control Group Role Identifies the type of HLC within the Control Group. The default is Slave. Master The HLC operates as the Vehicle Master and coordinates Vehicle IDs across all Control Groups. There can only be one Master per transport system. Slave The HLC operates as a Vehicle Slave and receives Vehicle ID coordination from the HLC designated as the Master. Number of HLCs The number of Control Groups in the transport system (each Control Group must have its own High Level Controller). The HLC that is running the Vehicle Master function is counted (that is, a system with one master and one slave will have two HLCs). The default is 2. Only available when the HLC is designated as the Master. HLC Master IP Address The IP address of the HLC Master in the transport system. Only available when the HLC is designated as the Master. HLC Slave n IP Address The IP address of each HLC Slave in the transport system. Only available when the HLC is designated as the Master Rev. C

165 UI Reference Configuration Paths Paths are used to define the route that a vehicle travels. The Path Details page, shown in Figure 4-17, is accessed by selecting any Path from the Paths list within the Configuration Tree (refer to Create and Edit Paths on page 60 for usage). Figure 4-17: Path Details Page ID A unique numerical identifier for the Path (must be a positive integer). Name An optional name for the Path for reference. This name is not used, or displayed, by the transport system. Valid characters are: a-z, A-Z, 0-9,!#$%'*+-/=?^_ `{ }~"(),:;@[\] and space. Upstream Port Identifies the port where the Path s Upstream End is connected via an RS-422 communication cable. The Upstream ends of all Paths must connect to a Node Controller. The default is None. Downstream Port Identifies the port where the Path s Downstream End is connected via an RS-422 communication cable. The Downstream ends of Paths only need to connect to a Node Controller in certain circumstances. The default is None. E-Stop Bit Number Identifies the Digital Input bit for an optional E-Stop button. The default is None. Interlock Bit Number Identifies the Digital Input bit for an optional interlock. The default is None. Arrival Position Tolerance Used when the tolerance for this Path must be different from the global setting (refer to Arrival Position Tolerance on page 160). Only available when Advanced Parameters is selected in the Options menu in the Configurator menu bar. The default is 0.0 m (use the Global Settings value). QuickStick Configurator User Manual 167

166 UI Reference Configuration Arrival Velocity Tolerance Used when the tolerance for this Path must be different from the global setting (refer to Arrival Velocity Tolerance on page 161). Only available when Advanced Parameters is selected in the Options menu in the Configurator menu bar. The default is 0.0 m/s (use the Global Settings value). Length The total length of the Path as calculated from the motor sections included in the Path. If the number or type of motors, or the spacing between motors, is changed this value is updated to the new length Rev. C

167 UI Reference Configuration Motors Motors are used to move the vehicles on the track. To simplify configuration, Motor Defaults are used to predefine all of the settings for the motors, such as motor type, on a Path before they are added. Once the motors have been added to the Path, changes to specific motors, such as motor type, can be made by opening the page for that motor, which provides a subset of the properties on the Motor Defaults page (refer to Edit a Motor on page 71 for usage). Motor Defaults The Motor Defaults page, shown in Figure 4-18, is accessed by selecting Motor Defaults under a Path in the Configuration Tree (refer to View and Edit Motor Default Parameters on page 64 for usage). This page provides the default settings for all motors added to the Path where it is located. NOTE: Changes made to the parameters displayed within the Motor Defaults page will propagate to all motors that have already been added to a Path. Any parameter that has been changed for a specific motor will not be affected if changes are made on the Motor Defaults page. Once a motor has been added to a Path, changes to parameters specific to the individual motor are made using the motor specific configuration pages. To display a motor s associated configuration page, select the Motor ID assigned to the motor in the Configuration Tree. Motor specific pages contain a subset of the properties displayed on the Motor Defaults page. QuickStick Configurator User Manual 169

168 UI Reference Configuration Figure 4-18: Motor Defaults Page Rev. C

169 UI Reference Configuration Vehicle Magnet array type Identifies the type of magnet arrays used on the vehicle. Available through Motor Defaults only. The default is QS_100. QS_100 Select if the transport system is using QS 100 motors. QS_HT Select if the transport system is using QS HT motors. Magnet array length Identifies the length of the magnet array used for movement and position sensing. The magnet array length is determined by the total number of cycles and poles for the magnet array. Available through Motor Defaults only. The default is 2 cycles, 5 poles. Cycles The number of North-South-North pole groups. Poles The number of poles in the array (two cycles share one North pole). Vehicle Length Physical length of the vehicle measured from end to end (see Figure 4-19). The length is typically defined as longer than the actual vehicle length to account for the vehicle s corners in curves (based on the actual vehicle geometry and curve radius). The Vehicle Length should include any overhang from the payload the vehicle is transporting, see Define Vehicle Defaults on page 66. Available through Motor Defaults, or for individual motors when Advanced Parameters is selected. The default is m. Vehicle Length Magnet Array Length Vehicle Back Forward Magnet Poles Pitch Vehicle Center Line Propulsion Array Offset Figure 4-19: Vehicle and Magnet Array Propulsion Array Offset Distance from the physical center of the vehicle to the forward edge of the propulsion array (see Figure 4-19). Available through Motor Defaults only. The default is m. The Propulsion Array Offset and the Vehicle Length are used to define the location of the front and rear edges of the vehicle for collision avoidance purposes. Number of Bogies The number of sections on the bottom of a vehicle that contain magnet arrays. Single bogie vehicles contain one fixed magnet array. Double bogie vehicles contain two magnet arrays, typically each magnet array is fixed to a pivoting vehicle section or the sections are connected to each other with an articulated linkage. Double bogies are used to provide additional thrust or better motor coverage in curves. Available through Motor Defaults only. The default is 1. NOTE: All vehicles in the transport system must use the same number of bogies. QuickStick Configurator User Manual 171

