magnemotion magnemover lite configurator user manual

MagneMover LITE ConfiguratorUser Manual

2 MagneMotionRockwell Automation Publication MMI-UM008C-EN-P - August 2018

Although every effort is made to keep this manual accurate and up to date, MagneMotion® assumes no responsibility forany errors, omissions, or inaccuracies. Information that is provided in this manual is subject to change without notice. Anysample code that is referenced in this manual or included with MagneMotion software is included for illustration only andis, therefore, unsupported.

MagneMotion®, MagneMover®, QuickStick®, MML™, MM LITE™, and SYNC IT™ are trademarks or registeredtrademarks of MagneMotion, a Rockwell Automation Company. Rockwell Automation® is a registered trademark ofRockwell Automation, Inc. Microsoft® and Windows® are registered trademarks of Microsoft Corporation. EtherNet/IP™

and CIP™ are trademarks 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 patentspending.

Copyright © 2013–2018 MagneMotion, Inc., a Rockwell Automation Company. All Rights Reserved.The information included in this manual is proprietary or confidential to MagneMotion, Inc. Any disclosure,reproduction, use, or redistribution of this information by or to an unintended recipient is prohibited.

MagneMotion, Inc.A Rockwell Automation Company139 Barnum RoadDevens, MA 01434USAPhone: +1 978-757-9100Fax: +1 978-757-9200www.magnemotion.com

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.

http://www.magnemotion.com

MagneMover LITE Configurator User Manual 3Rockwell Automation Publication MMI-UM008C-EN-P - August 2018

Contents

Figures ................................................................................................................. 9

Tables................................................................................................................. 13

ChangesOverview............................................................................................................................15

Rev. A ..........................................................................................................................15Rev. B ..........................................................................................................................15Ver. 03 .........................................................................................................................16

About This Manual............................................................................................ 17Overview............................................................................................................................17

Purpose.........................................................................................................................17Audience ......................................................................................................................17Prerequisites.................................................................................................................17

MagneMotion Documentation ...........................................................................................18Manual Conventions ....................................................................................................18Notes, Safety Notices, and Symbols ............................................................................19

Notes ......................................................................................................................19Safety Notices ........................................................................................................19Symbol Identification ............................................................................................20

Manual Structure..........................................................................................................21Related Documentation................................................................................................21

Contact Information...........................................................................................................22

1 IntroductionOverview............................................................................................................................23MagneMover LITE Configurator Overview......................................................................24Transport System Components Overview .........................................................................25Transport System Software Overview...............................................................................26Getting Started with the MagneMover LITE Configurator ...............................................28

2 Using the MagneMover LITE ConfiguratorOverview............................................................................................................................31Install the MagneMover LITE Configurator .....................................................................32

Contents


Run the MagneMover LITE Configurator.........................................................................36Track Layout File Overview..............................................................................................39

Required Track Layout File Elements .........................................................................39Optional Track Layout File Elements..........................................................................39

Create and Save Track Layout Files ..................................................................................41Create a New Track Layout File..................................................................................41Save a New Track Layout File ....................................................................................41

Edit an Existing Track Layout File....................................................................................43Node Controller Configuration File Overview..................................................................45

Required Node Controller Configuration File Elements .............................................45Optional Node Controller Configuration File Elements..............................................46

Create and Save Node Controller Configuration Files ......................................................47Create a New Node Controller Configuration File ......................................................47Save a New Node Controller Configuration File.........................................................47

Edit an Existing Node Controller Configuration Files ......................................................49Upload the Node Controller Configuration File ................................................................51

3 Transport System LayoutOverview............................................................................................................................53Track Layout......................................................................................................................54Graphical Editing...............................................................................................................56

Layout Guides..............................................................................................................56Positioning Symbols ....................................................................................................57

Layout the Motors and Switches .......................................................................................58Place Motors and Switches ..........................................................................................58Define the LSM Sync Option Motors..........................................................................59Place Sync Controllers.................................................................................................60

Locate and Define the Nodes.............................................................................................61Manual Node Placement ..............................................................................................61Automatic Node Placement .........................................................................................62

Identify Direction of Forward Motion ...............................................................................64Locate the Precision Locators............................................................................................65Define Vehicles (Pucks) ....................................................................................................66Locate System Legs ...........................................................................................................67Dimension the Layout........................................................................................................68Add Descriptive Text.........................................................................................................69Define Node Controllers ....................................................................................................71Define Ethernet Hardware .................................................................................................72

Define Ethernet Switches.............................................................................................72Define Ethernet Connections .......................................................................................73

Editing the Layout .............................................................................................................74Editing Functions .........................................................................................................74

Copy Layout Elements...........................................................................................74Delete Layout Elements.........................................................................................74

Generate Configuration Files.............................................................................................75Create PDF Files ..........................................................................................................75Create Bitmap Image Files ..........................................................................................76

Contents


Automatically Place Nodes..........................................................................................77Automatically Create the Node Controller Configuration File ...................................78Clear Path Indications ..................................................................................................81

4 Transport System ConfigurationOverview............................................................................................................................83Configuration Tree.............................................................................................................84Configure Global Settings .................................................................................................85Set EtherNet/IP for a PLC .................................................................................................88Defining HLC Control Groups ..........................................................................................90

Master/Slave HLC Control Groups .............................................................................90Configuring HLC Control Groups ...............................................................................91Connecting Control Groups with Gateway Nodes ......................................................93Vehicle ID Management ..............................................................................................93Startup Considerations .................................................................................................94

Vehicle Master HLC Start or Restart.....................................................................94Vehicle Slave HLC Start or Restart .......................................................................94

Cautions .......................................................................................................................95System Startup .......................................................................................................95Vehicle ID Range Minimum and Maximum .........................................................95Terminus Node Vehicle ID Assignment................................................................95

Create and Edit Paths .........................................................................................................96Create a Path ................................................................................................................96Edit a Path ....................................................................................................................97

Define and Edit Motors and Vehicles..............................................................................100View and Edit Motor Default Parameters..................................................................100

Define Vehicle Defaults.......................................................................................102Define Motor Defaults .........................................................................................104

Define a Motor...........................................................................................................106Edit a Motor ...............................................................................................................108

Configure Keepout Areas ....................................................................................110Create and Edit Nodes .....................................................................................................112

Create a Node.............................................................................................................112Edit a Node ................................................................................................................113Node Types ................................................................................................................114

Simple Node ........................................................................................................114Relay Node ..........................................................................................................116Terminus Node ....................................................................................................118Gateway Node......................................................................................................120Merge Node .........................................................................................................123Diverge Node.......................................................................................................125Merge-Diverge Node ...........................................................................................127

Define and Edit Node Controllers ...................................................................................129Define a Node Controller...........................................................................................129Edit a Node Controller ...............................................................................................130

Create and Edit Stations...................................................................................................134Create a Station..........................................................................................................134

Contents


Edit a Station..............................................................................................................135View All Stations.......................................................................................................137

Create and Edit Single Vehicle Areas..............................................................................138Create a Single Vehicle Area.....................................................................................138Edit a Single Vehicle Area.........................................................................................139

Define and Edit E-Stops ..................................................................................................142Define an E-Stop........................................................................................................142Edit an E-Stop............................................................................................................143

Define and Edit Interlocks ...............................................................................................145Define an Interlock ....................................................................................................145Edit an Interlock.........................................................................................................146

Define and Edit Light Stacks ...........................................................................................148Define a Light Stack ..................................................................................................148Edit a Light Stack ......................................................................................................149

Editing Functions .............................................................................................................152Copy Configuration Properties ..................................................................................152Add Configuration Elements .....................................................................................153Delete Configuration Elements..................................................................................153

Options.............................................................................................................................154Station Insert Mode....................................................................................................154

Select the Station Insert Mode .............................................................................154Show Per Motor Control Loop Parameters................................................................156

Show Per Motor Control Loop Parameters..........................................................156Use Advanced Parameters .........................................................................................157

Show Advanced Parameters ................................................................................157Create and Edit Simulated Vehicles ..........................................................................158

Show Simulated Vehicles ....................................................................................158Create a Simulated Vehicle..................................................................................158Edit a Simulated Vehicle .....................................................................................159

European Number Formatting ...................................................................................162Show European Number Formatting ...................................................................162

Create the Track File..................................................................................................163

5 UI ReferenceOverview..........................................................................................................................165Window Layout ...............................................................................................................166

Window Behavior ......................................................................................................166User Interface Features ....................................................................................................167

Dialog Boxes..............................................................................................................167Messages ....................................................................................................................167Dialog Box and Window Elements ...........................................................................168

Window and Dialog Box Reference ................................................................................170Main Window ............................................................................................................170

System Layout .................................................................................................................172Layout Menu Bar .......................................................................................................172

File .......................................................................................................................173Edit.......................................................................................................................173

Contents


Action...................................................................................................................174Export...................................................................................................................174

Global Settings...........................................................................................................175Layout Area ...............................................................................................................178

Configuration ...................................................................................................................179Configurator Menu Bar..............................................................................................179

File .......................................................................................................................180Edit.......................................................................................................................180Options.................................................................................................................181Help......................................................................................................................181

Shortcut Menus ..........................................................................................................182Add Shortcut Menu..............................................................................................182Edit Shortcut Menu..............................................................................................182Insert Shortcut Menu ...........................................................................................182Copy Shortcut Menu............................................................................................183

Global Settings...........................................................................................................184PLC EtherNet/IP Settings ..........................................................................................188HLC Control Group Settings .....................................................................................190Paths...........................................................................................................................191Motors ........................................................................................................................193

Motor Defaults .....................................................................................................193Vehicle .................................................................................................................195Motor ...................................................................................................................196Control Loop Parameters .....................................................................................198Advanced Parameters ..........................................................................................199Keepout Areas......................................................................................................200Motor #n in Path n ...............................................................................................201

Stations.......................................................................................................................202Single Vehicle Areas .................................................................................................203Simulated Vehicles ....................................................................................................204Nodes .........................................................................................................................205

Simple Node ........................................................................................................206Relay Node ..........................................................................................................206Terminus Node ....................................................................................................207Gateway Node......................................................................................................208Merge Node .........................................................................................................210Diverge Node.......................................................................................................211Merge-Diverge Node ...........................................................................................212

Node Controllers........................................................................................................213Light Stacks ...............................................................................................................215All Stations ................................................................................................................217

6 TroubleshootingOverview..........................................................................................................................219MagneMover LITE Configurator Troubleshooting .........................................................220

Contents


AppendixOverview..........................................................................................................................221File Maintenance..............................................................................................................222

Backup Files ..............................................................................................................222Creating Backup Files................................................................................................222Restoring from Backup Files .....................................................................................222

Additional Documentation...............................................................................................223Release Notes.............................................................................................................223Upgrade Procedure ....................................................................................................223

Transport System Limits..................................................................................................224

Glossary ........................................................................................................... 225

Index ................................................................................................................ 231


Figures

1-1 Simplified View of MagneMover LITE Transport System Components ...................251-2 Simplified View of Transport System Software Organization ...................................26

2-1 MagneMotion Configurator Tool Installer .................................................................322-2 .NET Installation Alert ...............................................................................................322-3 MagneMotion Configurator Tool Installation Setup ..................................................332-4 MagneMotion Configurator Tool Installation Confirmation ......................................342-5 MagneMotion Configurator Tool Installation Progress ..............................................342-6 MagneMotion Configurator Tool Installation Complete ............................................352-7 MagneMotion ML Configurator Tool Icon ................................................................362-8 MagneMover LITE Configurator ...............................................................................362-9 System Layout Pane Expanded ...................................................................................372-10 Configuration Properties Pane Expanded ...................................................................382-11 Save As Track Layout File Dialog .............................................................................412-12 Document Information Dialog ....................................................................................422-13 Load Track Layout File Dialog ..................................................................................432-14 Exit MagneMotion Configurator Confirmation Message ...........................................442-15 New Configuration Confirmation Message ................................................................472-16 Save XML Configuration File Dialog ........................................................................482-17 Open XML Configuration File Dialog .......................................................................492-18 Load Node Configuration – XML Read Error ............................................................502-19 Exit MagneMotion Configurator Confirmation Message ...........................................502-20 Node Controller Web Interface – Configuration Files Page .......................................512-21 Node Controller Web Interface – Configuration File Upload Successful ..................52

3-1 System Layout Pane with Existing Track Layout ......................................................543-2 MagneMover LITE Configurator – System Layout Pane ..........................................563-3 Track Layout – Snapping Symbol Into Position .........................................................573-4 Track Layout – Repositioning Symbol .......................................................................573-5 Track Layout – Place Motors ......................................................................................583-6 Define Motors Using the LSM Sync Option ..............................................................593-7 Define SYNC-IT Controllers ......................................................................................603-8 Define Nodes ..............................................................................................................613-9 Node Type Selection Dialog .......................................................................................623-10 Identify Direction of Forward Motion ........................................................................643-11 Define Precision Locator Locations ...........................................................................653-12 Define Puck Type and Quantity ..................................................................................66

Figures


3-13 Define System Legs ....................................................................................................673-14 Dimensioning the Track Layout .................................................................................683-15 Adding Text to the Track Layout ...............................................................................693-16 Text Style Editor .........................................................................................................703-17 Define Node Controllers .............................................................................................713-18 Define Ethernet Hardware ..........................................................................................723-19 Define Ethernet Connections ......................................................................................733-20 PDF Exporter Dialog Box ...........................................................................................753-21 BMP Creation Alert ....................................................................................................763-22 Node Selected to Start Automatic Node Placement ...................................................773-23 Nodes Placed Automatically .......................................................................................773-24 Node Selected to Start Automatic Configuration .......................................................783-25 Node Placed and Selected to Start Automatic Node Placement .................................793-26 Track Layout Showing Path Indicators ......................................................................79

4-1 Global Settings Page ...................................................................................................854-2 Global Settings Page with Advanced Parameters .......................................................874-3 PLC EtherNet/IP Settings Page ..................................................................................884-4 HLC Control Group Page ...........................................................................................914-5 HLC Control Group Example .....................................................................................924-6 Path Overview .............................................................................................................964-7 Configuration Tree with Paths Selected .....................................................................974-8 Add a Path ...................................................................................................................974-9 Path Details Page with Advanced Parameters ............................................................984-10 Configuration Tree Expanded with Motors Selected ...............................................1004-11 Configuration Tree Expanded with Motor Defaults Selected ..................................1014-12 Motor Defaults Page .................................................................................................1014-13 Vehicle Length in Curves .........................................................................................1034-14 MM LITE Motor Types ............................................................................................1044-15 Configuration Tree Expanded with Motors Shown ..................................................1074-16 Configuration Tree Showing Motor Added ..............................................................1084-17 Motor Details Page ...................................................................................................1094-18 Keepout Area, Downstream Vehicle Motion ...........................................................1104-19 Keepout Area, Upstream Vehicle Motion ................................................................1114-20 Configuration Tree with Nodes Selected ..................................................................1124-21 Add a Node ...............................................................................................................1124-22 New (Undefined) Node Page ....................................................................................1134-23 Simple Node, Top View ...........................................................................................1144-24 Simple Node Properties ............................................................................................1154-25 Simple Node Example ..............................................................................................1154-26 Relay Node, Top View .............................................................................................1164-27 Relay Node Properties ..............................................................................................1164-28 Relay Node Example ................................................................................................1174-29 Terminus Node, Top View .......................................................................................1184-30 Terminus Node Properties ........................................................................................1184-31 Terminus Node Example ..........................................................................................1194-32 Gateway Node, Top View ........................................................................................120

Figures


4-33 Gateway Node Properties .........................................................................................1214-34 Gateway Node Example ...........................................................................................1224-35 Merge Node, Top View ............................................................................................1234-36 Merge Node Properties .............................................................................................1234-37 Merge Node Example ...............................................................................................1244-38 Diverge Node, Top View ..........................................................................................1254-39 Diverge Node Properties ...........................................................................................1254-40 Diverge Node Example .............................................................................................1264-41 Merge-Diverge Node, Top View ..............................................................................1274-42 Merge-Diverge Node Properties ...............................................................................1274-43 Merge-Diverge Node Example .................................................................................1284-44 Configuration Tree with Node Controllers Selected ................................................1294-45 Add a Node Controller ..............................................................................................1304-46 New (Undefined) Node Controller Page ..................................................................1304-47 Node Controller Example using Serial Motors .........................................................1324-48 Node Controller Example using Ethernet Motors ....................................................1334-49 Configuration Tree with Stations Selected ...............................................................1344-50 Add a Station ............................................................................................................1354-51 Station Page ..............................................................................................................1364-52 Station Example ........................................................................................................1374-53 All Stations List ........................................................................................................1374-54 Single Vehicle Area ..................................................................................................1384-55 Configuration Tree with Single Vehicle Areas Selected ..........................................1394-56 Add a Single Vehicle Area .......................................................................................1394-57 Single Vehicle Area Page .........................................................................................1404-58 Single Vehicle Area Example – Downstream ..........................................................1414-59 Single Vehicle Area Example – Upstream ...............................................................1414-60 Adding an E-Stop to a Path .......................................................................................1434-61 Editing an E-Stop on a Path ......................................................................................1444-62 Adding an Interlock to a Path ...................................................................................1464-63 Editing an Interlock on a Path ...................................................................................1474-64 Configuration Tree with Light Stacks Selected ........................................................1494-65 Add a Light Stack .....................................................................................................1494-66 New (Undefined) Light Stack Page ..........................................................................1504-67 Light Stack Example .................................................................................................1514-68 Transport System Light Stack Example ...................................................................1514-69 Station Insert Mode Option Selected ........................................................................1544-70 Station Insert Modes .................................................................................................1554-71 Show Per Motor Control Loop Parameters Option Selected ....................................1564-72 Show Advanced Parameters Option Selected ...........................................................1574-73 Show Simulated Vehicles Option Selected ..............................................................1584-74 Configuration Tree with Simulated Vehicles Selected .............................................1594-75 Add a Simulated Vehicle ..........................................................................................1594-76 Simulated Vehicle Page ............................................................................................1604-77 Simulated Vehicle Example ......................................................................................1614-78 Number Formatting Conventions .............................................................................1624-79 European Number Formatting Option Selected ........................................................162

Figures


4-80 Save Track File As Dialog ........................................................................................163

5-1 Window Layout ........................................................................................................1665-2 Dialog Box Example .................................................................................................1675-3 Message Examples ....................................................................................................1685-4 Checkbox Example ...................................................................................................1685-5 Drop-Down Menu Examples ....................................................................................1685-6 Text and Display Field Example ..............................................................................1695-7 Button Example ........................................................................................................1695-8 MagneMover LITE Configurator Main Window Overview ....................................1705-9 System Layout Pane ..................................................................................................1725-10 Layout Menu Bar ......................................................................................................1725-11 System Layout Menus ..............................................................................................1735-12 System Layout Global Settings .................................................................................1755-13 System Layout Area ..................................................................................................1785-14 Configuration Tree and Configuration Pane .............................................................1795-15 Configurator Menu Bar .............................................................................................1795-16 Configurator Menus ..................................................................................................1805-17 About MagneMotion Configurator Message ............................................................1815-18 Configurator Shortcut Menus ...................................................................................1825-19 Global Settings Page with Advanced Parameters .....................................................1845-20 PLC EtherNet/IP Settings Page ................................................................................1885-21 HLC Control Group Settings Page ...........................................................................1905-22 Path Details Page ......................................................................................................1915-23 Motor Defaults Page .................................................................................................1945-24 Side View of Halbach Array, 1 Cycle, 3 Poles .........................................................1955-25 Vehicle and Magnet Array ........................................................................................1955-26 Motor Page ................................................................................................................2015-27 Stations Page .............................................................................................................2025-28 Single Vehicle Areas Page ........................................................................................2035-29 Simulated Vehicles Page ..........................................................................................2045-30 Node Page .................................................................................................................2055-31 Simple Node Properties ............................................................................................2065-32 Relay Node Properties ..............................................................................................2065-33 Terminus Node Properties ........................................................................................2075-34 Gateway Node Properties .........................................................................................2085-35 Merge Node Properties .............................................................................................2105-36 Diverge Node Properties ...........................................................................................2115-37 Merge-Diverge Node Properties ...............................................................................2125-38 Node Controllers Page ..............................................................................................2135-39 Light Stack Page .......................................................................................................2155-40 All Stations Configuration Tree Category ................................................................217


Tables

4-1 Configuration Tree Overview .....................................................................................84

6-1 Initial MagneMover LITE Configurator Troubleshooting .......................................220

A-1 MagneMotion Transport System Limits ...................................................................224A-2 MagneMotion Transport System Motion Limits ......................................................224

Tables


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Changes

Overview

This manual is changed as required to keep it accurate and up to date to provide the most com-plete documentation possible for the MagneMover® LITE Configurator. This section provides a brief description of each significant change.

