multi carrier

General Information

Configure your multi carrier or your robot in EcoStruxure Machine Expert. Then, open EcoStruxure Machine Expert Twin, establish an OPC UA connection to the controller and use the Auto-Generation menu to read the configuration. As a result, the assemblies are created automatically and the multi carrier catalog is displayed for reference.

For further information about the Auto-Generation menu, refer to the EcoStruxure Machine Expert Twin Getting Started User Guide.

NOTE: Due to the definition of the Track object for Lexium™ MC12 multi carrier, the multi carrier objects - except carriers - are now child objects of a Track assembly. In case you are developing your own catalog, access these items using the Entities property of the Track assembly.

Collision Detection

A collision detection function is available in EcoStruxure Machine Expert Twin. By default, collision detection is enabled and carriers that collide are displayed in red in the scene. A feedback signal is provided to the controller by using the variable xCollisionDetection of the DigitalTwinCommunication library.

To enable or disable collision detection, proceed as follows:

Step

Action

1

Select the first physical segment of a multi carrier track in the scene.

2

In the Solution Explorer view, select the option Collision Detection > Enabled.

3

With the parameter Overlapping time, configure a time span within the range of 10 ms...400 ms allowing the carriers to overlap before a collision is detected.

The default value is 64 ms that is applicable when the carriers are running with maximum velocity (4000 mm/s) and in close proximity (>5 mm).

NOTE: For collision detection between carriers to become active, enable the physical simulation by clicking the Play button.