170 UI Reference Configuration Motor Gap Between Bogies The space between the inner edges of the magnet arrays on each of the vehicles. Only applies when there are double bogies on the vehicles. Units are in cycles (1 cycle = 48 mm for QS 100 and 120 mm for QS HT). The number entered must be an integer. For example, if the magnet arrays are QS 100 and are separated by 200 mm, enter 4 (200/48 ~ 4). Available through Motor Defaults only. The default is 0 cycles. Interbogie Position Correction Corrects the skewing of independent magnet arrays when the vehicle travels on curves in the transport system. Only applies when there are double bogies on the vehicles. Available through Motor Defaults only. The default is 0m. Motor Type Provides a menu listing the available motor types for selection of the type of motor being used according to the transport system layout. The default is QS_ G2_100. If QS_100 is selected as the Magnet Array Type in the Vehicles section of the Motors page, select one of the following motor types according to the transport system layout: QS_G2_ mm QuickStick 100A linear synchronous motor. QS_G2_100_HALF 500 mm QuickStick 100A linear synchronous motor. If QS_HT is selected as the Magnet Array Type in the Vehicles section of the Motors page, select one of the following motor types according to the transport system layout: QS_G2_HT 1000 mm QuickStick High Thrust linear synchronous motor (standard and submersible). One motor connected to one QSMC or QSMC-1 motor controller. QS_G2_HT_HALF 500 mm QuickStick High Thrust linear synchronous motor (standard and submersible). One motor connected to one QSMC-2 motor controller. QS_G2_HT_DUAL_HALF Two 500 mm QuickStick High Thrust linear synchronous motors (standard and submersible). Two contiguous motors connected to one QSMC-2 motor controller. QS_G2_HT_HALF_DW 500 mm QuickStick High Thrust double wide linear synchronous motor (standard and submersible). One motor connected to one QSMC motor controller. On Curve Select if the QuickStick motor is located on a curve on the transport system layout. The default is cleared (off). Gap Downstream #1 The physical space between the rear end of one motor and the front end of the next abutting motor (also referred to as the Motor Gap). The default is 0.0 m. The minimum space is 2.0 mm. NOTE: The additional distance, inside the motor, from the end of the stator to the end of the motor housing, for both ends of abutting motors is automatically Rev. C

171 UI Reference Configuration added to this distance and is specific to the motor type and size. For detailed information about calculating the motor gap based upon the motor type, refer to either the QuickStick 100 User Manual, or the QuickStick HT User Manual. Gap Downstream #2 The physical space between the rear end of one motor and the front end of the next abutting motor (also referred to as the Motor Gap). The Gap Downstream #2 parameter only applies when using 1000 mm QS HT and QS HT Dual Half motors. The default is 0.0 m. The minimum space is 2.0 mm. NOTE: The additional distance, inside the motor, from the end of the stator to the end of the motor housing, for both ends of abutting motors is automatically added to this distance and is specific to the motor type and size. For detailed information about calculating the motor gap based upon the motor type, refer to either the QuickStick 100 User Manual, or the QuickStick HT User Manual. Acceleration Limit Upper acceleration/deceleration limit to set for the motor. Ensure that the limit set is within the specification of the motor, otherwise overshooting and collisions are possible. If the value is less than the system limit, vehicle motion that exceeds the value specified will be limited to the specified value. The default is 5.0 m/s 2 (this value is system dependent, refer to the system maximums shown in Table A-2, Transport System Motion Limits, on page 206). Velocity Limit Upper velocity limit to set for the motor. Ensure that the limit set is within the specification of the motor. In some instances this limit will be lower than the velocity maximum specified for the Path where the motor is located. For example, if a section of the Path requires lower velocity enforced by the motors (to slow down for a curve for instance), those motors near the curve can have a lower velocity limit. If the value is less than the system limit, vehicle motion that exceeds the value specified will be limited to the specified value. The default is 2.5 m/s (this value is system dependent, refer to the system maximums shown in Table A-2, Transport System Motion Limits, on page 206). Arrival Position Tolerance The maximum distance that a vehicle may deviate from its actual destination for the motor to consider the vehicle as having arrived at its destination. If the tolerance is set too small, and the vehicle cannot stop within that tolerance, then the vehicle will appear to have not arrived at its commanded position and the motor will continue trying to move the vehicle to its destination. The default is m. NOTE: The Arrival Position Tolerance and the Arrival Velocity Tolerance are used together to ensure the vehicle has arrived. A vehicle will not be considered to have arrived at its destination by the motor (even if the Arrival Position Tolerance is met) if the Arrival Velocity Tolerance is not met. When a vehicle arrives within the arrival position and velocity tolerances the motor will notify the High Level Controller by asynchronously sending a Vehicle Status Update message. QuickStick Configurator User Manual 173