NOTE: Distribution of this manual and all addendums and attachments is not controlled. To identify the current revision, contact MagneMotion® Customer Support.

Rev. A

Initial release to support MMConfigTool.exe Version 4.0.16, which replaces MM_Config.exe.

Rev. B

Revised to support MMConfigTool Version 4.3.4.

Added the following:

• In Chapter 3, Transport System Layout, added Locate the Precision Locators.

• In Chapter 4, Transport System Configuration, added Show Per Motor Control Loop Parameters, European Number Formatting, and Create the Track File.

• In Chapter 5, UI Reference, added new options (PLC EtherNet/IP Settings – PLC Host Disconnect Action, Motors –Integrator Always On).

Updated the following:

• Changed logo to ‘A Rockwell Automation Company’ version.

• All figures to show the latest version of the User Interface (UI).

• Trademark and copyright information.

• In the About This Manual chapter, the list of Related Documentation.

• In Chapter 1, Introduction, updated the Transport System Software Overview to include the Virtual Scope.

Changes


• In Chapter 4, Transport System Configuration, updated the sections on Defining HLC Control Groups and the Gateway Node for clarity. Updated the section on Define and Edit Motors and Vehicles to include greater detail. Updated the section on Create and Edit Single Vehicle Areas with additional examples. Updated the sections on Define and Edit Light Stacks and Create and Edit Simulated Vehicles in the Transport System Configuration chapter for clarity.

• In Chapter 5, UI Reference, updated the Motor Defaults section for clarity and added a section for individual motors.

Removed the following:

• All references to the standard node controller (replaced by the NC-12 node controller). Support for the standard node controller, including software, spare parts, technical support, and service continues to be available.

• All references to software distribution on CD-ROM. Removed Create the Track File from the Transport System Layout chapter.

• All references to unsupported options (Global Settings – Node Look Ahead Count and Startup Stations) from the UI Reference chapter.

Ver. 03

Revised to support MMConfigTool Version 13.0.1.

Added the following:

• In Chapter 3, Transport System Layout, added Define Node Controllers and Define Ethernet Hardware.

• In Chapter 4, Transport System Configuration, added additional options to Set Ether-Net/IP for a PLC.

• In Chapter 5, UI Reference, added additional icons for System Layout, added addi-tional options to PLC EtherNet/IP Settings, added Ethernet support for Paths, and added Ethernet node connections for Node Controllers.

Updated the following:

• The revision from alpha (Rev. C) to numeric (Ver. 03).

• All figures to show the latest version of the User Interface (UI).

• Trademark and copyright information.

• The structure of these changes descriptions.

• In the About This Manual chapter, the Customer Support contact information.

• In Chapter 4, Transport System Configuration, updated Configure Global Settings descriptions and updated Create and Edit Paths to support Ethernet motors. Updated Define and Edit Motors and Vehicles, Define and Edit Node Controllers, and Create and Edit Single Vehicle Areas descriptions.

• In Chapter 5, UI Reference, updated the description of Keepout Areas.

• The Glossary and Index.


About This Manual

Overview

This section provides information about the use of this manual, including the manual struc-ture, related documentation, format conventions, and safety conventions.

Purpose

This manual explains how to use the MagneMover® LITE Configurator (Configurator) to cre-ate and modify the Node Controller Configuration File to define the MagneMover LITE (MM LITE™) transport system. Creation and maintenance of the graphical representation of the sys-tem in the Track Layout File, which is used to generate the Node Controller Configuration File (Configuration File), is also covered.

This manual is not intended to provide a design guide for the installation, or a reference for the operation of a MagneMotion MM LITE transport system. Use this manual in combination with the other manuals and documentation that accompanies the transport system to install, configure, test, and operate an MM LITE transport system. Training is available from Magne-Motion that provides additional instruction in the use of the Configurator.

Audience

This manual is intended for all users of MagneMover LITE transport systems who install, configure, and maintain the Node Controller Configuration File and the Track Layout File for the system.

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 who configure or operate the transport system are properly trained.

About This Manual


MagneMotion Documentation

The documentation that is provided with the MagneMover LITE transport system includes this manual, which provides complete documentation for the use of the MagneMover LITE Configurator (Configurator). Other manuals in the document set, which are 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 LSM installation, MagneMotion cannot assume responsibility or liability for actual use that is 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, function titles, and area or field titles in dialog boxes are shown in bold type and are capitalized exactly as they appear in the soft-ware. 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 button1.

• 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.

About This Manual


• Data Entry – There are several conventions for data entry:

• 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 the US number format; that is, one thousand = 1,000.00. Non-decimal numbers (binary or hexadecimal) are explicitly stated.

• Binary – Followed by 2, for example, 1100 0001 01012, 1111 1111 1111 11112.

• Hex – Hexadecimal numbers are preceded by 0x, for example, 0xC15, 0xFFFF.

• Measurements – All measurements are SI (International System of Units). The for-mat 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. Select a hyperlink to change 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, Safety Notices, and Symbols that are 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 pro-vided throughout this manual to achieve safe installation and use.

Notes

Notes are set apart from other text and provide additional or explanatory information. The text for Notes is in standard type as shown in this section.

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 (see 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 sec-tion. Each example includes a description of the hazard level indicated.

About This Manual


Symbol Identification

Symbols are used in this manual to identify hazards, mandatory actions, and prohibited actions. The symbols that are used in this manual and their descriptions are provided in this section.

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 notavoided, could result in death or serious injury.

CAUTION

Caution indicates a hazardous situation, which if notavoided, could result in minor or moderate injury.

NOTICE

Notice indicates practices that are not related to personal injury that couldresult in equipment or property damage.

Symbol Description

General Hazard Alert – Indicates that failure to follow recommended pro-cedures can result in unsafe conditions, which could cause injury or equip-ment damage.

Automatic Start Hazard – Indicates the possibility of machinery automati-cally starting or moving, which could cause personal injury.

Hazardous Voltage – Indicates that a severe shock hazard is present thatcould cause personal injury.

About This Manual


Manual Structure

This manual contains the following chapters:

• Introduction: Provides an overview of the MagneMover LITE Configurator, which is used to create and modify the Node Controller Configuration File.

• Using the MagneMover LITE Configurator: Describes how to install the MagneMover LITE Configurator. Provides step-by-step procedures and examples for creating and editing the Node Controller Configuration File and identifies the other types of files that are used in the transport system.

• Transport System Layout: Provides step-by-step procedures and examples for each section of the Track Layout File: motors and switch placement, node placement and identification, identification of forward motion direction, vehicles (pucks), and other features of 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 that are displayed through the MagneMover LITE Configurator window and a description of each option on those panes and pages.

• Troubleshooting: Provides fault identification and solutions for problems with the MagneMover LITE Configurator.

• Appendix: Provides additional information that is related to the MagneMover LITE Configurator and MagneMover LITE transport systems.

• Glossary: A list of terms and definitions that are used in this manual and for the trans-port system and its components.

• Index: A cross-reference to this manual organized by subject.

NOTE: The version of the MagneMover LITE Configurator that is supplied by with the transport system may be newer than the version that is described in this manual (indicated in Changes on page 15). However, all features that are documented in this manual are supported as indicated. Specific builds of the MagneMover LITE Con-figurator may not implement all features that are described in this manual.

Related Documentation

Before configuring or running the transport system, consult the following documentation:

• MagneMover LITE Configurator User Manual, 990000558 (this manual).

• Node Controller Interface User Manual, 990000377.

• NCHost TCP Interface Utility User Manual, 990000562.

About This Manual


• Host Controller TCP/IP Communication Protocol User Manual, 990000436,Host Controller EtherNet/IP Communication Protocol User Manual, 990000437,orMitsubishi PLC TCP/IP Library User Manual, 990000628.

• MagneMover LITE User Manual, 990000410.

• LSM Synchronization Option User Manual, 990000447.

• Virtual Scope Utility User Manual, 990000759.

NOTE: Distribution of this manual and all addendums and attachments are not controlled. Changes to the document set or the software can be made at any time. To identify the current revisions or to obtain a current version, contact MagneMotion Customer Support.

Contact Information

Main Office Customer Support

MagneMotion, Inc.A Rockwell Automation Company139 Barnum RoadDevens, MA 01434USAPhone: +1 978-757-9100Fax: +1 978-757-9200

+1 [email protected]

mailto:[email protected]


Introduction 1

Overview

This chapter provides an overview of the MagneMover® LITE (MM LITE™) Configurator, the transport system hardware and software, and the basic set of tasks for using the Magne-Mover LITE Configurator. This chapter also provides a basic overview of the transport system hardware and software. Additionally, the basic set of tasks that are required to use the MM LITE Configurator to define a MagneMover LITE transport system are described.

Use this manual to configure and maintain the Track Layout File and the Node Controller Configuration File.

This manual supports:

• MagneMover LITE transport systems.

Included in this chapter are overviews of:

• The MagneMover LITE Configurator.

• The transport system components.

• The transport system software.

• Getting started with the Configurator.

IntroductionMagneMover LITE Configurator Overview


MagneMover LITE Configurator Overview

The MagneMover LITE Configurator is a Windows® .NET software application that is pro-vided by MagneMotion®. This application is used to create and edit the Track Layout File and the Node Controller Configuration File (Configuration File) for the transport system. These files use XML to define the parameters for the components in the transport system.

The transport system is a configuration of MagneMover LITE linear synchronous motors that are placed end-to-end to form long chains, or paths. These chains are used to move and posi-tion 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:

• MagneMover LITE motors.

• Vehicles (pucks) with magnet arrays.

• Node controllers.

• Power supplies.

• Paths and nodes.

• User-supplied host controller (general-purpose computer or PLC).

Each of the components of the transport system must be defined in the Node Controller Con-figuration File for proper operation of the transport system. The MagneMover LITE Configu-rator allows creation or editing of the Node Controller Configuration File without having to access the XML directly.

NOTE: The Node Controller Configuration File can be viewed, and edited, in various appli-cations such as web browsers, text editors, and XML editors. However, MagneMo-tion recommends using only the MagneMover LITE Configurator to make sure that the file is formatted correctly and contains the correct entries.

The MagneMover LITE Configurator provides a graphical interface to define or modify the various elements of the Track Layout File. The Configurator also provides a tree-like structure to define or modify the various sections and elements of the Node Controller Configuration File.

IntroductionTransport System Components Overview


Transport System Components Overview

This section identifies the components of a MagneMover LITE transport system as shown in Figure 1-1 and described after the figure.

Figure 1-1: Simplified View of MagneMover LITE 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 that is enabled on one node con-troller. This application handles all communication with the user-supplied host con-troller and directs communication as appropriate to individual node controllers.

• Host Controller – Provides user control and monitoring of the MM LITE transport system. Supplied by the user, it can be either PC-based or a PLC.

• Motor – Refers to the MagneMover LITE linear synchronous motors (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 HLC. 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.

• Vehicle (Puck) with Magnet Array – Carries a payload through the MM LITE trans-port system as directed. The magnet array is mounted to the vehicle (puck) and inter-acts with the motors, which moves each vehicle independently.

Host Controller(PC or PLC)

DC Power Cables

Power SupplyMotors

Communication Cables

Node Controller(and High Level Controller)

Vehicles (Pucks)

Network(Ethernet)

IntroductionTransport System Software Overview


Transport System Software Overview

Several software applications are used to configure, test, and administer a MagneMover LITE transport system as shown in Figure 1-2 and described after the figure. See Related Documen-tation on page 21 for the reference manuals for these applications.

Figure 1-2: Simplified View of Transport System Software Organization

• NC Web Interface – A web-based software application that is supplied by MagneMo-tion, resident on the node controllers, for administration of transport system compo-nents.

• NC Console Interface – A serial communication software application that is supplied by MagneMotion, resident on the node controllers, for administration of the node con-troller.

• NCHost TCP Interface Utility – A Windows® software application that is supplied by MagneMotion to move vehicles for test or demonstration purposes. This applica-tion supports system testing without the host controller to verify that vehicles move correctly before integrating a transport system into a production environment.

Host Controller(EtherNet/IP or TCP/IP)

MagneMotion Configurator

Node Controller

NC Web Interface

NCHost TCP Interface Utility

Motors

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)

node_configuration.xml

Node ControllerAdministration

System Control

System Testing(NCHost.exe)

(MMConfigTool.exe)

track_file.mmtrkdemo_script.txt

track_layout.ndx

Virtual Scope UtilityPerformanceMonitoring

NC Console Interface Node ControllerAdministration

(MMI_Virtual_Scope.exe)

IntroductionTransport System Software Overview


• MagneMover LITE Configurator (Configurator) – A Windows software application that is supplied by MagneMotion to create or change the Node Controller Configura-tion File. It is also used to create or change the Track File and Track Layout File for MagneMover LITE transport systems, without editing the files directly.

• Virtual Scope Utility – A Windows software application that is supplied by Magne-Motion to monitor and record the change of motor performance parameters. These parameters are displayed as waveforms to analyze the performance of the motors.

• 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 control-lers in the transport system.

• Motor ERF Image Files (ERF file) – The software files for the MagneMotion 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 MagneMotion 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 MagneMotion magnet array type that is used on the vehicles in the 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_con-figuration.xml) that contains all parameters for the components in the transport sys-tem. The Node Controller Configuration File is uploaded to all node controllers in the transport system.

• Track Layout File – An XML file (track_layout.ndx) that contains all parameters for the graphical representation of a MagneMover LITE transport system. The Track Lay-out File is used by the Configurator to generate the Node Controller Configuration File and the Track File for MagneMover LITE systems.

• 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. The MagneMotion Configurator is used to create the Track File for MagneMover LITE systems.

NOTICE

Modifications to the Image or Type files could cause improper operation ofthe transport system.

IntroductionGetting Started with the MagneMover LITE Configurator


Getting Started with the MagneMover LITE Configurator

Use this manual as a guide and reference when using the MagneMover LITE Configurator. Follow the steps in this section to get the entire transport system operational quickly with the aid of the other MagneMotion manuals (see Related Documentation on page 21).

NOTE: Make sure that complete design specifications, including the physical layout of the transport system, are available before starting to configure the MM LITE system.

To get started quickly with the transport system:

1. Save the files and folders from the MagneMover LITE transport system software package to a folder on a computer for user access.

NOTE: The minimum requirements for running MagneMotion software applications are a general-purpose computer (PC) running Microsoft® Windows® 7 with .NET 4.0, and an Ethernet port.

2. Install the components of the MagneMover LITE transport system as described in the MagneMover LITE User Manual.

3. Install the MagneMover LITE Configurator on a computer for user access as described in Install the MagneMover LITE Configurator on page 32.

4. Create the Track Layout File (track_layout.ndx) to define the components and their relationships in the transport system as described in the following sections of this man-ual.

A. Run the MagneMover LITE Configurator on page 36.

B. Create and Save Track Layout Files on page 41.

C. Add required transport system components to the Track Layout File:

• Layout the Motors and Switches on page 58.

• Locate and Define the Nodes on page 61.

D. Add optional transport system components to the Track Layout File:

• Identify Direction of Forward Motion on page 64.

• Locate the Precision Locators on page 65.

• Define Vehicles (Pucks) on page 66.

• Locate System Legs on page 67.

• Dimension the Layout on page 68.

• Add Descriptive Text on page 69.

• Define Node Controllers on page 71.

• Define Ethernet Hardware on page 72.

IntroductionGetting Started with the MagneMover LITE Configurator


5. Automatically create the Node Controller Configuration File (node_configura-tion.xml) from the Track Layout File to define the components and operating parame-ters of the transport system as described in Generate Configuration Files on page 75.

6. Edit the Node Controller Configuration File (node_configuration.xml) to define the components and operating parameters of the transport system as described in the fol-lowing sections of this manual.

A. Run the MagneMover LITE Configurator on page 36.

B. Create and Save Node Controller Configuration Files on page 47.

C. Set EtherNet/IP for a PLC on page 88, when using a PLC (typically an Allen-Bradley® ControlLogix® PLC) to control the transport system.

