IF_MoveGapControl - StartAntislosh (Method)

Overview

Type:	Method
Available as of:	V1.3.7.0

Task

Moving the carrier to a target position with an additional antislosh motion profile.

Description

When transporting liquids in open bottles or open containers on a Lexium™ MC multi carrier track, liquid could slosh out. To help prevent or reduce the sloshing of homogeneous liquids, you can use the method IF_MoveGapControl - StartAntislosh.

With the method IF_MoveGapControl - StartAntislosh, the carrier is moved to a given target position while maintaining a defined gap to the carrier in front or behind, similarly to the method IF_MoveGapControl - Start. Additionally, an antislosh motion profile helps to flatten the wave profile of the transported liquid. For the internal calculation of the antislosh motion profile, the natural damping coefficient and the natural frequency of the liquid, specified with the method IF_CarrierConfiguration - SetAntisloshParameter, are taken into account.

NOTE: For executing the method StartAntislosh, the liquid must be at rest.

NOTE: During the acceleration or deceleration phase of an active antislosh profile, a new StartAntislosh move command can be set but is not executed. The new move command is only executed when the carrier is in the phase of constant velocity or in standstill.

NOTE: A specified velocity limitation (see IF_Motion - SetVelocityLimitation) is not considered by the method IF_MoveGapControl - StartAntislosh.

NOTE: When executing the method StartAntislosh, you override previous move commands.

NOTE: When an antislosh mode is activated, the values for lrMaxAcceleration and lrMaxDeceleration, set with the method IF_Motion - SetMotionParameter, must be identical.

Antislosh Motion Profile

1 Acceleration phase

2 Velocity phase

3 Deceleration phase

With an open track, the carriers could leave the track at the ends. Therefore, mechanical hard stops must be mounted at both ends of an open track.

WARNING
	EQUIPMENT OPERATION HAZARD Mount mechanical hard stops at both ends of an open track. Failure to follow these instructions can result in death, serious injury, or equipment damage.

Feedbacks

Feedbacks are available in the interface IF_CarrierFeedbackMoveGapControl.

Inputs

Input	Data type	Value range	Unit	Description
i_lrTarget	LREAL	0.0 ≤ i_lrTarget ≤ lrTrackLength ⁽¹⁾	mm	Specifies the distance to the end target. The travel distance to the target depends on the positioning mode defined by the parameter i_etPosMode.
i_lrTargetGap	LREAL	0.0 ≤ i_lrTargetGap ≤ lrTrackLength ⁽¹⁾	mm	Specifies the minimum gap to the next carrier in target position. If the value for the parameter i_lrTargetGap is lower than the minimum gap defined by the parameter SetRefMinGapToCarrierInFront and/or SetRefMinGapToCarrierBehind, the target gap is internally set to this minimum gap.
i_etPosMode	ET_PosMode	–	–	For the positioning modes available, refer to the enumeration ET_PosMode. NOTE: The positioning modes Relative and Absolute are not allowed for the move command MoveGapControl.
i_etAntisloshMode	ET_AntisloshMode	–	–	For the antislosh modes Standard and Advanced, refer to the enumeration ET_AntisloshMode.
(1) For more information on the track length, refer to the parameter lrTrackLength.

Outputs

Output	Data type	Description
q_xError	BOOL	Indicates TRUE if an error has been detected. For details, refer to q_etResult and q_sResultMsg.
q_etResult	ET_Result	Provides diagnostic and status information as a numeric value. If q_xError = FALSE, q_etResult provides status information. If q_xError = TRUE, q_etResult provides diagnostic/error information.
q_sResultMsg	STRING [255]	Provides additional diagnostic and status information as a text message.

Call Examples

Before executing the method IF_MoveGapControl - StartAntislosh, the method IF_CarrierConfiguration - SetAntisloshParameter and the method IF_Motion – SetMotionParameter must be called at least once.

Example 1:

...ifConfiguration.SetAntisloshParameter(...)
...ifMotion.SetMotionParameter(...)
...ifMoveGapControl.StartAntislosh(...)

Example 2:

...ifConfiguration.SetAntisloshParameter(...)
...ifMotion.SetMotionParameter(...)
...ifMoveGapControl.StartAntislosh(...)
...ifMoveGapControl.StartAntislosh(...)