172 UI Reference Configuration Arrival Velocity Tolerance The maximum velocity of a vehicle for the motor to consider the vehicle as not moving and having arrived at its destination. If the tolerance is set too small, and the vehicle velocity cannot reach within the tolerance, then the vehicle will appear to have not arrived at its commanded position and the motor will continue trying to move the vehicle to its destination. The default is m/s. NOTE: The Arrival Velocity Tolerance and the Arrival Position Tolerance are used together to ensure the vehicle has arrived. A vehicle will not be considered to have arrived at its destination by the motor (even if the Arrival Velocity Tolerance is met) if the Arrival Position Tolerance is not met. When a vehicle arrives within the arrival position and velocity tolerances the motor will notify the High Level Controller by asynchronously sending an internal Vehicle Status Update message. Constant Thrust Defines the constant thrust applied to vehicles for sloped transport systems. The default is 0.0 N. Drag Compensation Thrust Used to compensate for friction. This force is applied in the direction that a vehicle needs to move to arrive at the destination (and ramps down to zero when near the destination). The default is 0.0 N. Control Loop Parameters 16 sets of Control Loop Parameters are available for configuration and use for PID loop control. Specific sets of parameters may be specified through either the Host Controller TCP/IP Communication Protocol or the Host Controller EtherNet/IP Communication Protocol. Available through Motor Defaults, or for individual motors when Show Per Motor Control Loop Parameters is selected. Set 0 Always enabled. Predefined as the set to be used for Unloaded vehicles when Set 1 is also enabled. Set 1 If enabled, predefined as the set to be used for Loaded vehicles. Sets 2-14 Available for defining varying payload and velocity requirements. Set 15 Predefined as startup PID values. This PID set is automatically used during startup. If it is not enabled (unchecked), PID Set 0 is scaled by 25% and used for startup. Different PID sets can be defined to account for such things as incremental changes in payload and to meet desired vehicle acceleration and velocity during operation. Once enabled within the Configurator, and saved in the Node Controller Configuration file, a PID set becomes available for use within vehicle move commands. Vehicle move commands are executed through either the Host Controller TCP/IP Communication Protocol, the Host Controller EtherNet/IP Communication Protocol, or the NC Host Utility. When a move command is issued, the sending application references a specific PID Set by its index number, as defined within the Configuration file. For each PID Set, the following parameters apply. The PID Loop Set Enable check box must be selected (checked) in order for the parameters associated with a specific PID Set to be Rev. C

173 UI Reference Configuration saved and available to host application(s) from the Configuration File when the specified control loop parameter set is specified in a command: PID Loop Set Enable Select to specify the use of specific control loop parameter sets. The default is cleared (unchecked) for all sets except Set 0. Vehicle Mass The mass of the vehicle at all times (vehicle + magnet_array + payload). The default is 2.0 kg. The unloaded mass must be (vehicle + magnet array). The loaded mass must be (vehicle + magnet array + payload). Proportional Gain (Kp) Control loop proportional gain (controls the amount of force applied proportional to the position error). The default is 600 N/m/kg. Integral Gain (Ki) Control loop integral gain (controls the amount of force applied proportional to the integral loop gain error, correcting errors in position over time). The default is 3 N/(m s)/kg. Derivative Gain (Kd) Control loop derivative gain (controls the amount of force applied proportional to the velocity error, providing damping in the control loop). The default is 37 N/(m/s)/kg. Feed Forward Scale (Kff) Control loop feed forward scale (increases or decreases the feed-forward force without affecting other control loop gains). The feed-forward force normally applies the correct amount of force to achieve the desired acceleration based on the specified mass. The default is 100%. Advanced Parameters The following parameters are only available when Advanced Parameters is selected in the Options menu in the Configurator menu bar. Thrust Constant The thrust constant of the motor per cycle of engaged magnet array (refer to Figure 4-19). One cycle for a standard magnet array is 48 mm long and is comprised of one full-size magnet and two half-size magnets. When the magnet array consists of more than one cycle the half-size magnets from adjoining cycles are combined into one full-size magnet. The thrust constant varies with the gap between the magnet array and the motor (refer to the QuickStick 100 User Manual or the Quick- Stick HT User Manual). The default is N/A/cycle. Integrator Always On The Integrator Velocity Threshold and Integrator Distance Threshold options are ignored when selected. This should be cleared if vehicles on the motor will be held at a specific position by an external mechanism to prevent PID Loop windup. The default is selected (on). Integrator Velocity Threshold The velocity below which the PID control loop integrator is enabled. The default is 0.1 m/s. Integrator Distance Threshold The distance to the destination below which the PID control loop integrator is enabled. If set to -1.0 m, the integrator is always on unless disabled due to another setting. The default is -1.0 m. QuickStick Configurator User Manual 175