D. Defining HLC Control Groups on page 90, when the transport system is subdi-vided into smaller transport systems (Control Groups) with multiple host con-trollers and multiple HLCs and where Gateway Nodes are used to transfer vehicles from one Control Group to another.

E. Define each transport system component that is used in the transport system:

• Create and Edit Paths on page 96.

• Define and Edit Motors and Vehicles on page 100.

• Create and Edit Nodes on page 112.

• Define and Edit Node Controllers on page 129.

7. Set the node controller IP addresses and specify the node controller to be used as the HLC. Upload the Configuration, Image, and Type files to each node controller using the Node Controller Web Interface (see the Node Controller Interface User Manual).

8. Program the motors using the Motor ERF Image Files (see the Node Controller Inter-face User Manual and the NCHost TCP Interface Utility User Manual).

9. Test and debug the transport system by using the NCHost TCP Interface Utility and Demo Scripts (see the NCHost TCP Interface Utility User Manual). NCHost 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 host controller must be used to control the MM LITE transport system after verification of functionality.

10. Configure the host controller for transport system control as required to meet the mate-rial movement needs of the facility where the system is installed.

11. When using TCP/IP communications with a PC, see the Host Controller TCP/IP Com-munication Protocol User Manual. When using TCP/IP communications with a PLC, see the Mitsubishi PLC TCP/IP Library User Manual. When using EtherNet/IP com-munications with a PLC, see the Host Controller EtherNet/IP Communication Proto-col User Manual.

Introduction




Using the MagneMover LITE Configurator 2

Overview

This chapter describes how to install and use the MagneMover® LITE Configurator to create and edit Track Layout Files and Node Controller Configuration Files for MagneMover LITE transport systems. Included in this chapter are:

• Installing the MagneMover LITE Configurator.

• Running the Configurator.

• Track Layout File overview.

• Creating, editing, and saving Track Layout Files.

• 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.

Using the MagneMover LITE ConfiguratorInstall the MagneMover LITE Configurator


Install the MagneMover LITE Configurator

The MagneMover LITE Configurator that is supplied with the transport system must be installed before use. During the installation process, the computer is checked to make sure that 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 4.0.

1. Access the folder where the software was copied and run MMConfigToolSet-upML.msi.

NOTE: The permissions and security settings on the computer may need to be adjusted to allow this installation.

The MagneMotion ML Configurator Tool setup wizard is opened as shown in Fig-ure 2-1. If Microsoft .NET 4.0 is not installed on the computer where the MagneMover LITE Configurator is being installed the alert that is shown in Figure 2-2 is displayed instead.

Figure 2-1: MagneMotion Configurator Tool Installer

Figure 2-2: .NET Installation Alert

A. If the .NET Framework alert is displayed, select YES. The computer must be connected to the internet.

The Microsoft .NET download page is opened.



B. If not preselected, scroll down the .NET download page and select the Micro-soft .NET Framework 4 (Standalone Installer) option.

C. Select Download.

The File Download dialog is opened.

D. Select Run. The security settings on the computer may need to be adjusted to allow this installation.

E. Once .NET 4.0 is installed, restart the installation process from Step 1.

2. Select Next.

The MagneMotion Configurator Tool setup wizard prompts for an installation path and usage permissions as shown in Figure 2-3.

Figure 2-3: MagneMotion Configurator Tool Installation Setup



3. Accept the defaults and select Next.

The MagneMotion Configurator Tool setup wizard prompts for confirmation of the installation as shown in Figure 2-4.

Figure 2-4: MagneMotion Configurator Tool Installation Confirmation

4. Select Next. The security settings on the computer may need to be adjusted to allow this installation.

The MagneMotion 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: MagneMotion Configurator Tool Installation Progress

Once the installation is complete, as shown in Figure 2-6 the MagneMover LITE Con-figurator can be used as described in Run the MagneMover LITE Configurator on page 36.



Figure 2-6: MagneMotion Configurator Tool Installation Complete

5. Select Close.

Using the MagneMover LITE ConfiguratorRun the MagneMover LITE Configurator


Run the MagneMover LITE Configurator

The Node Controller Configuration File, which contains the parameters for the components in the transport system is created and edited using the MagneMover LITE Configurator. Always make sure to use the version that was supplied with the transport system.

1. Select the MagneMotion ML Configurator Tool icon, which is shown in Figure 2-7, on the desktop.

Figure 2-7: MagneMotion ML Configurator Tool Icon

NOTE: An alternative method is to start the program from the Windows Start icon; select All Programs, select MagneMotion from the folder list, then select MagneMotion ML Configurator Tool.

The MagneMover LITE Configurator window opens with an empty Configuration Tree, a blank layout in the System Layout pane, and the Global MagneMover® LITE Settings page displayed in the Configuration Properties pane as shown in Figure 2-8.

Figure 2-8: MagneMover LITE Configurator

Configuration Tree

Configurator Menu Bar

Configuration Properties Pane

System Layout Pane



2. Move the bars that separate the panes in the window to access either the System Lay-out pane or the Configuration Properties pane as shown in Figure 2-9 and Figure 2-10. Use the scroll bars to see the text in the panes, or resize the window as necessary.

NOTE: When the cursor is moved over the separator bars, it changes to either the Horizontal Resize cursor ( ) or the Vertical Resize cursor ( ). Click-and-hold the left mouse button once the cursor changes to move the bars.

Figure 2-9: System Layout Pane Expanded



Figure 2-10: Configuration Properties Pane Expanded

3. Do one of the following:

• If this transport system is new, see Track Layout File Overview on page 39. Then proceed to Create and Save Track Layout Files on page 41 to create the Track Layout File. From the Track Layout File, see Automatically Create the Node Controller Configuration File on page 78 to generate a Node Controller Configuration File.

• If this transport system is new, see Node Controller Configuration File Over-view on page 45. Then proceed to Create and Save Node Controller Configura-tion Files on page 47 to create the Node Controller Configuration File.

• If this transport system was previously configured, see Edit an Existing Node Controller Configuration Files on page 49 to update the Node Controller Con-figuration File.

Using the MagneMover LITE ConfiguratorTrack Layout File Overview


Track Layout File Overview

The Track Layout File (track_layout.ndx) is an XML file that defines the components of the MagneMover LITE transport system for graphic display. The properties that are defined include the relationship of the motors to each other, the location and type of nodes, the direc-tion of movement, and the number of vehicles (pucks). The MagneMover LITE Configurator provides a tool for editing this file graphically, which eliminates the need to either view or edit the XML directly. The file can have any name for convenient reference.

See the physical layout drawings of the transport system to determine the components and their configuration in the transport system.

Required Track Layout File Elements

Graphic symbols (icons) are used to represent the main elements of the transport system in the Track Layout File. These elements must be defined so the Track Layout File can be used to generate the Node Controller Configuration File (see Generate Configuration Files on page 75).

• Motor Icons – Provides motor symbols that can be positioned as required on the track layout. Right-click on the symbol once it is positioned to identify the motor as a Sync version.

• Switch Icons – Provides left and right switch symbols that can be positioned as required on the track layout. Switches can be configured as either Merge or Diverge.

• Node Icon – Provides a node symbol that can be positioned as required on the track layout. After positioning the icon, the type of node must be specified. Right-click on the symbol once it is positioned to change the type of node.

Optional Track Layout File Elements

Additional graphic symbols are used to represent optional elements of the transport system in the Track Layout File. These elements can be defined to allow the Track Layout File to be sent to MagneMotion to create a Bill of Materials for the transport system.

• Dimension Line Icon – Provides a line where both ends can be positioned as required to measure the track layout.

• Text Icon – Provides a box that can be positioned as required for text entry. After posi-tioning the icon, double-click to edit the text and right-click to edit the text properties.

• Forward Direction Icon – Provides an arrow to show the direction of vehicle (puck) forward motion.

• Leg Icon – Provides a symbol that is used to identify the position of system legs. Right-click on the symbol once it is positioned to identify the type of leg.

Using the MagneMover LITE ConfiguratorTrack Layout File Overview


• Sync Box Icon – Provides a symbol that is used to identify the use of the LSM Syn-chronization option. After positioning the icon, the number of motors using the Sync option must be specified. Right-click on the symbol once it is positioned to change the number of Sync option motors.

• Precision Locator Icon – Provides a symbol that can be positioned as required on the track layout to indicate the location and type of Precision Locators on the transport system.

• Node Controller Icon – Provides a symbol that can be positioned as required on the track layout to indicate the IP address of the node controller.

• Ethernet Switch Icon – Provides a symbol that can be positioned as required on the track layout to indicate the IP address of the network switch.

• Ethernet Connector Line Icon – Provides a symbol that can be positioned on the track layout as required to show network connections.

• Pucks Icon – Provides a text box that displays the number and type of vehicles (pucks) being used for individual material transport on the transport system. After positioning the icon, the type and number of vehicles must be specified. Right-click on the symbol once it is positioned to change the type or number of vehicles.

Using the MagneMover LITE ConfiguratorCreate and Save Track Layout Files


Create and Save Track Layout Files

Once the MagneMover LITE Configurator is running (see Run the MagneMover LITE Con-figurator on page 36), create an initial Track Layout File. Save the new Track Layout File immediately so that there is a Track Layout File to work from.

Create a New Track Layout File

1. On the File menu in the System Layout pane, select New.

NOTE: Make sure that any open Track Layout has been saved before selecting New.

2. Define the layout of the transport system (see Transport System Layout on page 53).

Save a New Track Layout File

1. On the File menu in the System Layout pane, select Save As.

The Save As dialog box, which is shown in Figure 2-11, is displayed.

Figure 2-11: Save As Track Layout 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 Document Information dialog box, which is shown in Figure 2-12, is displayed.

Using the MagneMover LITE ConfiguratorCreate and Save Track Layout Files


Figure 2-12: Document Information Dialog

4. Enter the document data, including; name, company, contact information, subject, and notes. None of this information is required, but it is recommended to provide back-ground information for when the file is referenced later.

The Track Layout File is saved and the file name (track_layout.ndx) is displayed at the top of the System Layout pane.

5. Exit the MagneMover LITE Configurator by selecting Exit on the Configurator File menu or edit the Track Layout File as necessary.

Using the MagneMover LITE ConfiguratorEdit an Existing Track Layout File


Edit an Existing Track Layout File

Once the MagneMover LITE Configurator is running (see Run the MagneMover LITE Con-figurator on page 36), open an existing Track Layout File. Edit the existing Track Layout File as required and then save all changes.

1. On the File menu in the System Layout pane, select Load From Track Layout (.ndx) File....

The Load Track Layout File dialog box, which is shown in Figure 2-13, is displayed.

Figure 2-13: Load Track Layout File Dialog

2. Use the dialog box controls to select the Track Layout File that was previously created and select Open.

The Track Layout File is loaded and the file name (track_layout.ndx) is displayed at the top of the System Layout pane.

3. Edit the track layout as required to define the configuration of the transport system (see Transport System Layout on page 53).

4. Save all changes to the file by selecting Save on the File menu in the System Layout pane.

5. Exit the MagneMover LITE Configurator by selecting Exit on the Configurator File menu.

Using the MagneMover LITE ConfiguratorEdit an Existing Track Layout File


The Exit MagneMotion Configurator confirmation message, which is shown in Fig-ure 2-14, is displayed.

Figure 2-14: Exit MagneMotion Configurator Confirmation Message

6. Select Yes on the message to exit (any unsaved work is lost).

The MagneMotion Configurator window closes.

Using the MagneMover LITE ConfiguratorNode Controller Configuration File Overview


Node Controller Configuration File Overview

The Node Controller Configuration File is an XML file that defines the elements and parame-ters of the MagneMover LITE transport system. The MagneMover LITE Configurator pro-vides a tool for editing this file, which eliminates 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.

See the physical layout drawings of the transport system to determine the components and their configuration in the transport system.

Required Node Controller Configuration File Elements

The categories in the Node Controller Configuration File represent the main elements of the transport system. These elements must be defined for proper operation of the transport system (see Transport System Configuration on page 83).

• Global Settings – Basic parameters that control how all vehicles (pucks) behave when moving through the transport system, how the transport system reacts to loss of com-munication, 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 (puck) travels. Paths include one or more MagneMover LITE motors arranged end to end. All paths connect to one node at the beginning of the path. Paths must connect to a second node at the end of the path if vehicles are to travel from the end of the path onto another path. Paths are unique and do not overlap. See Create and Edit Paths on page 96 for details.

• Motors – Hardware components that move the vehicle (puck) on the track, this com-ponent is a MagneMover LITE motor. All MagneMover LITE straight and curve motors have one motor internally, switches have two motors internally. See Define and Edit Motors and Vehicles on page 100 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 define their use, see Create and Edit Nodes on page 112 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 host controller. The upstream end of a path must commu-nicate with a node controller. See Define and Edit Node Controllers on page 129 for details.

Using the MagneMover LITE ConfiguratorNode Controller Configuration File Overview


Optional Node Controller Configuration File Elements

Additional categories in the Node Controller Configuration File represent optional elements of the transport system. These categories can 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 HLCs and separate host controllers for each Control Group.

• E-Stop – Provides monitoring of a user installed button (typically locking) that an operator presses if an emergency situation arises to halt all motion on the specified paths. Requires an NC-12 node controller.

• Interlock – Provides monitoring of a user installed circuit that is activated to halt all motion on a specific path temporarily. Requires an NC-12 node controller.

• Stations – Specific, designated positions on a path to send a vehicle (puck).

• Single Vehicle Area of a Path – A unidirectional area of a path where only one vehi-cle is allowed to move at any time. These areas allow one vehicle to move uninhibited along a portion of a path without interfering with any other vehicles.

• Simulated Vehicles – Used to define simulated vehicles (pucks) 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, upload the file to each node controller in the transport system. See Upload the Node Controller Configuration File on page 51 for more details.

Using the MagneMover LITE ConfiguratorCreate and Save Node Controller Configuration Files


Create and Save Node Controller Configuration Files

Once the MagneMover LITE Configurator is running (see Run the MagneMover LITE Con-figurator on page 36), create an initial Node Controller Configuration File. Save the new Node Controller Configuration File immediately so that there is a Configuration file to work from.

NOTE: Once the Node Controller Configuration File is created, make sure that all parame-ters are 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, which is shown in Figure 2-15, is dis-played.

Figure 2-15: New Configuration Confirmation Message

2. Select Yes on the message to start a new configuration (any unsaved work is lost).

3. Define the configuration of the transport system (see Transport System Configuration on page 83).

Save a New Node Controller Configuration File

1. On the Configurator File menu, select Save As.

The Save XML Configuration file dialog box, which is shown in Figure 2-16, is dis-played.

Using the MagneMover LITE ConfiguratorCreate and Save Node Controller Configuration Files


Figure 2-16: Save XML Configuration File Dialog



The Node Controller Configuration File is saved and the title of the Configurator win-dow changes to MagneMotion Configurator – file_name.xml.

NOTE: The copy of the file on the node controller is automatically renamed ‘node_configuration.xml’ when it is uploaded to the node controllers. The file name on the PC remains unchanged.

4. Exit the MagneMover LITE Configurator by selecting Exit on the Configurator File menu or edit the Node Controller Configuration File as necessary.

Using the MagneMover LITE ConfiguratorEdit an Existing Node Controller Configuration Files


Edit an Existing Node Controller Configuration Files

Once the MagneMover LITE Configurator is running (see Run the MagneMover LITE Con-figurator on page 36), open an existing Node Controller Configuration File. Edit the 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, which is shown in Figure 2-17, is dis-played.

Figure 2-17: Open XML Configuration File Dialog

2. Use the dialog box controls to select the Node Controller Configuration File that was previously created and select Open.

The Node Controller Configuration File is loaded and the title of the Configurator window changes to MagneMotion Configurator – file_name.xml. The configuration information in the Node Controller Configuration File is available through the Con-figuration Tree on the left side of the window.

NOTE: If the Node Controller Configuration File contains any errors, when the file is opened an error message similar to the one shown in Figure 2-18 is dis-played.

Using the MagneMover LITE ConfiguratorEdit an Existing Node Controller Configuration Files


Figure 2-18: Load Node Configuration – XML Read Error

• Select OK to close the message.

3. Edit the file as required to define the configuration of the transport system (see Trans-port System Configuration on page 83).

4. Save all changes to the file by selecting Save on the Configurator File menu.

5. Exit the MagneMover LITE Configurator by selecting Exit on the Configurator File menu.

The Exit MagneMotion Configurator confirmation message, which is shown in Fig-ure 2-19, is displayed.

Figure 2-19: Exit MagneMotion Configurator Confirmation Message

6. Select Yes on the message to exit (any unsaved work is lost).

The MagneMotion Configurator window closes.

NOTE: The updated Node Controller Configuration File must be uploaded to all node con-trollers in the transport system (see Upload the Node Controller Configuration File on page 51).

Using the MagneMover LITE ConfiguratorUpload the Node Controller Configuration File


Upload the Node Controller Configuration File

A Node Controller Configuration File for the specific configuration of the transport system must be uploaded to every node controller in the transport system using the Node Controller Web Interface (see the Node Controller Interface User Manual). If a Node Controller Config-uration File for the transport system has not been created, see Create and Save Node Control-ler Configuration Files on page 47.

To upload the Node Controller Configuration File to each node controller in the transport sys-tem:

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, which is shown in Figure 2-20, is displayed.

Figure 2-20: Node Controller Web Interface – Configuration Files Page

3. In the Upload Node Controller Configuration section, select Choose File.

The Choose File to Upload dialog box is displayed.

Using the MagneMover LITE ConfiguratorUpload 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 47, 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 uploaded, an Upload Successful mes-sage is displayed, shown in Figure 2-21, and then a Restart message is displayed.

Figure 2-21: Node Controller Web Interface – Configuration File Upload Successful

6. Restart the node controller.

7. If there are multiple node controllers in the transport system, repeat this procedure for each additional node controller.

NOTE: If the Node Controller Configuration File was uploaded on the node control-ler that is configured as the HLC, it can also be distributed to multiple node controllers throughout the system. For more information, see the Node Con-troller Interface User Manual.


Transport System Layout 3

Overview

This chapter provides step-by-step procedures and examples for defining the Track Layout File (track_layout.ndx) for MagneMover® LITE transport systems using the MagneMover LITE Configurator. The Track Layout File provides a graphical representation of the transport system. The Track Layout File can then be used to generate the Node Controller Configura-tion File. The Node Controller Configuration File defines the parameters of the transport sys-tem and is used by all node controllers in the MM LITE™ transport system.

Included in this chapter are:

• Graphical Editing of the track layout.

• Required track layout elements, including:

• Motors and switches.

• Nodes.

• Optional track layout elements, including:

• Dimension lines.

• Text.

• Direction of forward motion.

• Node Controllers.

• Ethernet Switches.

• Ethernet Connector Lines.

• System legs.

• Sync option.

• Precision locators.

• Vehicles (pucks).

• Generating files from the track layout, including:

• Node Controller Configuration File.

• Graphics files, including PDF and bitmap.

Transport System LayoutTrack Layout


Track Layout

This section describes how to define the Track Layout File. The Track Layout File can be used to generate the Node Controller Configuration File (node_configuration.xml). The Track Lay-out File is created and edited using the System Layout pane in the MagneMover LITE Config-urator that was supplied with the transport system.

1. Run the MagneMover LITE Configurator. See Run the MagneMover LITE Configura-tor on page 36 for details.

2. Expand the System Layout pane.

3. Open the Track Layout File (track_layout.ndx). See Edit an Existing Track Layout File on page 43 for details.

The selected Track Layout File is displayed in the System Layout pane as shown in Figure 3-1.

Figure 3-1: System Layout Pane with Existing Track Layout

4. Create or edit the required features of the track layout.

A. Layout all motors and switches of the transport system as described in Place Motors and Switches on page 58.

B. Specify the location and type of nodes being used as described in Locate and Define the Nodes on page 61.

Transport System LayoutTrack Layout


5. Create or edit the optional features of the track layout.

A. Specify the motors that use the LSM Sync Option as described in Sync Motor Identification on page 59.

B. Specify the controllers and cables for the LSM Sync Option as described in Place Sync Controllers on page 60.

C. Show the location of the Precision Locators as described in Locate the Preci-sion Locators on page 65.

D. Show the direction of forward motion as described in Identify Direction of For-ward Motion on page 64.

E. Show the number and type of vehicles (pucks) as described in Define Vehicles (Pucks) on page 66.

F. Show the IP addresses of the node controllers as described in Define Node Controllers on page 71.

G. Show the IP addresses of the network switches as described in Define Ethernet Hardware on page 72.

H. Show the connections between the network switches and the node controllers and motors as described in Define Ethernet Hardware on page 72.

I. Show the location of system legs as described in Locate System Legs on page 67.

J. Dimension the layout as described in Dimension the Layout on page 68.

K. Add text to the layout as described in Add Descriptive Text on page 69.

6. Generate files from the track layout as described in Generate Configuration Files on page 75.

7. Save all changes to the Track Layout File by selecting Save on the File menu in the Layout menu bar.

Transport System LayoutGraphical Editing


Graphical Editing

The System Layout pane, which is shown in Figure 3-2, provides a method for graphically configuring the transport system layout. The pane is divided into three sections; the Layout Menu Bar, Global Settings, and the Layout Diagram Area.

Figure 3-2: MagneMover LITE Configurator – System Layout Pane

Layout Guides

Layout guides can be positioned within the Layout Diagram Area to aid in symbol positioning when creating a large layout. All symbols snap to the guides when they get close to the guide.

• Guides can be positioned within the Layout Diagram Area by moving the cursor over one of the rulers, which causes it to change to the Resize cursor ( or ). Click-and-hold the left mouse button and drag the guide onto the Layout Diagram Area.

• Guides can be repositioned by placing the cursor over the guide, then click-and-hold the left mouse button and drag the guide to its new position.

• Guides can be deleted by selecting the guide (the guide changes color) and then press-ing <Delete>.

Global SettingsLayout Menu Bar Layout Diagram Area

Transport System LayoutGraphical Editing


Positioning Symbols

To locate a symbol on the track layout, use the scroll bars in the Symbols Menu to display the symbols. To drag a symbol, position the cursor over it then click-and-hold the left mouse but-ton and move the cursor with the symbol to the required location on the layout. For track lay-out symbols (motors, switches, and nodes), a red box indicates the position where the symbols can join as shown in Figure 3-3. Once the symbol is located appropriately, release the mouse button. The background automatically expands to include the new symbol if necessary.

Figure 3-3: Track Layout – Snapping Symbol Into Position

If the symbol snaps into location in the wrong orientation, drag it away from all other symbols and rotate it by dragging the red handle that is displayed outside the shape. Once a symbol is positioned, it cannot be rotated until it is ‘unsnapped’ from any other symbols.

Figure 3-4: Track Layout – Repositioning Symbol

Symbol ConnectionPoint

Transport System LayoutLayout the Motors and Switches


Layout the Motors and Switches

This section describes how to define and place motors in the track layout. Motors are used to move the vehicles (pucks) on the transport system. A motor must be defined in the Track Lay-out File for each motor in the transport system. See Define a Motor on page 106 for descrip-tions of all motor and switch types.

Place Motors and Switches

1. Drag straight, curve, and switch LSM symbols from the Symbols list into the Layout and position them as required. As the symbols are being positioned, they orient and ‘snap’ together at the vehicle (puck) transport positions. The background automati-cally expands to include the new symbol if necessary.

Figure 3-5: Track Layout – Place Motors




Define the LSM Sync Option Motors

Identify those curve and straight motors where synchronization of vehicle (puck) movement on the motor with an external mechanism for material processing or transfer is required. Syn-chronization is not required if vehicles are stopped at predefined stations for material process-ing or transfer.

NOTE: Identifying motors as using the LSM Sync option is for reference only and does not affect the layout or any generated files.

Sync Motor Identification

1. Right-click on the motor that uses the LSM Sync option.

The Motor Type dialog is displayed as shown in Figure 3-6.

Figure 3-6: Define Motors Using the LSM Sync Option

2. Select Sync Motor in the Motor Type dialog and select OK.

The motor is labeled ‘Sync’.



Place Sync Controllers

A SYNC-IT™ controller is required for every three motors that use the sync option.

NOTE: Defining SYNC-IT controllers is for reference only and does not affect the layout or any generated files.

1. Drag the Sync Box symbol from the Symbols list into the Layout and position it as required.

The Sync Cable Count dialog is displayed as shown in Figure 3-7.

Figure 3-7: Define SYNC-IT Controllers

2. Select the number of cables running from the SYNC-IT controller to Sync motors in the dialog box and select OK.

NOTE: The number of cables can be changed at any time by right-clicking on the Sync Box symbol.


Transport System LayoutLocate and Define the Nodes


Locate and Define the Nodes

Nodes are junctions that are defined as the beginning, end, or intersection of paths (strings of motors). A node must be defined in the Track Layout File for each path junction. Every path must begin at a node and those paths that connect to other paths must terminate at a node. See Node Types on page 114 for descriptions of the node types available with a MagneMover LITE transport system.

Manual Node Placement

A node symbol must be placed at the beginning of each path and at the end of paths that require a node (such as a Terminus Node) on the track layout.

1. Drag the node symbol onto the layout and position it at the beginning or end of a path as shown in Figure 3-8.

Figure 3-8: Define Nodes

The Node Type Selection dialog box, which is shown in Figure 3-9, is displayed when the mouse button is released to position the node.



Figure 3-9: Node Type Selection Dialog

2. Select the appropriate node type from the menu as shown in Figure 3-9.

3. Select the appropriate Port option, and select OK.

The letter in the node symbol is updated to show the node type.


Automatic Node Placement

At least one node symbol (either a Merge, Diverge, Simple, or Terminus) must be placed on the track layout in the appropriate location. The MagneMover LITE Configurator can then automatically place the remainder of the Merge, Diverge, Merge-Diverge, and Terminus Nodes. Relay and Gateway Nodes must be placed manually either before or after automatic placement of nodes.

1. Drag the node symbol onto the layout and position it at the beginning or end of a path.

The Node Type Selection dialog box, which is shown in Figure 3-9, is displayed when the mouse button is released to position the node.

2. Select either Merge, Diverge, Simple, or Terminus as the node type.

The letter in the node symbol is updated to show the node type.



3. Select Place the Nodes on the Export menu in the Layout menu bar.

All Merge, Diverge, Merge-Diverge, and Terminus Nodes are automatically placed on the track layout.

4. Manually place any Relay and Gateway Nodes.


Transport System LayoutIdentify Direction of Forward Motion


Identify Direction of Forward Motion

Use the Forward Direction symbol to provide a visual identification of the direction of for-ward movement once all motors and switches are positioned.

NOTE: The direction of motion is identified for reference only and does not affect the layout or any generated files. The actual direction of forward motion is determined by the placement of Merge, Diverge, Simple, or Terminus Nodes.

1. Drag the Forward Direction symbol onto the layout, position it next to a section of motors on the layout, and rotate it by dragging the red handle, as shown in Fig-ure 3-10.

Figure 3-10: Identify Direction of Forward Motion


Transport System LayoutLocate the Precision Locators


Locate the Precision Locators

This section describes how to define the Precision Locators in the track layout. The precision locator provides a method to secure a pallet mounted to an MM LITE puck to a specific loca-tion. The standard motor and rail configuration must be used when using this option.

NOTE: Defining the Precision Locators is for reference only and does not affect the layout or any generated files.

1. Drag the Precision Locator symbol onto the layout.

When the mouse button is released to position the Precision Locator, the Precision Locator (pinning) device dialog box, which is shown in Figure 3-11, is displayed.

2. Select Yes or No to specify if the Precision Locator is supplied with actuation sensors (select Cancel to close the dialog box without changing the current selection), the default is No.

The Precision Locator is labeled ‘S’ if it is supplied with sensors.

3. Rotate and position the Precision Locator symbol.

Figure 3-11: Define Precision Locator Locations


Transport System LayoutDefine Vehicles (Pucks)


Define Vehicles (Pucks)

This section describes how to define the vehicles (pucks) in the track layout. Vehicles are the moving element in a MagneMotion transport system. The vehicle consists of a platform that carries the payload and a passive magnet array that interacts with the motors to provide the necessary propulsion and position sensing.

NOTE: The quantity and type of vehicles (pucks) is identified for reference only and does not affect the layout or any generated files.

1. Drag the Puck symbol onto the layout.

When the mouse button is released to position the Puck Count symbol, the Puck Count dialog box, which is shown in Figure 3-12, is displayed.

2. Enter the number of and type vehicles that are required in the transport system, and select OK.

NOTE: Only one vehicle family (Puck, Precision Rail, Precision Locator) and only one vehicle type from that family can be used at a time on a transport system.

Figure 3-12: Define Puck Type and Quantity


Transport System LayoutLocate System Legs


Locate System Legs

This section describes how to define the locations for the system legs in the track layout.

NOTE: System legs are identified for reference only and do not affect the layout or any gen-erated files.

1. Drag the Leg symbol onto the layout. Position the symbol at the appropriate location on the layout and rotate it by dragging the red handle.

Figure 3-13: Define System Legs

2. Right-click on the leg and select the type of leg that is needed at that location as shown in Figure 3-13.


Transport System LayoutDimension the Layout


Dimension the Layout

This section describes how to dimension the track or other elements of the track layout.

NOTE: The layout can be dimensioned for reference and does not affect the layout or any generated files.

1. Drag the Dimension Line symbol onto the layout if dimensioning is required.

2. Drag the handle at each end of the line to position it (zoom in on the layout to make sure that the handle is positioned correctly).

Figure 3-14: Dimensioning the Track Layout


Transport System LayoutAdd Descriptive Text


Add Descriptive Text

This section describes how to add and format text in the track layout.

NOTE: Descriptive text is for reference only and does not affect the layout or any generated files.

1. Drag the Text symbol onto the layout to add descriptive text. Position the text box at the appropriate location on the layout and rotate it by dragging the red handle.

Figure 3-15: Adding Text to the Track Layout

2. Double-click the text box to enter or edit the text.

3. Right-click on the text box to open the Text Style Editor, which is shown in Fig-ure 3-16, and change the text properties as desired then select OK.

Transport System LayoutAdd Descriptive Text


Figure 3-16: Text Style Editor


Transport System LayoutDefine Node Controllers


Define Node Controllers

This section describes how to define the node controllers in the track layout. The node con-trollers are the local controllers in a MagneMotion transport system.

NOTE: Node controllers are defined for reference only and do not affect the layout or any generated files.

1. Drag the Node Controller symbol onto the layout.

When the mouse button is released to position the Node Controller symbol, the IP Address dialog box, which is shown in Figure 3-17, is displayed.

2. Enter the IP address for the node controller using dotted-decimal notation, and select OK.

The Node Controller icon is labeled with the IP address.

Figure 3-17: Define Node Controllers


Transport System LayoutDefine Ethernet Hardware


Define Ethernet Hardware

This section describes how to define the Ethernet hardware (switches and connections) in the track layout. The Ethernet Switches provide connectivity between the host controller and the components of the MagneMotion transport system.

NOTE: Defining Ethernet hardware (switches and connections) is for reference only and does not affect the layout or any generated files.

Define Ethernet Switches

1. Drag the Ethernet Switch symbol onto the layout.

When the mouse button is released to position the Ethernet Switch symbol, the IP Address dialog box, which is shown in Figure 3-18, is displayed.

2. Enter the IP address for the switch using dotted-decimal notation, and select OK.

The Ethernet Switch icon is labeled with the IP address.

Figure 3-18: Define Ethernet Hardware


Transport System LayoutDefine Ethernet Hardware


Define Ethernet Connections

1. Drag the Ethernet Connector Line symbol onto the layout, position it by dragging the orange handles at each end, as shown in Figure 3-19.

Figure 3-19: Define Ethernet Connections


Transport System LayoutEditing the Layout


Editing the Layout

The track layout can be edited at any time.

• Any symbol can be selected and repositioned at any time by selecting it and dragging it to its new position. When repositioning motors, make sure that they snap into place.

• The properties for any symbol that has additional properties can be updated by right-clicking on the symbol to reopen the properties dialog.

Editing Functions

There are several editing functions available through the Edit menu in the Layout menu bar in the System Layout Pane.

Copy Layout Elements

All layout elements can be copied and pasted into another location on the layout. Any values that are associated with the copied element (for example, text, node type) are copied.

NOTE: Cutting a layout element copies the selected element and then deletes the selected element from the layout.

Duplicating a layout element is the same as copying and pasting that element.

1. Select the element to be copied and select Copy on the Edit menu in the Layout menu bar.

The selected element and any properties for that element are copied to the Windows clipboard.

2. Select Paste on the Edit menu.

The copied element is pasted from the Windows clipboard into the layout at a slight offset from the original element.

3. Move the copied element to its final location.


Delete Layout Elements

Extra layout elements can be deleted at any time by selecting them and pressing <Delete> on the keyboard.

1. Select the element to be deleted and press <Delete>.

The selected element is deleted from the layout.


Transport System LayoutGenerate Configuration Files


Generate Configuration Files

Different configuration-related files can be created from the System Layout pane. These include graphics files such as PDF (vector image) and BMP (bit-mapped image), and the Node Controller Configuration File.

Create PDF Files

A PDF file of the graphical layout can be created as a reference document. The PDF is Version 1.4 (compatible with Acrobat 5.x and later). The layout image in the PDF is a vector image, which allows editing in applications such as Adobe® Illustrator.

1. Select Create PDF File on the Export menu in the Layout menu bar.

The PDF Exporter, which is shown in Figure 3-20, is displayed.

Figure 3-20: PDF Exporter Dialog Box

2. Accept the defaults or change the options for the PDF file if desired and select Save To File....

The Save As dialog box is displayed.



5. Close the PDF Exporter dialog box by selecting Close.



Create Bitmap Image Files

A bitmap image file of the graphical layout can be created for use in system documentation. The layout image is saved in BMP format, which is a bit-mapped image. This format allows editing in applications such as Adobe® Photoshop.

1. Select Create Image File on the Export menu in the Layout menu bar.

The bitmap image is created and saved in the same folder as the Track Layout File and the alert, which is shown in Figure 3-21, is displayed.

Figure 3-21: BMP Creation Alert

2. Select OK to close the message.



Automatically Place Nodes

Automatically places Merge, Diverge, Merge-Diverge, Simple, and Terminus Nodes based on the manual placement of one Merge, Diverge, Simple, or Terminus Node (see Locate and Define the Nodes on page 61).

NOTE: Automatic placement of the nodes requires that all track components (motors and switches) are connected to each other, see Positioning Symbols on page 57.

1. Place a Merge, Diverge, Simple, or Terminus Node at the appropriate location on the track layout (see Locate and Define the Nodes on page 61).

NOTE: When using a Simple or Terminus Node as the starting point for automatic node placement, they are assumed to be placed at the upstream end of the path.

2. Select the node (see the simplified representation in Figure 3-22).

Figure 3-22: Node Selected to Start Automatic Node Placement

3. Select Place the Nodes on the Export menu in the Layout menu bar.

Merge, Diverge, Merge-Diverge, Simple, and Terminus Nodes are automatically placed on the layout based on the position of switches and path ends (see the simpli-fied representation in Figure 3-23).

NOTE: Relay and Gateway Nodes must be placed manually.

Figure 3-23: Nodes Placed Automatically




Automatically Create the Node Controller Configuration File

A preliminary Node Controller Configuration File can be automatically generated from the completed track layout. Once the Node Controller Configuration File is created it must be reviewed to make sure the correct number and type of node controllers are being used. Check to make sure that the ports on the node controllers are assigned to the correct paths (if making changes to the node controllers) and any additional settings are defined.

NOTE: Automatic creation of the Node Controller Configuration File requires that all track components (motors and switches) are connected to each other, see Positioning Sym-bols on page 57.

Any components added to the layout for reference only (SYNC-IT controllers, Pre-cision Locators, forward direction indicator, vehicles (pucks), system legs, dimen-sions, descriptive text, node controllers, or Ethernet hardware) are not added to the Node Controller Configuration File.

1. Make sure that there is no Node Controller Configuration File open in the Configura-tion Tree (see Transport System Configuration on page 83).

NOTE: Any configuration information in the Configuration Tree is automatically deleted and replaced when the new Configuration is generated.

2. Select the beginning point of a path.

All Nodes Placed

A. On the track layout, make sure that all nodes are placed (see Locate and Define the Nodes on page 61).

B. Select either a Merge, Diverge, Simple, or Terminus Node for the starting point for the automatic path generation (see the simplified representation in Fig-ure 3-24).

NOTE: When using a Simple or Terminus Node as the starting point for auto-matic configuration, they are assumed to be placed at the upstream end of the path.