174 UI Reference Configuration Keepout Areas Keepout Areas are sections of a Path where the motors will not allow a vehicle to enter unless it has permission (from the motors) to move completely past the area. It is typically used near merge points to keep two vehicles from merging onto one Path at the same time or in areas where some other action needs to occur that requires the area to be clear (such as closing a fire door). If vehicle movement is suspended (E-Stop, Interlock, or a Suspend command is issued), any vehicle in the Keepout Area will move beyond the Keepout Area and then decelerate to a stop (refer to Configure Keepout Areas on page 73 for usage). NOTE: Keepout Areas may start using a section of a motor but must always end at the end of a motor. No Move Permission Before For vehicles moving upstream, the position relative to the start of the motor where the Keepout Area begins. Note that all motors in the desired area must have this value set correctly for proper operation. Maximum is 6.0 m. The default is 0.0 m (not in a Keepout Area). No Move Permission After For vehicles moving downstream, the position relative to the start of the motor where the Keepout Area begins. Note that all motors in the desired area must have this value set correctly for proper operation. The default is 5.0 m (not in a Keepout Area) Rev. C

175 UI Reference Configuration Motor #n in Path n The Motor page, shown in Figure 4-20, is accessed by selecting a specific motor under a Path in the Configuration Tree (refer to Edit a Motor on page 71 for usage). This page provides the settings for individual motors on the Path where it is listed. All of the parameters presented are described in Motor Defaults on page 169. NOTE: The Vehicle and Advanced Parameters sections are only displayed when Show Advanced Parameters is selected in the Options menu in the Configurator menu bar. The Control Loop Parameters section is only displayed when Show Per Motor Control Loop Parameters is selected in the Options menu in the Configurator menu bar. Figure 4-20: Motor Page QuickStick Configurator User Manual 177

176 UI Reference Configuration Stations Stations are used to define a specific position on a Path to send a vehicle. The Station page, shown in Figure 4-21, is accessed either by expanding the Stations list under a Path in the Configuration Tree or by expanding the All Stations list and selecting the appropriate station (refer to Create and Edit Stations on page 116 for usage). Figure 4-21: Stations Page ID A unique numerical identifier for the station within the transport system (must be a positive integer). Name An optional name for the station for reference. This name is not used, or displayed, by the transport system. Valid characters are: a-z, A-Z, 0-9,!#$%'*+-/=?^_ `{ }~"(),:;@[\] and space. Location Position on the Path where the station is located, measured from the beginning of the Path. The default is 0.0 m. Path n Length The total length of the Path as calculated from the motor sections included in the Path where the station is located. If the number or type of motors, or the spacing between motors, is changed this value will change Rev. C

177 UI Reference Configuration Single Vehicle Areas Single Vehicle Areas (SVA) are used to define an area on a Path where only one vehicle at a time may enter and move. The Single Vehicle Area page, shown in Figure 4-22, is accessed by expanding the Single Vehicle Areas list under a Path in the Configuration Tree and selecting the appropriate Single Vehicle Area (refer to Create and Edit Single Vehicle Areas on page 120 for usage). Figure 4-22: Single Vehicle Areas Page NOTE: Two or more Single Vehicle Areas that are defined in the same direction cannot overlap. Single Vehicle Areas that are defined in opposite directions can overlap; that is, an SVA for downstream motion can cover some or all of an SVA for upstream motion. Type Provides a menu listing the area types by direction of movement on the Path. The default is Downstream. Downstream Motion on the Path where the Single Vehicle Area is located is downstream (forwards). Upstream Motion on the Path where the Single Vehicle Area is located is upstream (backwards). Start Location Starting position for the Single Vehicle Area, measured from the beginning of the Path where the area is located. The default is 0.0 m. End Location Ending position for the Single Vehicle Area, measured from the beginning of the Path where the area is located. The default is 0.0 m. Path Length The total length of the Path as calculated from the motor sections included in the Path where the area is located. If the number or type of motors, or the spacing between motors, is changed this value will change. QuickStick Configurator User Manual 179

178 UI Reference Configuration Simulated Vehicles Simulated Vehicles are used to create simulated vehicles for use in transport system testing. The Simulated Vehicle page, shown in Figure 4-23, is accessed by enabling Show Simulated Vehicles in the Options menu in the Configurator menu bar then expanding the Simulated Vehicles list under a Path in the Configuration Tree and selecting the appropriate Simulated Vehicle (refer to Create and Edit Simulated Vehicles on page 141 for usage). The Simulated Vehicle is a simulated version of the vehicle defined on the Motors page. Figure 4-23: Simulated Vehicles Page Location The starting position for the simulated vehicle measured from the beginning of the Path. The default is 0.0 m. Path Length The total length of the Path as calculated from the motor sections included in the Path where the simulated vehicle will start. If the number or type of motors, or the spacing between motors, is changed this value will change Rev. C