Figure 3-24: Node Selected to Start Automatic Configuration

One Node Placed

A. Place a Merge, Diverge, Simple, or Terminus Node at the appropriate location on the track layout (see Locate and Define the Nodes on page 61).



NOTE: When using a Simple or Terminus Node as the starting point for auto-matic node placement and configuration, they are assumed to be placed at the upstream end of the path.

B. Select the node (see the simplified representation in Figure 3-25).

Figure 3-25: Node Placed and Selected to Start Automatic Node Placement

3. Select Walk the Paths on the Export menu in the Layout menu bar.

Any existing elements and settings in the Configuration Tree are cleared. Nodes (if starting with only one node) and path indicators are added to the track layout as shown in Figure 3-26. Paths with motors, nodes, and node controllers are added to the Configuration Tree.

Figure 3-26: Track Layout Showing Path Indicators


5. Save all changes to the Node Controller Configuration File by selecting Save on the File menu in the Configurator menu bar (see Create and Save Node Controller Config-uration Files on page 47).



6. See Edit an Existing Node Controller Configuration Files on page 49 and Transport System Configuration on page 83 to edit the Node Controller Configuration File.

NOTE: Edit the Node Controller Configuration File through the Configuration Tree (see Transport System Configuration on page 83) to make sure that any auto-matically placed nodes are defined correctly. Also, verify the correct number and type of node controllers are being used and the ports on the node control-lers are assigned correctly, and any stations, single vehicle areas, E-stops, interlocks, and light stacks are defined. Additionally, reference names can be assigned to paths, nodes, and node controllers.

Selecting a motor in the Configuration Tree highlights the motor in the track layout. Selecting a motor in the track layout highlights the motor in the Con-figuration Tree.



Clear Path Indications

If changes are made to the track layout, it is necessary to clear the path indicators previously added by Walking the Paths.

1. Select Clear Path Indicators on the Export menu in the Layout menu bar.

The path indicators are removed from the track layout. Any information in the Config-uration Tree (paths with motors, nodes, and node controllers, and so on) is not changed.


Transport System Layout




Transport System Configuration 4

Overview

This chapter provides step-by-step procedures and examples for manually defining or editing each section of the Node Controller Configuration File for MagneMover® LITE transport sys-tems using the MagneMover LITE Configurator. The Node Controller Configuration File defines the parameters of the transport system and is used by all node controllers in the MM LITE™ transport system. The Node Controller Configuration File is also used to create the Track File, which is used by the MagneMotion NCHost TCP Interface Utility to provide a graphical representation of the transport system to monitor the transport system.

NOTE: The Node Controller Configuration File must be uploaded to all node controllers in the transport system each time changes are made to it.

Included in this chapter are:

• Configuration Tree overview.

• Configuration settings, including:

• Global Settings.

• PLC EtherNet/IP.

• HLC Control Group.

• Paths, Motors, Stations, Single Vehicle Areas, E-stops, and Interlocks.

• Nodes.

• Node Controllers and 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.

• Additional Configurator functions, including:

• Creating a Track File (*.mmtrk).

Transport System ConfigurationConfiguration Tree


Configuration Tree

The Configuration Tree that is displayed on the left side of the MagneMover LITE Configura-tor 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 4-1 provides an overview of the Configuration Tree and identifies those categories and elements that have Property pages that are associated with them. Options that are not currently supported are not listed in the table.

Table 4-1: Configuration Tree Overview

Configuration Tree Description Properties Page

Node Configuration (Global Settings) Category Y 85

PLC EtherNet/IP Category Y 88

HLC Control Group Category Y 90

Paths Category 96

Path n Element Y

Motors Category 100

Motor Defaults Element Y

Motor n Element Y

Stations Category 134

Station n Element Y

Single Vehicle Areas Category 138

Single Vehicle Area n Element Y

Simulated Vehicles Category 158

Simulated Vehicle n Element Y

Nodes Category 112

Node n Element Y

Node Controllers Category 129

Node Controller n Element Y

Light Stacks Category 148

Light Stack n Element Y

All Stations Category 137

Station n Element Y

Transport System ConfigurationConfigure 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 (pucks) behave when moving through the trans-port system, how the transport system reacts to loss of communication, and startup conditions. The Global Settings that are specified, are 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 MagneMover LITE Configurator. See Run the MagneMover LITE Configura-tor on page 36 for details.

2. If necessary, expand the window to display all parameters in the Configuration Proper-ties pane.

3. Open the Node Controller Configuration File. See Edit an Existing Node Controller Configuration Files on page 49 for details.

4. In the Configuration Tree, select Node Configuration.

The Global MagneMover® LITE Settings page, which is shown in Figure 4-1, is dis-played in the Configuration Properties pane.

Figure 4-1: Global Settings Page

5. Update the global settings for the transport system as required (see Global Settings 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.



• In the Configuration Name field, enter an optional name for this configura-tion. A name for the configuration is not required and is for reference only.

• In the Acceleration Limit and Velocity Limit fields, enter the maximum val-ues for this configuration. The HLC rejects any vehicle motion commands that exceed these values.

• In the Terminus Acceleration and Terminus Velocity fields, enter the default values for this configuration.

• In the Arrival Position Tolerance field, enter the maximum distance that the vehicle can deviate from the actual destination to be considered as arrived at its destination.

• In the Arrival Velocity Tolerance field, enter the maximum velocity of the vehicle for it to be considered as not moving for jam and obstruction detection.

• From the PC Host Disconnect Action drop-down list box, select the action to be taken on all paths in the event the TCP connection to the host controller dis-connects.

• Select Obstructed Status Notification to have the system automatically send a vehicle status message whenever a vehicle becomes obstructed. Vehicles are obstructed when they are 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 setting can result in many Obstructed Vehicle Status messages being sent when vehicles are in a queue.

• Select Send Node Status Asynchronously to have the system automatically send a node status message whenever a node changes state. Nodes are consid-ered to change state whenever a vehicle enters/exits the node, a switch changes position, and so on.

NOTE: If enabled, this setting can result in many Node Status messages being sent whenever any node changes state.

• Select Stop Moving Suspect Vehicles to have the system stop attempting to move vehicles (pucks) that have been manually moved out of position.

6. To access the advanced global settings, select the Show Advanced Parameters option from the Options menu in the Configurator menu bar.

The Global MagneMover® LITE Settings page that is displayed in the Configuration Properties pane is updated with the advanced parameters as shown in Figure 4-2.



Figure 4-2: Global Settings Page with Advanced Parameters

7. Update the advanced global settings for the transport system as required (see Global Settings on page 184 for detailed descriptions of all properties).


• In the Min Vehicle ID and Max Vehicle ID fields, enter the values for this transport system only when there is one host controller for multiple separate transport systems.

NOTE: Do not change the Min Vehicle ID and Max Vehicle ID values if HLC Control Groups are being used, the vehicle range setting must be set to the defaults: minimum equals 1 and maximum equals 65535 (see Defining HLC Control Groups on page 90).

• 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 Con-figurator menu bar.

Transport System ConfigurationSet 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 Configura-tion File. EtherNet/IP is only used when the host controller (typically an Allen-Bradley® Con-trolLogix® PLC) is communicating with the transport system using the EtherNet/IP interface. If TCP/IP is being used for communication between the host controller and the HLC for the transport system, do not enable or change the EtherNet/IP settings.

1. In the Configuration Tree, select PLC EtherNet/IP.

The PLC EtherNet/IP Settings page, which is shown in Figure 4-3, is displayed in the Configuration Properties pane.

Figure 4-3: 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 (see PLC Ether-Net/IP Settings on page 188 for detailed descriptions of all properties). See the Host Controller EtherNet/IP Communication Protocol User Manual for descriptions of the tag memory.


• In the PLC IP Address and PLC CPU Slot fields, enter the IP address and slot in the PLC of the CPU communicating with the HLC.

Transport System ConfigurationSet EtherNet/IP for a PLC


• In the PLC Max Vehicle ID field, enter the maximum number of vehicle IDs that the HLC reports vehicle status for to limit 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 update period for vehicle status records.

• In the Tag Request Retry Timeout field, enter the amount of time the HLC must wait for the PLC to acknowledge a tag operation.

• From the PLC Host Disconnect Action drop-down list box, select the action to be taken on all paths in the event the EtherNet/IP connection to the host con-troller disconnects.

• Select Enable NC Remote Mgmt to push NC remote management response tags to PLC memory.

• Select Enable Extended HLC Status to push the extended HLC status tag to PLC memory.

• Select Extended NC Status to push extended node controller status tags 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.

Transport System ConfigurationDefining 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 HLCs where Gateway Nodes are used to transfer vehicles from one Control Group to another (see Gateway Node on page 120). 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 orga-nized and how Vehicle (puck) IDs are tracked.

NOTE: Each HLC Control Group must have a unique Node Controller Configuration File that defines just that Control Group and its relationship to the other Control Groups.

Master/Slave HLC Control Groups

With large or complex transport systems, it is sometimes more practical or necessary to subdi-vide the system into one or more Control Groups (see Figure 4-32). This subdivision can sim-plify system management or 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 (pucks) to pass freely between Control Groups. The use of Gateway Nodes also allows vehicles to keep their assigned ID values as they tra-verse from Control Group to Control Group. Once configured, a Gateway Node interconnects a path in one Control Group to a path in another Control Group, which allows vehicles to pass freely between the two Control Groups.

NOTE: There is a maximum of two Gateway Nodes per NC. One at the upstream end of a path and one at the downstream end of a path. The Gateway Nodes do not need to be 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 Con-trol Groups, each subsection must be configured as a unique HLC Control Group. When split-ting 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. Then, the HLCs in all other HLC Control Groups are assigned the role of Vehicle Slaves. Once the roles are estab-lished, 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 periodically exchanges messages with all Vehicle Slave HLCs as part of the Vehicle ID man-agement process.

NOTE: To support HLC Control Groups, each Control Group must have one node controller that is configured as an HLC. Each Control Group has its own unique Node Control-



ler Configuration File, which defines the parameters specific to the HLC and other node controllers for that Control Group.

The Node Controller Configuration File for the Control Group with the Vehicle Mas-ter includes the IP addresses of the Vehicle Master HLC and each Vehicle Slave HLC within the transport system. The Node Controller Configuration File for each slave Control Group only contains 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, which is shown in Figure 4-4, is displayed in the Configuration Properties pane.

Figure 4-4: HLC Control Group Page

2. Select Enable HLC Control Group if the transport system configuration is using multiple HLCs (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 (see HLC Control Group Settings on page 190 for detailed descriptions of all properties).




• 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.

• 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 has two HLCs).

• In the HLC Master IP Address field, enter the IP address of the Master HLC (if the HLC Control Group Role is Master).

• In the HLC Slave n IP Address fields, enter the IP address of each Slave HLC (if the HLC Control Group Role is Master).

4. Save all changes to the HLC Control Group Settings by selecting Save on the File menu in the Configurator menu bar.

Example

If the configuration of the transport system contains two HLCs (the same as the configuration shown for the Gateway Node in Figure 4-32), the Node Controller Configuration File for HLC Control Group 1 is configured as the Master HLC as shown in the upper example in Fig-ure 4-5. The Node Controller Configuration File for HLC Control Group 2 is configured as a Slave HLC as shown in the lower example in Figure 4-5.

Figure 4-5: HLC Control Group Example

Control Group 1 (Master)

Control Group 2 (Slave)



Connecting Control Groups with Gateway Nodes

Depending on size, layout, and configuration, transport systems could require several node controllers to manage system operation. One node controller within the transport system must also be configured to operate as the HLC. The HLC is an application responsible for facilitat-ing 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 (pucks) within the system. The HLC assigns Vehicle IDs 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 HLCs, Gateway Nodes are configured at the paths that make the con-nection 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 vehicles 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 control the handoff of vehicles between HLC Control Groups to make sure that the Vehicle ID is preserved across the adjoining sub-sections. For a graphical description, see Figure 4-32, Gateway Node, Top View, on page 120.

NOTE: It is recommended that when interconnecting the subdivisions within a large trans-port system by Gateway Nodes, and HLC Control Groups are used for assigning the Vehicle IDs throughout the system the Min Vehicle ID and Max Vehicle ID advanced parameters on the Global MagneMover LITE Settings page be left at their default values (see Global Settings on page 184). This setting allows the full range of Vehicle IDs to be available for system use across the entire system.

There is a maximum of two Gateway Nodes per NC, one upstream and one down-stream. The Gateway Node that is the upstream node in a gateway pair has a corre-sponding downstream node on another NC in another Control Group. The Gateway Node that is the downstream node in a gateway pair has a corresponding upstream node on another NC in another Control Group.

Vehicle ID Management

To make sure Vehicle IDs across interconnected Control Groups are unique, the Vehicle Mas-ter HLC must know the status of all Vehicle IDs in the system. The Vehicle Master HLC does



not allocate any Vehicle IDs until every Vehicle Slave HLC in the system has reported the Vehicle IDs that are under their local control. As the Vehicle Slave HLCs report their Vehicle IDs, the Vehicle Master HLC updates the Vehicle ID status. When the Vehicle Master HLC has received information from every Vehicle Slave HLC, each ID is placed in one of the fol-lowing states:

• Active – An HLC reported that this vehicle is already active on the system.

• Allocated – A Vehicle Slave HLC has reported that it has been assigned this Vehicle ID (from an earlier Vehicle ID Master run). It is available to be allocated by that HLC 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 in the system can be in any state. 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 the HLC in any other Control Group. 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 Mas-ter HLC.

• All Vehicle Slave HLC Control Groups under the control of the Vehicle Master HLC 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, which indicates all motors under their control have been successfully configured.

Vehicle Slave HLC Start or Restart

If the system is operational and a Vehicle Slave HLC is reset, the rest of the system continues to run. During the restart process, the Vehicle Slave HLC reports active vehicles under its con-trol. Since the Vehicle Slave HLC has been restarted, its pool of Vehicle IDs available to hand out to newly discovered vehicles is empty. The Vehicle Slave HLC reports the restart to the



Vehicle Master HLC, which redelivers the Vehicle IDs that were allocated to that Vehicle Slave HLC before the restart. The Vehicle Slave HLC then assigns IDs to all active vehicles.

NOTE: Vehicle IDs that had been assigned before 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 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 remains in the initial-ization state.

When the Vehicle Master HLC is stuck in the initialization state, subordinate HLCs can 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 times out and fails. A log message is placed in the log for the subordinate HLC stating that there are no vehicle records available.

Vehicle ID Range Minimum and Maximum

Do not configure Vehicle ID ranges 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 65535.

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.

Transport System ConfigurationCreate 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 MagneMover LITE transport system, which define the routes that vehicles (pucks) travel. Paths must include one or more MM LITE™ motors arranged end to end.

The beginning of a path is the zero point for vehicle positioning on that path and must origi-nate at a node. The end of a path must terminate in a node if vehicles are going to move beyond the end of the path.

Typically, vehicles enter a path on the upstream end, and exit on the downstream end (this rep-resents motion in 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 are going to move beyond that end of the path. See Figure 4-6 for an overview of a path and the nodes and motors that are associated with it.

NOTE: There is a maximum of two nodes per path. Each node requires a minimum of one connection to a node controller. The maximum number of connections to a node controller is node controller-dependent, see Table A-1, MagneMotion Transport Sys-tem Limits, on page 224.

Paths must be defined before motors can be defined.

Figure 4-6: Path Overview

Create a Path

Each path in the transport system must be defined.

NOTE: The maximum number of paths is system-dependent, see Table A-1, MagneMotion Transport System Limits, on page 224.

Node atBeginning

of Path

Upstream Endof Path

Guideway Downstream Endof Path

Forward Motion

0

Upstream End ofMM LITE Motor Downstream End

of MM LITE Motor

Puck(Rail)(Vehicle)

1 m



1. In the Configuration Tree, select Paths (see Figure 4-7).

Figure 4-7: 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-click on an existing path to open the Edit shortcut menu to allow the new path to be inserted before or after the selected path.

The list of paths is expanded and displayed below Paths in the Configuration Tree as shown in Figure 4-8 with the new path added to the list. The path is automatically numbered with the next available Path ID.

Figure 4-8: Add a Path

Edit a Path

1. Expand the list of paths in the Configuration Tree by selecting the symbol in front of Paths or double-clicking Paths.

The list of paths is expanded and displayed below Paths in the Configuration Tree.

2. Open the path to be edited by selecting the Path ID.

The selected path is highlighted and the Path Details page, which is shown in Fig-ure 4-9, is displayed in the Configuration Properties pane.



Figure 4-9: Path Details Page with Advanced Parameters

3. Update the path properties as required (see Paths on page 191 for detailed descriptions of all properties).


• The ID field contains the assigned ID for the path. It is recommended that no changes be made to the assigned value.

• In the Name field, enter a reference name for this path. 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 communication port being used based on the motor type. For serial motors (RS-422), select the RS-422 ports that are connected to the path. For Ethernet motors, select Ethernet.

NOTE: All motors in a path must use the same communication type.

It is recommended that the odd numbered (female) RS-422 connec-tors on the NC LITE be used for upstream connections and the even numbered (male) RS-422 connectors be used for downstream con-nections.

The communication ports that are selected here are displayed in the communications port list for the node controller, see Define and Edit Node Controllers on page 129.



• 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 (see Define and Edit E-Stops on page 142).

• 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 (see Define and Edit Interlocks on page 145).

4. Update the advanced parameters for the path as required (see Paths on page 191 for detailed descriptions of all properties).

• In the Arrival Position Tolerance field, enter the maximum distance that the vehicle can deviate from the actual destination to be considered as arrived at its destination. Change this value only if the tolerance for this path differs from the global setting, otherwise make sure it is set to 0.0.

• In the Arrival Velocity Tolerance field, enter the maximum velocity of the vehicle for it be considered as not moving for jam and obstruction detection. Change this value only if the tolerance for this path differs from the global set-ting, otherwise make sure it is set to 0.0.

5. Save all changes to the path settings by selecting Save on the File menu in the Config-urator menu bar.

Transport System ConfigurationDefine 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 (pucks) on the transport system. A motor must be defined in the Node Controller Configuration File for each motor in the transport system. All MagneMover LITE straight and curve motor modules have one motor, switch modules have two motors (one curve and one straight).

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. Change those motor parameters that apply to all motors in the Motor Defaults section. Once motors are added to a path, changes to the Motor Defaults for that path are reflected in the parameters for all motors. See Define a Motor on page 106 to change the parameters for a specific motor after adding it to the path.

NOTE: Any parameter that has been changed for a specific motor is not affected if changes are made to the Motor Defaults.



2. Expand the path where the motors are located by selecting the symbol in front of its ID or double-clicking 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 dou-ble-clicking Motors.

The list of motors is expanded to show the Motor Defaults, and any configured motors, as shown in Figure 4-10.

Figure 4-10: Configuration Tree Expanded with Motors Selected

4. Select Motor Defaults as shown in Figure 4-11.



The Motor Defaults page, which is shown in Figure 4-12, is displayed in the Configu-ration Properties pane. This page identifies the path that the motor defaults are asso-ciated with at the top of the page. The defaults that are shown are applied to all motors when they are initially defined in the path indicated.

Figure 4-11: Configuration Tree Expanded with Motor Defaults Selected

Figure 4-12: Motor Defaults Page

5. Update the default motor settings as required for the transport system (see Motors on page 193 for detailed descriptions of all properties).


• To define the vehicles and magnet arrays that are used on the path, see Define Vehicle Defaults on page 102.

• To define the parameters that are related to motors and vehicle motion on the path, see Define Motor Defaults on page 104.



• Update the parameters that are related to the Control Loops including the PID settings as required (see Control Loop Parameters on page 198 for detailed descriptions of all properties).

• Update the parameters that are related to thrust and the PID integrator as required (see Advanced Parameters on page 199 for detailed descriptions of all properties). The Show Advanced Parameters option must be selected on the Options menu in the Configurator menu bar.

• Update the parameters that are related to Keepout Areas as required (see Keep-out Areas on page 200 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 Motor Defaults for a path define the vehicle, and its magnet array used on the path. These parameters 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 (see Vehicle on page 195 for detailed descriptions of all properties).


• From the Magnet Array Type drop-down list box, select the magnet array type being used (this setting is always ML_Halbach).

• From the Magnet Array Length drop-down list box, select the length of the magnet array that is attached to the vehicles (this setting is always 1 cycle, 3 poles). The length is described in cycles – to convert to millimeters use the fol-lowing formula.

High flux magnet array: MagnetArrayLength = (Cycles x 54.5) + 7.7 mm

• In the Vehicle Length field, enter the length of the vehicle. Include in the vehi-cle length any corrections for vehicle geometry and any additional overhang attributed to the payload the vehicle is transporting. For a MagneMover LITE puck with no overhang, the vehicle length is always 77 mm.

If the track has curves or switches in it, the vehicle length must be configured so that it is equal to the longest dimension of the vehicle. This extra length is used to help keep vehicles from colliding each other when moving through curves (see Figure 4-13).

NOTE: Only the vehicle length is used to calculate the amount of space that is required between vehicles. To make sure that vehicles do not con-



tact each other while moving, the vehicle length in the configuration must be based on the longest dimension of the vehicle.

Figure 4-13: Vehicle Length in Curves

• In the Propulsion Array Offset field, enter the distance from the physical cen-ter of the vehicle to the front of the magnet array (for a MagneMover LITE puck this setting is always 24.7 mm).

• In the Number of Bogies field, enter the number of separate sections on the bottom of a vehicle that contain magnet arrays. This setting is either 1 (single puck) or 2 (tandem puck).


Curve Motor

Straight MotorPuck

Actual Vehicle

Virtual Vehicle



Define Motor Defaults

The Motor parameters in the Motor Defaults for a path define the default MM LITE motor parameters that 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 can be updated as required once the indi-vidual motors are added.

Figure 4-14: MM LITE Motor Types

1. Update the motor default settings as required for the path (see Motors on page 193 for detailed descriptions of all properties).


• From the Motor Type drop-down list box, select the motor type that is most common on this path (see Figure 4-14).

• In the Acceleration Limit and Velocity Limit fields, enter the maximum val-ues for this path. If the value is less than the system limit, vehicle motion com-mands that exceed the values that are specified are limited to the specified values.

• In the Arrival Position Tolerance field, enter the maximum distance that the vehicle can deviate from the actual destination to be considered as arrived at its destination. Change this value only if the tolerance for this motor must differ from the global or path settings, otherwise make sure it is set to 0.010.

• In the Arrival Velocity Tolerance field, enter the maximum velocity of the vehicle for it to be considered as not moving for jam and obstruction detection.

1000 mm Motor

Curve Motor

250 mm Motor

Right SwitchLeft Switch

Switch

Switch Curve

Switch

Switch Curve

250 mmLeft

Left Motor Right Motor

250 mmRightMotorMotor



Change this value only if the tolerance for this motor must differ from the global or path settings, otherwise make sure it is set to 0.010.

NOTE: The Arrival Position Tolerance and Arrival Velocity Tolerance set-tings in the Motor Defaults are used to trigger an asynchronous vehi-cle status message to the host controller that provides the current position of the vehicle. These settings do not trigger the command complete message. Only these settings in the Global Settings (see Configure Global Settings on page 85) or advanced path parameters (see Edit a Path on page 97) are used to trigger the command com-plete 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.

2. Update the control loop default settings of each PID Set being used as required for the path (see Control Loop Parameters on page 198 for detailed descriptions of all proper-ties).

• 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 affect-ing other control loop gains).

3. Update the advanced parameter settings as required for the path (see Advanced Parameters on page 199 for detailed descriptions of all properties).

• In the Thrust Constant field, enter the thrust constant of the motor per cycle of engaged magnet array, which is based on the gap between the magnet array and the motor.

• Select Integrator Always On to make sure that the PID loop is always run-ning.



• 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.

• In the Gap Downstream #1 field, enter the physical gap between this motor and the next motor downstream. For a standard MM LITE installation, this value must be left at the default value.

• In the Control Off Position Tolerance field, enter the distance to the destina-tion below which the PID control loop is disabled.

• In the Thrust Limit field, enter the maximum thrust that is applied to a vehicle (puck) as a percentage of available motor thrust.

• In the Forward Drive Phase % field, enter the amount of downward force that is applied to the vehicle during forward (downstream) moves as a percent-age of the thrust force.

• In the Backward Drive Phase % field, enter the amount of downward force that is applied to the vehicle during backward (upstream) moves as a percent-age of the thrust force.

4. Update the Keepout Area settings as required for the path (see Keepout Areas on page 200 for detailed descriptions of all properties).

• In the No Move Permission Before field, enter the starting location of the Keepout Area for upstream motion (see Configure Keepout Areas on page 110).

• In the No Move Permission After field, enter the starting location of the Kee-pout Area for downstream motion (see Configure Keepout Areas on page 110).


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. Make sure the quantity, type, and order of motors and switches that are defined in the Node Controller Configuration File matches the quantity, type, and order of motors and switches in the transport system per path. All Magne-Mover LITE straight and curve motor types have one motor internally, switches have two motors internally as shown in Figure 4-14.

NOTE: When adding new motors to the configuration, the order they are listed in the Con-figuration Tree must correspond to their actual physical position on the path. The



maximum number of motors per path is system-dependent, see Table A-1, Magne-Motion Transport System Limits, on page 224.



2. Expand the path where the motor is going to be located by selecting the symbol in front of its ID or double-clicking its ID.

The selected path is highlighted and expands to show Motors, Stations, and other items related to the path.

3. Expand the list of motors by selecting the symbol in front of Motors or double-click-ing Motors.

The list of motors is expanded to show the Motor Defaults, and any configured motors, as shown in Figure 4-15.

Figure 4-15: Configuration Tree Expanded with Motors Shown

NOTE: Before adding any motors to a path, make sure that the Motor Defaults are correctly specified (see 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-click on an existing motor to 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 are renumbered.

The new motor, with the same settings as the selected motor, is added to the Motors list and displayed below Motors in the Configuration Tree as shown in Figure 4-16. The motor is automatically numbered with its position in the list.



Figure 4-16: Configuration Tree Showing Motor Added

5. Save all changes to the motor settings by selecting Save on the File menu in the Con-figurator menu bar.

Edit a Motor

Once the motors in a transport system are defined, the properties for specific motors can be changed if necessary.



2. Expand the path where the motor to be edited is located by selecting the symbol in front of its ID or double-clicking 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-click-ing Motors.

The list of motors is expanded to show the Motor Defaults and any configured motors on the path.

4. Open the motor to be edited (in this case Motor 1) by selecting the Motor ID for that motor.

The Motor Details page for the selected motor, which is shown in Figure 4-17, is dis-played in the Configuration Properties pane. This page identifies the path that the motor is associated with at the top of the page.

NOTE: Unless the motor is different than the type of motor that is specified in the Motor Defaults, or the motor is being used in a special way, there is no need to change the configuration from the assigned defaults.



The Vehicle and Advanced Parameters sections are only displayed when Show Advanced Parameters is selected in the Options menu in the Config-urator 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 4-17: Motor Details Page

5. Update the motor properties as required (see Motors on page 193 for detailed descrip-tions of all properties).


• In the Motor Type field, make sure that the correct motor type is selected for the motor. The appropriate ML_SWITCH_250 motor must be selected for the straight section of each switch and the appropriate ML_SWITCH_CURVE motor must be selected for the curved section of each switch (see Figure 4-14).

• Change the remaining parameters only if they differ from the path defaults for this motor:

• In the Keepout Areas fields, specify a Keepout Area if necessary (see Config-ure Keepout Areas on page 110).

6. Save all changes to the motor settings by selecting Save on the File menu in the Con-figurator menu bar.



Configure Keepout Areas

The Keepout Area allows the definition of certain areas on a path where the motors can pre-vent vehicles (pucks) from entering unless they have permission to pass completely through the area.

NOTE: Keepout Areas can start anywhere on a motor but must always end at the end of a motor.

• A vehicle with a final destination beyond the Keepout Area moving in the direction of the keep-out area is not allowed to enter the area until it has acquired movement per-mission beyond the Keepout Area.

• A vehicle with a final destination within the Keepout Area moving in the direction of the keep-out area is not 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).

• A vehicle entering a keep-out area in the direction of the keep-out area takes owner-ship of all motor blocks within the keep-out area.

• A keep-out area in one direction does not affect the motion of vehicles moving in the other direction unless there is a vehicle within the keep-out area moving in the direc-tion of the keep-out area.

• If vehicle movement is suspended (E-stop, interlock, or a Suspend command is issued), any vehicle in the Keepout Area moving in the direction of the Keepout Area moves beyond the Keepout Area and then decelerates to a stop, any vehicle in the Kee-pout Area moving in the opposite direction of the Keepout Area immediately deceler-ates to a stop.

Examples

For vehicle (puck) motion downstream, if the configuration of the Keepout Area is the same as the configuration shown in Figure 4-18, set the No Move Permission After values for the motors as shown after the figure. See Keepout Areas on page 200 for detailed descriptions of the properties.

Figure 4-18: Keepout Area, Downstream Vehicle Motion

• Motor 1: 5.0 m (not in Keepout Area)

• Motor 2: 0.25 m

• Motor 3: (minus) -0.75 m

• Motor 4: (minus) -1.75 m

Motion Downstream

0 1 m 2 m 3 m

1.25 mKeepout Area

Motor 1 Motor 2 Motor 3 Motor 4



For vehicle (puck) motion upstream, if the configuration of the Keepout Area is the same as the configuration shown in Figure 4-19, set the No Move Permission Before values for the motors as shown after the figure. See Keepout Areas on page 200 for detailed descriptions of the properties.

Figure 4-19: 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

Motion Upstream

0 1 m 2 m 3 m

3.25 mKeepout Area

Motor 1 Motor 2 Motor 3 Motor 4

Transport System ConfigurationCreate and Edit Nodes


Create and Edit Nodes

This section describes how to create and edit all node types in the Node Controller Configura-tion File. Nodes define the beginning, end, and intersection of paths and are an important ele-ment of a MagneMover LITE transport system.

NOTE: There is a maximum of two nodes per path. The maximum number of paths per transport system is system-dependent, see Table A-1, MagneMotion Transport Sys-tem Limits, on page 224.

The maximum number of paths per node is dependent on the node type. The ends of all paths that meet 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 4-20).

Figure 4-20: 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-click on an existing node to open the Edit shortcut menu to allow the new node to be inserted before or after the selected node.

The list of nodes is expanded and displayed below Nodes in the Configuration Tree as shown in Figure 4-21 with the new node added to the list. The node is automatically numbered with the next available Node ID.

Figure 4-21: Add a Node



Edit a Node

1. Expand the list of nodes in the Configuration Tree by selecting the symbol in front of Nodes or double-clicking Nodes.

The list of nodes is expanded and displayed below Nodes in the Configuration Tree.

2. Open the node to be edited by selecting the Node ID for that node.

The Node Details page for the selected node, which is shown in Figure 4-22, is dis-played in the Configuration Properties pane.

Figure 4-22: New (Undefined) Node Page

3. Update the node properties as required (see Nodes on page 205 for detailed descrip-tions of all properties).


• The ID field contains the assigned ID for the node. It is recommended that no changes be made to the assigned value.

• In the Name field, enter a reference name for the node (this name is displayed in the Owned Nodes List in the node controller properties). 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 informa-tion to complete the definition of the node. See Node Types on page 114 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 Config-urator menu bar.



Node Types

The MagneMover LITE transport systems support the following types of nodes. All node types support bidirectional motion through the node. Not all systems support all node types. node types define their use and are presented in this section in order from least to most com-plex.

• Simple Node on page 114.

• Relay Node on page 116.

• Terminus Node on page 118.

• Gateway Node on page 120.

• Merge Node on page 123.

• Diverge Node on page 125.

• Merge-Diverge Node on page 127.

Simple Node

A Simple Node is used to begin a path that is not connected to anything else at the upstream end. No vehicles (pucks) can be commanded to enter or exit the path through a Simple Node. See Figure 4-23, where the shaded circle represents the Simple Node. Paths can begin at other node types.

Figure 4-23: Simple Node, Top View

1. Open the node to be edited by selecting the ID for that node 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 4-24.

Simple Node Exit Path(Path 1)

MM LITE Motor

Forward(Downstream)



Figure 4-24: Simple Node Properties

3. Update the node properties as required (see Simple Node on page 206 for detailed descriptions of all properties).

• From the Exit Path ID drop-down list box, select the number of the path that leaves this node.

4. Save the changes to the node settings by selecting Save on the File menu in the Con-figurator menu bar.

Example

If the configuration of the node is the same as the configuration shown in Figure 4-23, set Exit Path ID to 1 as shown in Figure 4-25.

Figure 4-25: Simple Node Example



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, which creates a simple loop. See Figure 4-26, where the shaded circle represents the Relay Node.

Figure 4-26: Relay Node, Top View


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 Fig-ure 4-27.

Figure 4-27: Relay Node Properties

3. Update the node properties as required (see Relay Node on page 206 for detailed descriptions of all properties).

• From the Entry Path ID drop-down list box, select the number of the path that enters this node.

• From the Exit Path ID drop-down list box, select the number of the path that leaves this node.


Forward(Downstream)

MM LITE Motor

Relay Node

Entry Path Ends Exit Path Begins(Path 1) (Path 2)



Example

If the configuration of this node is the same as the configuration shown in Figure 4-26, set Entry Path ID to 1 and Exit Path ID to 2 as shown in Figure 4-28.

Figure 4-28: Relay Node Example



Terminus Node

A Terminus Node is used on a path where vehicles (pucks) move to or from remote equip-ment. Terminus Nodes can be placed at either the upstream or downstream end of the path. See Figure 4-29, where the shaded circle represents the Terminus Node at the downstream end of the path.

Figure 4-29: Terminus Node, Top View


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 4-30.

Figure 4-30: Terminus Node Properties

3. Update the node properties as required (see Terminus Node on page 207 for detailed descriptions of all properties).

• From the Path drop-down list box, select the number of the path that is con-nected to this node.

• From the Path End drop-down list box, select the end of the path that is used to transfer vehicles to or from the remote equipment.

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, which allows movement in either direction at either end of the path.

Terminus NodeForward

(Downstream) Path Ends

MM LITE Motor

MagneMover LITE Transport System Remote Equipment

Guideway

(Path 3)




Example

If the configuration of this node is the same as the configuration shown in Figure 4-29, set Path to 3 and Path End to Downstream as shown in Figure 4-31.

Figure 4-31: Terminus Node Example



Gateway Node

A Gateway Node is used to connect a path on one Control Group to a path on another Control Group (transport system) where each Control Group has different HLCs. Different host con-trollers can be used to control the different Control Groups if necessary. See Figure 4-32, where the shaded circles represent the Gateway Nodes. The Node Controller Configuration File for each transport system is unique and the HLC Control Group Settings must be config-ured in each Node Controller Configuration File (see Defining HLC Control Groups on page 90).

NOTE: There is a maximum of two Gateway Nodes per NC. One node at the upstream end of a path (with a corresponding downstream path end in the connecting Control Group) and one node 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 on the same path or connect to the same Control Group.

Figure 4-32: Gateway Node, Top View


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 4-33.

Gateway Node

Control Group 2

Exit Path Entry Path

MM LITE Motor

RS-422

Ethernet

Network

Control Group 1

(Path 3) (Path 1)

Forward(Downstream)

Forward(Downstream)

Gateway Node(Node 1) (Node 2)

Host Controller192.168.110.100

Host Controller192.168.110.200

HLC192.168.110.101

NC192.168.110.111

HLC/NC192.168.110.201

5.0 m 1.0 m

Switch

(Master) (Slave)



Figure 4-33: Gateway Node Properties

3. Update the node properties in both Node Controller Configuration Files as required (see Gateway Node on page 208 for detailed descriptions of all properties).


• From the Path drop-down list box, select the number of the path that is con-nected 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 vehi-cles that enter from the other Control Group through this Gateway Node.

• In the Dest. Position field, enter the position on the path that is specified in the Dest. Path ID field for vehicles to move to once they enter the Control Group. This destination is used if there is no pending vehicle order for the vehicle.


Example

If the configuration of this node is the same as the configuration shown in Figure 4-32, the Node Controller Configuration File for Control Group 1 contains the Gateway Node defini-tion that is shown in the upper example in Figure 4-34. The Node Controller Configuration File for Control Group 2 contains the Gateway Node definition that is shown in the lower



example in Figure 4-34. HLC Control Groups must be configured as shown in Figure 4-5 on page 92 for this example.

Figure 4-34: Gateway Node Example

Gateway Node in Control Group 1 (Master)

Gateway Node in Control Group 2 (Slave)



Merge Node

A Merge Node is used where the downstream ends of two paths connect to the upstream end of a third path. A merge can be created using either a Right Switch or a Left Switch. See Fig-ure 4-35, where the shaded circle represents the Merge Node that uses a Left Switch.