179 UI Reference Configuration Nodes Nodes are used to define the connections between Paths. The Node page, shown in Figure 4-24, is accessed by expanding the Nodes list in the Configuration Tree and selecting the appropriate Node (refer to Create and Edit Nodes on page 74 for usage). The properties pages for the different Node types are provided after the description of the basic Nodes page. Note that only the additional properties for each Node type are described. Figure 4-24: Node Page ID A unique numerical identifier for the Node (must be a positive integer). Name An optional name for the Node for reference. If used, the name is displayed on the Node Controller properties page. Node Type Provides a menu listing all available Node types. The default is None. None The Node type has not been specified. Simple Begins a Path. Relay Connects the end of one Path and the beginning of another Path. Terminus Connects a Path on the transport system to an external system to allow vehicles to move to or from the transport system. Gateway Connects two independent Paths, with each Path managed by separate Control Groups. Separate HLCs must be configured to manage each independent Control Group. Merge Connects two Paths to a third Path. Diverge Connects one Path to two additional Paths. Shuttle Connects a Path, mounted on an HLC-controlled mechanism that moves that Path to other Paths at multiple locations. Overtravel Node Permits a vehicle to move past the end of the motor at the end of a Path. Moving Path Node Connects Paths, mounted on a Host-controlled mechanism that moves those Paths to other Paths at multiple locations. QuickStick Configurator User Manual 181

180 UI Reference Configuration Simple Node A Simple Node is used to begin a Path that is not connected to anything else at the upstream end (refer to Simple Node on page 76 for configuration). The additional properties for the Simple Node are described after Figure Relay Node Figure 4-25: Simple Node Properties Exit Path ID Provides a menu listing all Paths in the transport system for selection of the Path exiting the Node. The default is None. A Relay Node is used to connect the downstream end of one Path and the upstream end of another Path (refer to Relay Node on page 78 for configuration). The additional properties for the Relay Node are described after Figure Figure 4-26: Relay Node Properties Entry Path ID Provides a menu listing all Paths in the transport system for selection of the Path entering the Node. The default is None. Exit Path ID Provides a menu listing all Paths in the transport system for selection of the Path exiting the Node. The default is None. Clear On Startup Identifies the method for handling collision avoidance (by the system or the end-user, refer to Clear on Startup on page 106). The default is cleared (the system will check for additional space on Paths connected to the Node) Rev. C

181 UI Reference Configuration Terminus Node A Terminus Node is used to move vehicles to or from another system (refer to Terminus Node on page 80 for configuration). It may be located at either the upstream or downstream end of a Path. The additional properties for the Terminus Node are described after Figure Figure 4-27: Terminus Node Properties Path Provides a menu listing all Paths in the transport system for selection of the Path where the Node is located. The default is None. Path End Provides a menu for selection of the Path end where the Node is located. The default is Upstream. Downstream The Node is located at the downstream end of the Path (end of the Path). Upstream The Node is located at the upstream end of the Path (beginning of the Path). Clear On Startup Identifies the method for handling collision avoidance (by the system or the end-user, refer to Clear on Startup on page 106). The default is cleared (the system will check for additional space on Paths connected to the Node). QuickStick Configurator User Manual 183

182 UI Reference Configuration Gateway Node A Gateway Node is used for interconnecting Paths between independent Control Groups. Once configured, vehicles will be able to pass freely between transport system subdivisions (each managed by its own HLC Control Group) while keeping their currently assigned Vehicle IDs. NOTE: Each transport system subsection must be configured as its own HLC Control Group, one of which must also be configured to operate as the role of Vehicle Master HLC. All other Control Groups must be configured as Vehicle Slave HLCs. There is a maximum of two Gateway Nodes per NC. One located at the upstream end of a Path and one located at the downstream end of a Path. The Gateway Nodes do not need to be located on the same Path. There is a maximum of 16 Control Groups. There is a maximum of 64 Node Controllers per Control Group. The additional properties for the Gateway Node are described after Figure 4-28 (refer to Gateway Node on page 82 for configuration). Figure 4-28: Gateway Node Properties Path Provides a menu listing all Paths in the transport system for selection of the Path where the Node is located. The default is None. Path End Provides a menu for selection of the Path end where the Node is located. The default is Upstream. Downstream The Node is located at the downstream end of the Path (end of the Path). Upstream The Node is located at the upstream end of the Path (beginning of the Path) Rev. C

183 UI Reference Configuration Peer IP Address The IP address of the Node Controller responsible for the Gateway Node in the other Control Group. Both Node Controllers must be on the same local subnet. Peer Node ID The Node ID of the Gateway Node in the other Control Group. The default is None. Dest. Path ID The Path ID of the default destination Path for vehicles entering the Control Group through this Gateway Node (this is typically the Path connected to the Gateway Node). The default is None. Dest. Position The default position on the Path specified in the Dest. Path ID field, where vehicles will move once they enter the Control Group through this Gateway Node (the vehicle will stop at this position if it has no pending vehicle movement order). The default is 0.0 m. Clear On Startup Identifies the method for handling collision avoidance (by the system or the end-user, refer to Clear on Startup on page 106). The default is cleared (the system will check for additional space on Paths connected to the Node). QuickStick Configurator User Manual 185