Figure 4-35: Merge Node, Top View


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 Fig-ure 4-36.

Figure 4-36: Merge Node Properties

3. Update the node properties as required (see Merge Node on page 210 for detailed descriptions of all properties).

Merge Node Forward(Downstream)

Straight Entry Path Ends

MM LITE MotorMerged Exit Path Begins

(Path 1)

(Path 3)

Curve Entry Path Ends(Path 2)

(Left Switch Shown)

MM LITE Switch



• For each Entry or Exit Path that is identified under Entries and Exits, select the number of the path that is connected to this node from the appropriate Path drop-down list box.


Example

If the configuration of this node is the same as the configuration shown in Figure 4-35, set Straight Entry to 1, Curve Entry to 2, and Merged Exit to 3 as shown in Figure 4-37.

Figure 4-37: Merge Node Example



Diverge Node

A Diverge Node is used where the downstream end of one path connects to the upstream ends of two paths. A diverge can be created using either a Right Switch or a Left Switch. See Fig-ure 4-38, where the shaded circle represents the Diverge Node that uses a Right Switch.

Figure 4-38: Diverge Node, Top View


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 4-39.

Figure 4-39: Diverge Node Properties

3. Update the node properties as required (see Diverge Node on page 211 for detailed descriptions of all properties).

Forward(Downstream)

Straight Exit Path Begins

MM LITE Motor Single Entry Path Ends

Curve Exit Path Begins

(Path 2)

(Path 3)

(Path 1)

Diverge Node(Right Switch Shown)

MM LITE Switch





Example

If the configuration of this node is the same as the configuration shown in Figure 4-38, set Straight Exit to 2, Curve Exit to 3, and Single Entry to 1 as shown in Figure 4-40.

Figure 4-40: Diverge Node Example



Merge-Diverge Node

A Merge-Diverge Node is used where the downstream ends of two paths connect to the upstream ends of two other paths. A merge-diverge is created using a Right Switch and a Left Switch. Contact MagneMotion Customer Support regarding other switch configurations. See Figure 4-41, where the shaded circle represents the Merge-Diverge Node.

Figure 4-41: Merge-Diverge Node, Top View


2. From the Node Type drop-down list box, select Merge-Diverge.

The Node Details page is updated to show the Merge-Diverge Node properties as shown in Figure 4-42.

Figure 4-42: Merge-Diverge Node Properties

Forward(Downstream)

Straight Exit Path Begins

MM LITE Motor

Straight Entry Path Ends(Path 3)(Path 1)

Merge-Diverge Node

Curve Entry Path Ends(Path 2)

Curve Exit Path Begins(Path 4)

Forward(Downstream)

MM LITE Switch



3. Update the node properties as required (see Merge-Diverge Node on page 212 for detailed descriptions of all properties).



Example

If the configuration of this node is the same as the configuration shown in Figure 4-41, set Straight Entry to 1, Curve Entry to 2, Straight Exit to 3, and Curve Exit to 4 as shown in Figure 4-43.

Figure 4-43: Merge-Diverge Node Example

Transport System ConfigurationDefine and Edit Node Controllers


Define and Edit Node Controllers

This section describes how to define and edit a node controller in the Node Controller Config-uration File. Node controllers communicate vehicle (puck) information between motor con-trollers (internal to the MagneMover LITE motors) and the HLC. 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 that originate from nodes that the node controller owns.

The motor at the upstream end of each path, which is designated by a node, must communi-cate 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 that are associated with a specific node must all connect to the same node con-troller.

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 HLC (see the Node Controller Interface User Manual).

NOTE: The maximum number of node controllers per transport system is system-dependent, see Table A-1, MagneMotion Transport System Limits, on page 224.

Define a Node Controller

1. In the Configuration Tree, select Node Controllers as shown in Figure 4-44.

Figure 4-44: 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-click on an existing node controller to open the Edit shortcut menu to allow the new node controller to be inserted before or after the selected node controller.

The list of node controllers is expanded and displayed below Node Controllers in the Configuration Tree as shown in Figure 4-45 with the new node controller added to the



list. The node controller is automatically numbered with the next available Node Con-troller ID.

Figure 4-45: 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 Node Controllers.

The list of node controllers is expanded and displayed below Node Controllers in the Configuration Tree.

2. Open the node controller to be edited by selecting the Node Controller ID for that node controller.

The Node Controller Details page for the selected node controller, which is shown in Figure 4-46, is displayed in the Configuration Properties pane.

Figure 4-46: New (Undefined) Node Controller Page



3. Update the properties for the node controller as required (see Node Controllers on page 213 for detailed descriptions of all properties).


• The ID field contains the assigned Node Controller ID. It is recommended that no changes be made to the assigned value.

• In the Name field, enter a reference name for this node controller. 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 that is installed in the node controller.

NOTE: I/O board selection does not apply to NC LITE node controllers.

• From the Node ID drop-down list box under Node Ownership Control, select a node for the node controller to monitor and control then select Take Owner-ship.

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 that are connected to the node, the end of the path (upstream or downstream) con-nected, and the node membership (enter or exit).

• From the Comm Port drop-down list box, for the upstream or downstream end of each path that is listed, select the port that is used for the physical connec-tion from the node controller to that end of the motor. For serial motors (RS-422), select the RS-422 port that is connected to the path. For Ethernet motors, select Ethernet.

NOTE: It is recommended that the odd numbered (female) RS-422 connec-tors on the NC LITE be used for upstream connections and the even numbered (male) RS-422 connectors on the NC LITE be used for downstream connections.

The communication ports that are selected here are displayed in the properties for each path, see Create and Edit Paths on page 96.

Make sure that all connections for a node use the same node control-ler.

4. Save all changes to the node controller settings by selecting Save on the File menu in the Configurator menu bar.



Examples

Figure 4-47 shows an NC LITE node controller that is configured with one Merge-Diverge Node that uses serial motors that are configured as shown in Figure 4-41. The node is not named and all four RS-422 communications lines that are associated with the Merge-Diverge Node connect to this node controller.

Figure 4-47: Node Controller Example using Serial Motors

Figure 4-48 shows an NC LITE node controller that is configured with one Merge-Diverge Node that uses Ethernet motors that are configured as shown in Figure 4-41. The node is not named and all four RS-422 communications lines that are associated with the Merge-Diverge Node connect to this node controller.



Figure 4-48: Node Controller Example using Ethernet Motors

Transport System ConfigurationCreate 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 that are measured from the beginning of a path to order vehicles (pucks) 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 can be a more convenient reference point than a position, which is simply a physical position that is refer-enced 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 that is measured from the begin-ning of the path, such as 0.25 meters or 1.5 meters.

NOTE: The maximum number of stations per transport system is system-dependent, see Table A-1, MagneMotion Transport System Limits, on page 224.

Do not position stations in the gap between motors.

Before adding new stations to a path, with existing stations make sure that the Sta-tion Insert Mode is set appropriately (see Station Insert Mode on page 154).

Create a Station



2. Expand the path where the station is going to be added by selecting the symbol in front of its ID or double-clicking the ID.

The path expands to show Motors, Stations, and other items related to the path.

3. In the Configuration Tree, select Stations (see Figure 4-49).

Figure 4-49: 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-click on an existing station to open the Edit shortcut menu, which allows the new station to be inserted before or after the selected station.



The list of stations is expanded and displayed below Stations in the Configuration Tree as shown in Figure 4-50 with the new station added to the list. The station is automat-ically 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 4-50: Add a Station

Edit a Station



2. Expand the path where the station to be edited is located by selecting the symbol in front of its ID or double-clicking the ID.

The path expands to show Motors, Stations, and other items related to the path.

3. Expand the list of stations by selecting the symbol in front of Stations or double-click-ing Stations.

Stations is highlighted and the list of Stations is expanded to show all stations on the path.

4. Open the station to be edited (in this case Station 1) by selecting the Station ID for that station.

The Station Details page for the selected station, which is shown in Figure 4-51, is dis-played in the Configuration Properties pane. This page identifies the path that the sta-tion is associated with at the top of the page.



Figure 4-51: Station Page

5. Update the properties for the station as required (see Stations on page 202 for detailed descriptions of all properties).


• The ID field contains the assigned Station ID. It is recommended that no changes be made to the assigned value.

• In the Name field, enter a reference name for this station. A name for the sta-tion 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 Con-figurator menu bar.



Example

Figure 4-52 shows a typical station located 2.5 meters from the beginning of path 1.

Figure 4-52: Station Example

View All Stations

After stations have been created, any station can be accessed for editing or viewing by Station ID instead of having to open each path to access the stations that are 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 list of all stations in the Configuration Tree by selecting the symbol in front of All Stations or double-clicking All Stations.

The All Stations list is expanded and displayed below All Stations in the Configuration Tree as shown in Figure 4-53.

Figure 4-53: 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. The path that the station is associated with is displayed at the top of the page.

3. Update the properties for the station if necessary (see Stations on page 202 for detailed descriptions of all properties).

4. Save all changes to the station settings by selecting Save on the File menu in the Con-figurator menu bar.

Transport System ConfigurationCreate and Edit Single Vehicle Areas


Create and Edit Single Vehicle Areas

This section describes how to define and edit Single Vehicle Areas (SVA) in the Node Con-troller Configuration File. In the transport system, this is a unidirectional area of a path where only one vehicle (puck) moving in the direction of the area is allowed to move at any time. Other vehicles on the Path moving in the same direction as the initial vehicle in the SVA must wait before entering this area until the previous vehicle leaves the area. This queueing allows one vehicle to move backward and forward along a portion of a Path without interfering with any other vehicles.

Single Vehicle Areas do not apply to vehicles moving in the opposite direction. That is, a downstream SVA only keeps vehicles moving downstream from entering it while a vehicle within it entered when moving downstream. If a vehicle entered the SVA moving down-stream, it does not keep vehicles moving upstream from entering it. If a vehicle entered the SVA moving upstream, it does not keep vehicles moving downstream from entering it.

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.

Figure 4-54: Single Vehicle Area

Create a Single Vehicle Area



2. Expand the path where the Single Vehicle Area is going to 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.

Forward(Downstream)

MM LITE MotorVehicle in Single

Upstream End Single Vehicle Area

Vehicle AreaVehicles Waiting to Enter

Single Vehicle Area

of Path

(3.125 m) (4.500 m)



3. In the Configuration Tree, select Single Vehicle Areas as shown in Figure 4-55.

Figure 4-55: Configuration Tree with Single Vehicle Areas Selected

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-click on an existing Single Vehicle Area to open the Edit shortcut menu to allow the new Single Vehicle Area to be inserted before or after the selected SVA.

The list of Single Vehicle Areas is expanded and displayed below Single Vehicle Areas in the Configuration Tree as shown in Figure 4-56 with the new Single Vehicle Area added to the list. The Single Vehicle Area is automatically numbered with the next Sin-gle Vehicle 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 are renumbered.

Figure 4-56: 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





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 list of Single Vehicle Areas 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, which is shown in Figure 4-57, is displayed in the Configuration Properties pane. This page identifies the path that the Single Vehicle Area is associated with at the top of the page.

Figure 4-57: Single Vehicle Area Page

5. Update the properties for the Single Vehicle Area as required (see Single Vehicle Areas on page 203 for detailed descriptions of all properties).


• 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 is further downstream (larger number than the Start Location). For an upstream Single Vehicle Area, the end location on the path is 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.

Examples

If the configuration of the downstream Single Vehicle Area is the same as the configuration shown in Figure 4-54, configure the Single Vehicle Area as shown in Figure 4-58. These set-tings create a 1.375 m long Single Vehicle Area that starts 3.125 m from the beginning of the path.

Figure 4-58: Single Vehicle Area Example – Downstream

If the configuration of the upstream Single Vehicle Area is the same as the configuration shown in Figure 4-54, configure the Single Vehicle Area as shown in Figure 4-59. These set-tings create a 1.375 m long Single Vehicle Area that starts 4.5 m from the beginning of the path.

Figure 4-59: Single Vehicle Area Example – Upstream

Transport System ConfigurationDefine and Edit E-Stops


Define and Edit E-Stops

When using node controllers equipped with digital I/O ports (typically the NC-12), the I/O ports can be connected directly to an E-stop circuit. An E-stop is a user-supplied button (typi-cally locking) that an operator can press 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 that are 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 mass of the vehicle and its payload and the acceleration setting of its 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 Control-ler Configuration File. See the MagneMover LITE User Manual to wire the transport system to use an E-stop.

Multiple E-stop circuits can be connected to one node controller. Each path can then be con-figured to be associated with a specific E-stop bit. Any or all paths can be associated with the same E-stop bit. One E-stop circuit can have multiple buttons that are wired together in series so that pressing any button initiates an E-stop. The same E-stop circuit can be used for multi-ple 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. See the MagneMover LITE User Manual for more details.

Define an E-Stop



2. Open the path where the E-stop is going to be located by selecting the Path ID.

The Path Details page for the selected path, which is shown in Figure 4-60, is dis-played in the Configuration Properties pane.

CAUTION

Electrical Hazard

The E-stop only executes the actions that are described, it isnot the same as an EMO (Emergency Off) which removes allpower to the transport system.



Figure 4-60: 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. Use the log to make sure that a bit is not configured for multiple uses and that all connec-tions for a path use the same node controller.

4. Add the E-stop to other paths that are connected to 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



2. Open the path where the E-stop to be edited is located by selecting the Path ID.




Figure 4-61: 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. Verify that bits are 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 that are connected to 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 Con-figurator menu bar.

Transport System ConfigurationDefine and Edit Interlocks


Define and Edit Interlocks

When using node controllers equipped with digital I/O ports (typically the NC-12), the I/O ports can be connected directly to an interlock circuit. An interlock is a user installed circuit that another piece of equipment in the facility can activate to halt all motion on any specified paths temporarily. When the node controller detects that the interlock circuit is activated, it commands all paths that are associated with that interlock to suspend vehicle (puck) move-ment. 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. Stopping time for each vehicle is dependent on the mass of the vehicle and its payload and the acceleration set-ting of its 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. See the MagneMover LITE User Manual to wire the transport system to use an interlock.

Multiple interlock circuits can be connected to one node controller. Each path can then be con-figured to be associated with a specific interlock bit. Any or all paths can be associated with the same interlock bit. The same interlock circuit can 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. See the MagneMover LITE User Manual for more details.

Define an Interlock



2. Open the path that is going to be interlocked by selecting the Path ID.


CAUTION

Automatic Movement Hazard

Movement of the vehicles (pucks) on the MagneMover LITEtransport system is automatically resumed when the interlockis cleared, which could result in personal injury.



Figure 4-62: 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.


4. Add the interlock to other paths that are connected to 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 Configura-tor menu bar.

Edit an Interlock



2. Open the path where the interlock to be edited is located by selecting the Path ID for that path.




Figure 4-63: 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. Verify that bits are not configured for multiple uses and that all connections for a path use the same node controller.

4. Update the interlock on other paths that are connected to 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.

Transport System ConfigurationDefine and Edit Light Stacks


Define and Edit Light Stacks

This section describes how to define and edit light stacks in the Node Controller Configura-tion File. When using node controllers equipped with digital I/O ports (typically the NC-12), the I/O ports can be connected directly to a light stack. A light stack is a user-supplied visual signal that is used to provide transport system status. Standard three color light stacks (typi-cally green, yellow, and red) are supported.

Node controllers use light stacks to display the status of specific paths and nodes in the trans-port system as specified in the Light Stack page for a specific node controller. The status information that light stacks display 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 that is configured for that light.

The transport system status that is 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, expect vehicle movement.

• If the Fault light is lit, the system could still be operational with vehicles moving.

• If the Stop light is lit, movement can resume at any time with no warning.

Define a Light Stack

1. Expand the list of node controllers in the Configuration Tree by selecting the symbol in front of Node Controllers or double-clicking Node Controllers.

Node Controllers is highlighted and the list of node controllers is expanded and dis-played below Node Controllers in the Configuration Tree.

CAUTION

Automatic Movement Hazard

The light stack only shows the status of those paths and/ornodes being monitored. There is a potential for movement onthose paths or any other paths as long as power is applied tothe transport system.



2. Open the node controller that the light stack is going to be connected to by selecting the symbol in front of the Node Controller ID for that node controller or by dou-ble-clicking the ID.

The Node Controller is highlighted and expands to show Light Stacks.

3. In the Configuration Tree, select Light Stacks (see Figure 4-64).

Figure 4-64: 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 list of light stacks is expanded and displayed below Light Stacks in the Configura-tion Tree as shown in Figure 4-65 with the new light stack added to the list. The light stack is automatically numbered with the next Light Stack ID.

Figure 4-65: Add a Light Stack

Edit a Light Stack

1. Expand the list of node controllers in the Configuration Tree by selecting the symbol in front of Node Controllers or double-clicking Node Controllers.

The list of node controllers 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 list of light stacks is expanded to show all light stacks associated with the node controller.



4. Open the light stack to be edited by selecting it.

The Light Stack Details page for the selected light stack, which is shown in Fig-ure 4-66, is displayed in the Configuration Properties pane. This page identifies the node controller that the light stack is associated with at the top of the page.

Figure 4-66: New (Undefined) Light Stack Page

5. Update the properties for the light stack as required (see Light Stacks on page 215 for detailed descriptions of all properties).

• From the Run Bit drop-down list box, select the digital output bit to use for the light that indicates 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 that indicates 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 that indicates that all movement has stopped (typically the red light).


6. Save all changes to the light stack settings by selecting Save on the File menu in the Configurator menu bar.



Example

Figure 4-67 shows a typical light stack configuration. In this case, the light stack displays the status for the three paths and two nodes that are shown in the Transport System Light Stack Example in Figure 4-68.

Figure 4-67: Light Stack Example

Figure 4-68: Transport System Light Stack Example

NC1&

HLC

NOTE: Arrows indicate direction of forward motion.

Diverge

Merge

GYR

LS 1

+V -VPS

Transport System ConfigurationEditing Functions


Editing Functions

There are several editing functions available through the Edit menu in the Configurator menu bar at the top of the MagneMover LITE Configurator window. These functions are also avail-able 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 Config-uration Tree.

Cutting configuration information copies the information from the selected element, temporarily store it, and deletes the element from the Configuration Tree. The stored information can then be pasted into the target element (the same as a copy opera-tion).

1. Expand the element list in the Configuration Tree by selecting the symbol in front of the category or double-clicking 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.