184 UI Reference Configuration Merge Node A Merge Node is located where the downstream ends of two Paths connect to the upstream end of a third Path (refer to Merge Node on page 85 for configuration). The additional properties for the Merge Node are described after Figure Path List Figure 4-29: Merge Node Properties Anticipate Switch Feedback Identifies if switch position monitoring will be handled by the system or the end-user. The default is cleared (off). If cleared (off), the Node Controller checks to ensure the switch is in the proper position before allowing vehicles to enter. If selected (on), the Host Controller is responsible for making sure the switch is in the proper position before allowing vehicles to enter. Simulated Move Time The amount of time it takes for the switch mechanism to change directions in milliseconds. This time will be used when running in Simulation mode. The default is 500 ms. Entries and Exits Lists the entry and exit Paths for the Node. Path Provides menus listing all Paths in the transport system for selection of the two entry Paths and the exit Path where the Node is located. The default is None. Digital I/O Input Bit Provides menus listing all of the digital I/O input bits on the Node Controller responsible for this Node for selection of the I/O input bit that will be used to indicate the position of the switch. This bit must be set high when the switch is in the specified position. Not used when Anticipate Switch Feedback is selected. The default is None Rev. C

185 UI Reference Configuration Digital I/O Output Bit Provides menus listing all of the digital I/O output bits on the Node Controller responsible for this Node for selection of the I/O output bit that will be used to specify the desired position of the switch. This bit is set high when the switch is requested to move to the specified position. The default is None. Clearance Distance The location, in meters, where a vehicle s trailing edge is considered cleared from the Node. Applies to the trailing edge for all vehicles exiting the switch, regardless of vehicle direction. The default is 0.0 m (see Node Clearance Distances and Entry Gate Positions on page 107). Entry Gate ID A Configurator specified unique ID number for each Entry Gate. The number is automatically assigned when a Path is specified for that Entry or Exit. Entry Gate Position The location, in meters, of the Entry Gate on the specified Path. The Entry Gate Position identifies the minimum distance vehicles can be located on a Merge Node Path, without risking contact with the switch and/or another vehicle and its payload on an adjoining Path. Applies to all vehicles entering the switch regardless of vehicle direction. The default is 0.0 m (see Node Clearance Distances and Entry Gate Positions on page 107). Gap Delta Not applicable to Merge Nodes. QuickStick Configurator User Manual 187

186 UI Reference Configuration Diverge Node A Diverge Node is located where the downstream end of one Path connects to the upstream ends of two Paths (refer to Diverge Node on page 89 for configuration). The additional properties for the Diverge Node are described after Figure Path List Figure 4-30: Diverge Node Properties Anticipate Switch Feedback Identifies if switch position monitoring will be handled by the system or the end-user. The default is cleared (off). If cleared (off), the Node Controller checks to ensure the switch is in the proper position before allowing vehicles to enter. If selected (on), the Host Controller is responsible for making sure the switch is in the proper position before allowing vehicles to enter. Simulated Move Time The amount of time it takes for the switch mechanism to change directions in milliseconds. This time will be used when running in Simulation mode. The default is 500 ms. Entries and Exits Lists the entry and exit Paths for the Node. Path Provides menus listing all Paths in the transport system for selection of the entry Path and the two exit Paths where the Node is located. The default is None. Digital I/O Input Bit Provides menus listing all of the digital I/O input bits on the Node Controller responsible for this Node for selection of the I/O input bit that will be used to indicate the position of the switch. This bit must be set high when the switch is in the specified position. Not used when Anticipate Switch Feedback is selected. The default is None Rev. C

187 UI Reference Configuration Digital I/O Output Bit Provides menus listing all of the digital I/O output bits on the Node Controller responsible for this Node for selection of the I/O output bit that will be used to specify the desired position of the switch. This bit is set high when the switch is requested to move to the specified position. The default is None. Clearance Distance The location, in meters, where a vehicle s trailing edge is considered cleared from the Node. Applies to the trailing edge for all vehicles exiting the switch, regardless of vehicle direction. The default is 0.0 m (see Node Clearance Distances and Entry Gate Positions on page 107). Entry Gate ID A Configurator specified unique ID number for each Entry Gate. The number is automatically assigned when a Path is specified for that Entry or Exit. Entry Gate Position The location, in meters, of the Entry Gate on the specified Path. The Entry Gate Position identifies the minimum distance vehicles can be located on a Diverge Node Path, without risking contact with the switch and/or another vehicle and its payload on an adjoining Path. Applies to all vehicles entering the switch regardless of vehicle direction. The default is 0.0 m (see Node Clearance Distances and Entry Gate Positions on page 107). Gap Delta Used to correct for the difference in the distance between the downstream gap of the last motor on the entry Path and the front end of the first motor on each exit Path. The default is 0.0 m (see Gap Delta on page 109). QuickStick Configurator User Manual 189

188 UI Reference Configuration Shuttle Node A Shuttle Node is located where the downstream end of one or more Paths connects to the upstream ends of one or more Paths and a central Path mounted on a QuickStick motor is used to move a vehicle from one Path to another (refer to Shuttle Node on page 93 for usage). The additional properties for the Shuttle Node are described after Figure Figure 4-31: Shuttle Node Properties Path ID on Shuttle Provides a menu listing all Paths in the transport system for selection of the Path being used as the shuttle. The default is None. Drive Path ID Provides a menu listing all Paths in the transport system for selection of the Path being used as the drive Path (moving the shuttle Path). The default is None. Velocity With Load Shuttle velocity when a vehicle is on the shuttle. The default is 0.5 m/s. Acceleration With Load Shuttle acceleration/deceleration when a vehicle is on the shuttle. The default is 2.0 m/s 2. Velocity Without Load Shuttle velocity when the shuttle is empty. The default is 1.0 m/s. Acceleration Without Load Shuttle acceleration/deceleration when the shuttle is empty. The default is 3.0 m/s Rev. C

189 Path List UI Reference Configuration Arrival Position Tolerance Amount of error for the shuttle position when moved to a position. The default is m. Move on Vehicle Clearance Specifies the shuttle should start moving as soon as the vehicle has entered the shuttle Path and cleared its previous Path. The default is cleared (off). Entries and Exits Provides a menu to specify the Path s relationship to the Node. The default is None. Entry The Path at this position is an entry to the shuttle. Exit The Path at this position is an exit from the shuttle. None There is no Path at this position. Path Provides menus listing all Paths in the transport system for selection of the Entry Paths and Exit Paths where the Node is located. The default is None. Position The position of the shuttle, in meters (measured from the beginning of the Drive Path), to provide access to the Entry and Exit Paths. The default is 0.0 m. QuickStick Configurator User Manual 191

190 UI Reference Configuration Overtravel Node An Overtravel Node is used to permit a vehicle to move past the end of the motor at the end of a Path (refer to Overtravel Node on page 96 for usage). Additional support structure (guideway) for the vehicle must be provided, or the vehicle s supports (wheels) must not be allowed to move past the end of the Path (guideway). If appropriate cautions are not taken for the vehicle it could fall off of the guideway or get caught on the end of the guideway preventing further movement. The additional properties for the Overtravel Node are described after Figure NOTE: There is only a certain amount of thrust and attractive force available per magnet array cycle. Ensure the magnet array on the vehicle has enough coverage to allow the motor to exert enough force on the vehicle to move it. Figure 4-32: Overtravel Node Properties Path Provides a menu listing all Paths in the transport system for selection of the Path where the Node is located. The default is None. Path End Provides a menu for selection of the Path end where the Node is located. The default is Upstream. Downstream The Node is located at the downstream end of the Path (end of the Path). Upstream The Node is located at the upstream end of the Path (beginning of the Path). Startup Direction Provides a menu for selection of the direction of initial vehicle movement during startup. The default is Upstream. Downstream The vehicle will initially be moved downstream to locate it during startup. Upstream The vehicle will initially be moved upstream to locate it during startup Rev. C

191 UI Reference Configuration Maximum Position The maximum vehicle overtravel (before an upstream Node or after a downstream Node). The default is 0.0 (no overtravel). Drive Path Specifies this is a standalone Path with an Overtravel Node at one or both ends that has a single vehicle that is longer than the Path. The default is selected (this is a drive Path). QuickStick Configurator User Manual 193

192 UI Reference Configuration Moving Path Node A Moving Path Node is used to connect the ends of fixed Paths to the ends of Paths being moved by a Host-controlled mechanism (refer to Moving Path Node on page 100 for usage). The mechanism providing the movement may be any user-supplied mechanism including QuickStick motors. The additional properties for the Moving Path Node are described after Figure Use of the Moving Path Node requires the Host Controller to command the drive mechanism to position an Entry Path so that it aligns with an Exit Path. The Host Controller must then issue a Link command (refer to the Host Controller TCP/IP Communication Protocol User Manual or the Host Controller EtherNet/IP Communication Protocol User Manual) to connect the two Paths to allow vehicle movement. Once the vehicle has moved beyond the Node the Paths must be unlinked before the Moving Path may be moved to a new position. Figure 4-33: Moving Path Node Properties Entry Paths Route Type Provides a menu for selection of the type of routing that will be used when the moving Path is an Entry Path. An Entry Path is a Path whose downstream end is a member of the Moving Path Node. A vehicle moving downstream enters the Node on an Entry Path. The default is Specific-route. Specific-route Used if the Entry Path is fixed and only a specific Moving Path in the Node can satisfy the route. The HLC requests alignment of specific Paths Rev. C

193 Path List UI Reference Configuration Equivalent-route Used if the Entry Path is a Moving Path and any Moving Path in the Node can satisfy the route. The Host Controller identifies and aligns equivalent Paths. Exit Paths Route Type Provides a menu for selection of the type of routing that will be used when the moving Path is an Exit Path. An Exit Path is a Path whose upstream end is a member of the Moving Path Node. A vehicle moving downstream exits the Node on an Exit Path. The default is Specific-route. Specific-route Used if the Exit Path is fixed and only a specific Moving Path in the Node can satisfy the route. The HLC requests alignment of specific Paths. Equivalent-route Used if the Exit Path is a Moving Path and any Moving Path in the Node can satisfy the route. The Host Controller identifies and aligns equivalent Paths. Clear On Startup Identifies the method for handling collision avoidance (by the system or the end-user, refer to Clear on Startup on page 106). The default is cleared (the system will check for additional space on Paths connected to the Node). Entries and Exits Provides a menu for selection of the Path s relationship to the Node. The default is None. Entry The Path at this position is an entry to the Moving Path Node. Exit The Path at this position is an exit from the Moving Path Node. None The entry is not used. Path Provides menus listing all Paths in the transport system for selection of the Entry Paths and Exit Paths where the Node is located. The default is None. Clearance Distance The location, in meters, where a vehicle s trailing edge is considered cleared from the Node. Applies to the trailing edge for all vehicles exiting the Node, regardless of vehicle direction. The default is 0.0 m (see Node Clearance Distances and Entry Gate Positions on page 107). Entry Gate ID A Configurator specified unique ID number for each Entry Gate. The number is automatically assigned when a Path is specified for that Entry or Exit. Entry Gate Position The location, in meters, of the Entry Gate on the specified Path. The Entry Gate Position identifies the minimum distance vehicles can be located on a Moving Path Node Path, without risking contact with the Moving Path mechanism and/or another vehicle and its payload on an adjoining Path. Applies to all vehicles entering the Node regardless of vehicle direction. The default is 0.0 m (see Node Clearance Distances and Entry Gate Positions on page 107). Gap Delta Used to correct for the difference in the distance between the downstream gap of the last motor on the entry Path and the front end of the first motor on each exit Path. The default is 0.0 m (see Gap Delta on page 109). QuickStick Configurator User Manual 195

194 UI Reference Configuration Node Controllers Node Controllers are used to provide monitoring and control of the Nodes, Paths, and motors in the transport system. The Node Controller page, shown in Figure 4-34, is accessed by expanding the Node Controllers list in the Configuration Tree and selecting the appropriate Node Controller (refer to Define a Node Controller on page 112 for usage). Figure 4-34: Node Controllers Page ID A unique numerical identifier for the Node Controller (must be a positive integer). Name An optional name for the Node Controller for reference. This name is not used, or displayed, by the transport system. IP Address IP address of the Node Controller. Digital I/O Board Type Provides a menu of the types of digital I/O boards that may be installed in the Node Controller. The default is None. None No digital I/O board installed. Relay 8 Bit Provides 8 relay digital inputs and 8 relay digital outputs (only provided for legacy Node Controllers). Solid State 16 Bit Provides 16 optically isolated solid state digital inputs and 16 optically isolated solid state digital outputs (typical for NC-12 Node Controllers). Node Ownership Control This section provides the tools to select the Nodes that are controlled by this Node Controller. Node ID Provides a menu listing all Nodes in the transport system for selection of a Node to be controlled, or released, by the Node Controller. The default is Rev. C

195 UI Reference Configuration Take Ownership Causes the Node Controller to take ownership of the selected Node. The Node will be listed in the Owned Nodes List and all Paths associated with the Node will be listed in the Node Connection List. Remove Ownership Causes the Node Controller to release ownership of the selected Node. The Node will be removed from the Owned Nodes List and all Paths associated with the Node will be removed from the Node Connection List. Owned Nodes List Lists the Nodes, their type, and their optional name being controlled by the Node Controller. Node Connection List Path ID Shows the ID of the Path(s) connected to the Node. Path End Identifies the end of the Path(s) connecting to the Node (Upstream or Downstream). Node Membership Identifies the Node and the way the Path connects to the Node (Enters or Exits). RS-422 Port Provides a menu listing the maximum number of RS-422 I/O ports available on any Node Controller for selection of the port to be used for the Path End connected to the Node. For an NC-12 Node Controller, all 12 ports can be used. For a Node Controller LITE, only ports 1-4 can be used. QuickStick Configurator User Manual 197

196 UI Reference Configuration Light Stacks Light Stacks are used to display in a simple visual manner the status of the transport system, or a section of the transport system (refer to Define a Light Stack on page 130 for usage). The Light Stack page, shown in Figure 4-35, is accessed by expanding the Light Stacks list under a Node Controller in the Configuration Tree and selecting the appropriate Light Stack. Figure 4-35: Light Stack Page Run Bit Provides a menu listing all Digital Output bits in the Node Controller to identify the bit used to control the light indicating movement is permitted on the monitored Paths or Nodes is connected (typically the green light). The default is None. Warning Bit Provides a menu listing all Digital Output bits in the Node Controller to identify the bit used to control the light indicating a fault has occurred on the monitored Paths or Nodes is connected (typically the yellow light). The default is None. NOTE: Vehicle motion may continue on any Paths or Nodes that are indicating a Fault. Faults do not include the suspend signal issued by the Node Controller. Faults indicated include: Motor faults. Vehicle motion on a Path is jammed. Node device status is faulted. The HLC is degraded. Communication links have failed. Stop Bit Provides a menu listing all Digital Output bits in the Node Controller to identify the bit used to control the light indicating that all movement has stopped on the monitored Paths or Nodes is connected (typically the red light). The default is None. NOTE: When the Stop bit is high it only indicates there is no current vehicle motion, motion can resume at any time Rev. C