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 Configu-rator 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.

Transport System ConfigurationEditing Functions


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 cate-gory and selecting Add To End.... However, new elements can be added anywhere in the list of elements by right-clicking on an existing element and selecting either Insert Before... or Insert After....



2. Right-click on the element in the list where the insertion is going to be and select either Insert Before... or Insert After... from the shortcut menu. Or, select the element where the insertion is going to 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 ele-ment number in the sequence for that element.

When a new motor is inserted, the motor list is automatically renumbered.

When a new station is inserted, the station list is renumbered based on the Station Insert Mode (see Station Insert Mode on page 154).

3. Configure the new element as required.


Delete Configuration Elements

Extra elements can be deleted at any time by right-clicking on them in the Configuration Tree and selecting Delete.



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.


Transport System ConfigurationOptions


Options

There are several functions available through the Options menu in the Configurator menu bar at the top of the MagneMover LITE Configurator window that can be selected at any time. 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 (see Create and Edit Stations on page 134) and how to select the desired mode. These modes are only used when adding stations to a configuration with existing sta-tions 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 the Station Insert Mode option in the Options menu in the Configurator menu bar as shown in Figure 4-69.

Figure 4-69: 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 Configu-ration File and always defaults to Absolute when the Configurator is started.



Example

Figure 4-70 shows stations added using both insert modes.

Figure 4-70: Station Insert Modes

Absolute Slide Existing Downstream

Insert Station Before Existing Stations

New Station AddedNew Station Added

Existing Stations Moved Existing Stations Moved and Renumbered



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 (puck) motion that is 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 the Show Per Motor Control Loop Parameters option 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 4-71, to indicate it is selected.

Figure 4-71: Show Per Motor Control Loop Parameters Option Selected

2. Edit the Control Loop parameters for specific motors as required.


NOTE: The Show Per Motor Control Loop Parameters selection is not saved within the Node Controller Configuration File and always defaults to cleared (unchecked) when the Configurator is started.



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 the Show Advanced Parame-ters option 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 4-72, to indicate it is selected.

Figure 4-72: Show Advanced Parameters Option Selected

2. Edit any of the advanced parameters in the Global Settings, Paths, and Motor pages as required.


NOTE: The Show Advanced Parameters selection is not saved within the Node Controller Configuration File and always defaults to cleared (unchecked) when the Configura-tor is started.



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 con-troller simulator for development (see the Node Controller Interface User Manual).

Show Simulated Vehicles

1. Enable the simulated vehicles option by selecting the Show Simulated Vehicles option 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 4-73, to indicate it is selected. When a Path is expanded, the Simulated Vehicles element is listed.

Figure 4-73: Show Simulated Vehicles Option Selected

NOTE: The Show Simulated Vehicles selection is not saved within the Node Controller Configuration File and always defaults to cleared (unchecked) when the Configura-tor is started. However, if there are simulated vehicles in a Node Controller Configu-ration File it defaults to selected (checked) once the Configuration File is loaded.

Create a Simulated Vehicle

1. Enable the simulated vehicles option by selecting the Show Simulated Vehicles option in the Options menu in the Configurator menu bar.



3. Expand the path where the simulated vehicle is going to be added by selecting the symbol in front of its ID or double-clicking 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 4-74.



Figure 4-74: 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 list of simulated vehicles is expanded and displayed below Simulated Vehicles in the Configuration Tree as shown in Figure 4-75 with the new simulated vehicle added to the list. The simulated vehicle is automatically numbered with the next Simulated Vehicle ID.

Figure 4-75: Add a Simulated Vehicle

Edit a Simulated Vehicle



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 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 Simulated Vehicles.

Simulated Vehicles is highlighted and the list of Simulated Vehicles is expanded to show all simulated vehicles on the path.



4. Open the simulated vehicle to be edited by selecting it.

The Simulated Vehicle Details page for the selected simulated vehicle, which is shown in Figure 4-76, is displayed in the Configuration Properties pane. This page identifies the path that the Simulated Vehicle is associated with at the top of the page.

Figure 4-76: Simulated Vehicle Page

5. Update the properties for the simulated vehicle as required (see Simulated Vehicles on page 204 for detailed descriptions of all properties).


• 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.



Example

Figure 4-77 shows a typical simulated vehicle located 1.5 meters from the beginning of path 1.

Figure 4-77: Simulated Vehicle Example



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 dis-play and entry of numbers in all pages. The US number format uses a point as the decimal mark in a number and a comma as the delimiter between groups. The European number for-mat uses a comma as the decimal mark in a number and a point as the delimiter between groups. See Figure 4-78 for examples of both number formats where the number being dis-played is one thousand.

Figure 4-78: Number Formatting Conventions

NOTE: The use of group separators is optional when using either style of number format-ting.

Show European Number Formatting

1. Enable the European Number Formatting option by selecting the European Number Formatting option 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 4-79, to indicate it is selected and all current values are reformatted as shown in Figure 4-78.

Figure 4-79: European Number Formatting Option Selected

NOTE: The European Number Formatting selection is saved within the Node Controller Configuration File.

1,000.00 1.000,00US Formatting EU Formatting



Create the Track File

The Track File (file_name.mmtrk) is used with the NCHost TCP Interface Utility to provide a graphical representation of the transport system that can be used to monitor system operation.

1. Make sure that the Node Controller Configuration File is complete.

2. Select Create Track File from Config on the File menu in the Configurator menu bar.

The Save As dialog box, which is shown in Figure 4-80, is displayed.

Figure 4-80: Save Track File As Dialog



A Save Status message is displayed.

5. Select OK.

Transport System Configuration




UI Reference 5

Overview

This chapter provides an overview of the User Interface (UI) for the MagneMover® LITE Configurator. Examples of each window, page, and dialog in the UI and descriptions of their features are included. 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 MagneMover LITE Configurator may not implement all features that are described in this manual. See the Release Notes that are supplied with this application for more information.

UI ReferenceWindow Layout


Window Layout

All User Interface elements that are presented through the MagneMover LITE Configurator window follow the guidelines that are described in this chapter. The UI elements consist of three main areas that are always visible as shown in Figure 5-1, and temporary dialog boxes that are displayed over the main UI window. Additional windows that are opened through the UI can be positioned as desired.

Figure 5-1: Window Layout

Window Behavior

• Window Size – The window can be sized as required, it opens at its default size and location each time the MagneMover LITE Configurator is run.

• Pane Size – The bar between the Configuration Tree and the System Layout and Con-figuration Properties panes can be moved horizontally as required. The bar returns to its default location each time the MagneMover LITE Configurator is run.

The bar between the System Layout pane and the Configuration Properties pane can be moved vertically as required. The bar returns to its default location each time the MagneMover LITE Configurator is run.

MagneMover LITE Configurator Menus and Window Controls


Configuration Tree

System Layout Pane

Layout Menus

UI ReferenceUser Interface Features


User Interface Features

Dialog Boxes

A dialog box, which is shown in Figure 5-2, is 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 dis-played depends on the type of input that is required.

To close a dialog box and save the selection, select the button for that action (Open, OK, and so on). 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 5-2: Dialog Box Example

Messages

Messages, which are shown in Figure 5-3, are used to display information, to confirm user input, or to warn of user input that is disallowed. The MM LITE™ Configurator automatically displays these messages when a restricted operation is attempted, or when some important operational information must be conveyed.

• Single-button Messages provide a descriptive message that is related to the previously selected action. Close the Message after reading by selecting the OK button.



• Multi-button Messages provide a descriptive message that is related to the previously selected action and options for response to the message. Close the Message after read-ing by selecting one of the options presented.

NOTE: When certain Messages are open, no actions are permitted until the Message is closed.

Figure 5-3: Message Examples

Dialog Box and Window Elements

Checkboxes, which are shown in Figure 5-4, are used to turn an option on or off by selecting (checking) or clearing (unchecking) the box. In those areas where multiple checkboxes are presented, multiple checkboxes can be selected.

Figure 5-4: Checkbox Example

Drop-down menus or list boxes, which are shown in Figure 5-5, 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.

Figure 5-5: Drop-Down Menu Examples

Text fields, which are shown in Figure 5-6, are used to enter variable information, such as names, setpoints, and position values. Display fields, which are shown in Figure 5-6, are used

Single Button Message Multi-Button Message

Drop-Down Menu

Drop-Down List Box



to display fixed and variable information, such as property names and values returned from the controlled components.

NOTE: If a red dot is displayed next to the text field, the value that is entered is outside the allowable range or formatting for that variable. Valid characters are: a-z, A-Z, 0-9,!#$%'*+-/=?^_`{|}~"(),:;@[\] and space.

Figure 5-6: Text and Display Field Example

Each window, dialog box, and message contain graphical buttons (shown in Figure 5-7) that are used to perform various actions, including:

• Initiating an action.

• Changing the display.

• Opening dialogs, menus, or windows.

Figure 5-7: Button Example

Display Field

Text Field

Command Button(Initiate Action)

Arrow Button(Open Drop-Down List Box)

UI ReferenceWindow 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 MagneMover LITE Configurator. All windows, menus, and dialog boxes within this reference are listed in functional order.

The MagneMover LITE Configurator is a software utility that is 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 MagneMover LITE Configurator is shown in Figure 5-8. This win-dow 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 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 System Layout and Configuration Properties panes. The function of each item in the Con-figuration Tree and the System Layout and Configuration Properties panes are described in this chapter along with all menu options and configuration properties.

Figure 5-8: MagneMover LITE Configurator Main Window Overview

Configuration TreeConfigurator Menu Bar


System Layout PaneLayout Menu Bar

UI ReferenceWindow and Dialog Box Reference


• Configurator Menu Bar – Provides access to configuration and common functions.

• Configuration Tree – Displays a list of the configuration categories and elements available. A category or element with a hollow triangle symbol ( ) in front of it indi-cates that it can be expanded to show more related categories or specific elements (select the symbol or double-click the name). A category or element with a filled trian-gle symbol ( ) in front of it indicates that it can be collapsed to hide the related cate-gories or elements (select the symbol or double-click the name).

• System Layout pane – Displays a graphic configuration tool for creating a graphical representation of the transport system layout. The pane is divided into three sections; the Layout Menu Bar, the Symbols Menu, and the Layout Diagram Area.

• Layout Menu Bar – Provides access to layout functions.

• Configuration Properties pane – Displays the page of properties that are associated with the category or element that is selected in the Configuration Tree.

UI ReferenceSystem Layout


System Layout

The System Layout pane (shown in Figure 5-9), provides a configuration tool for creating a graphical representation of the transport system layout. The pane is divided into three sec-tions; the Layout Menu Bar, the Global Settings, and the Layout Area.

Figure 5-9: System Layout Pane

Layout Menu Bar

The Layout Menu Bar, shown in Figure 5-10, at the top of the System Layout pane (see Fig-ure 5-9) provides drop-down menus for access to the track layout functions as shown in Fig-ure 5-11.

Figure 5-10: Layout Menu Bar



Figure 5-11: System Layout Menus

File

• New – Resets the MagneMover LITE Configurator for the creation of a new Track Layout File. Starting a new file deletes any existing configuration information in both the Configuration Tree and the System Layout pane.

• Load From Track Layout (.ndx) File... – Opens a dialog box to locate and open an existing Track Layout File.

• Edit Document Information – Opens the Document Information dialog box for edit-ing.

• Save – Saves the existing Track Layout File after changes are made. If the Track Lay-out File has not been named, the Save As dialog box is opened.

• Save As – Opens a dialog box to name and save a new Track Layout File.

• Page Setup – Opens a dialog box to configure the page for printing.

• Print Preview – Opens a dialog box to preview how the Track Layout File is going to be printed. Controls are available to adjust the display and the presentation of the track layout on the page.

• Print – Opens a dialog box for selection of a printer and to print the layout.

Edit

• Undo – Reverses the last change that was made to the layout.

• Redo – Restores the last change that was undone.

• Cut – Copies the selected object to the Windows clipboard and deletes the object.

• Copy – Copies the selected object to the Windows clipboard.

• Paste – Inserts the object that is copied to the clipboard.

• Duplicate – Create a duplicate of the selected object.

Action MenuFile Menu Edit Menu Export Menu



Action

• Rotate Left – Rotates the selected object counter-clockwise.

• Rotate Right – Rotates the selected object clockwise.

• Group – Merges the selected objects into one object for ease of use. Grouping allows all objects in the group to be rotated, flipped, moved, or duplicated simultaneously as though they were one object.

• UnGroup – Separates the selected group into its original individual objects.

Export

• Create PDF File – Opens a dialog box for creation of a PDF file of the track layout.

• Create Image File – Creates a BMP image of the track layout. The file is stored in the same folder as the track_layout.ndx file.

• Place the Nodes – Automatically places Merge, Diverge, Merge-Diverge, and Termi-nus Nodes based on the manual placement of one Merge, Diverge, Simple, or Termi-nus Node.

• Walk the Paths – Clears any existing configuration information then automatically places Merge, Diverge, Merge-Diverge, and Terminus Nodes. Node placement is based on the manual placement of one Merge, Diverge, Simple, or Terminus Node then identifies all paths in the layout and populates the Configuration Tree.

• Clear Path Indicators – Clears the path indicators added to the layout after Walk the Paths is run.



Global Settings

The Global Settings for the System Layout pane (shown in Figure 5-12), on the left of the System Layout pane (see Figure 5-9), provides controls and icons for the creation of the sys-tem layout. See Track Layout on page 54 for usage.

Figure 5-12: System Layout Global Settings

• Zoom – The zoom level that is used for displaying the layout area. The slider can select from 10% to 200% in 10% increments.

• View Style – Sets the method for displaying the symbols that can be selected and dragged onto the layout.

• Icons and Details – Shows half-size icons, titles, and a description.

• Icons and Names – Shows half-size icons and titles.

• Icons Only – Shows only the symbol icons.

• List – Shows small icons and titles.

• Thumbnails – Shows full-size icons and titles.

• MagneMover LITE Symbols – The set of icons that are available for creating a sys-tem layout in the layout area.

Dimension Line – Provides a line where both ends can be posi-tioned as required to measure the track layout.

Text – Provides a box that can be positioned as required for text entry on the track layout.



Forward Direction – Provides an arrow to show the direction of vehicle (puck) forward motion on the track layout.

1 Meter Straight LSM – Provides a 1 meter motor symbol that can be positioned as required on the track layout. Right-click on the symbol once it is positioned to identify the motor as a Sync version.

0.25 Meter Straight LSM – Provides a 1/4 meter motor symbol that can be positioned as required on the track layout. Right-click on the symbol once it is positioned to open a dialog box to iden-tify the motor as a Sync version.

90 Degree Curve LSM – Provides a 90° curve motor symbol that can be positioned as required on the track layout. Right-click on the symbol once it is positioned to open a dialog box to iden-tify the motor as a Sync version.

Left Switch LSM – Provides a left switch symbol that can be positioned as required on the track layout.

Right Switch LSM – Provides a right switch symbol that can be positioned as required on the track layout.

Node Controller – Provides a symbol that can be positioned as required on the track layout to indicate the IP address of the node controller.

Ethernet Switch – Provides a symbol that can be positioned as required on the track layout to indicate the IP address of the net-work switch.

Ethernet Connector Line – Provides a symbol that can be posi-tioned on the track layout to show network connections.

Leg – Provides a symbol that can be positioned and sized as required on the track layout to indicate the position of system legs.

Sync Box – Provides a symbol that can be positioned as required on the track layout and used to specify the number of Sync cables required (one per Sync motor).



Node – Provides a node identification symbol that can be posi-tioned as required on the track layout.

Precision Locator – Provides a symbol that can be positioned as required on the track layout to indicate the location and type of Precision Locators on the transport system.

Pucks – Provides a dialog box for entry of the number and type of vehicles being used on the track layout for individual material transport on the transport system.



Layout Area

The Layout Area for the System Layout pane (shown in Figure 5-13), on the right of the Sys-tem Layout pane, provides space for the creation of the system layout.

Figure 5-13: System Layout Area

• Ruler – Provides measurements in millimeters.

• Cursor Position – Red line on each ruler that shows the current location of the cursor.

• Background – Gridded area for positioning of the symbols that are used to create the track layout. It automatically expands to include new symbols as required.

Ruler

CursorPosition

Background

Cursor

UI ReferenceConfiguration


Configuration

The MagneMover LITE Configurator (shown in Figure 5-14), 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 Con-figuration Properties pane. Selecting a configurable item within the Configuration Tree dis-plays the properties that are associated with the item in the Configuration Properties pane.

Figure 5-14: Configuration Tree and Configuration Pane

Configurator Menu Bar

The Configurator Menu Bar, shown in Figure 5-15, at the top of the MagneMover LITE Con-figurator, provides drop-down menus for access to various configuration functions as shown in Figure 5-16. All menu functions are described after the figure. All Edit menu functions are also available on shortcut menus that are accessed by right-clicking on a Category or Element in the Configuration Tree.

Figure 5-15: Configurator Menu Bar



Figure 5-16: Configurator Menus

File

• Open XML Configuration... – Opens a dialog box to locate and open an existing Node Controller Configuration File.

• New Configuration – Creates a Node Controller Configuration File 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 Configura-tion File.

• Create Track File from Config – Opens a dialog box for creation of a Track File that represents the current configuration for use with the NCHost TCP Interface Utility.

• Exit – Closes the MagneMover LITE Configurator. The Node Controller Configura-tion File is not saved and any changes that are made since the last save are discarded.

Edit

• Add To End... – Adds another element of the selected type to the end of the list of ele-ments. Also available through a shortcut menu.

• Insert Before... – Adds another element of the selected type before the selected ele-ment. 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 inter-nal 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 clip-board to the selected element. The element being pasted to must be the same type as

Options MenuFile Menu Edit Menu Help Menu

Insert Mode Menu



the element that was copied. Only available for elements that do not have sub-ele-ments. Also available through a shortcut menu.

• Delete – Deletes the selected element from the Configuration Tree. Also available through a shortcut menu.

Options

• Station Insert Mode – Opens the Insert Mode menu. The option with a check in front of it is the active Insert Mode. The default is Absolute.

• 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 sta-tions 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 Set-tings, 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 dis-played to European formatting (one thousand = 1.000,00) when selected.

Help

• About MagneMotion Configurator – Displays the MagneMover LITE Configurator version information.

Figure 5-17: About MagneMotion Configurator Message



Shortcut Menus

The shortcut menus for the Configurator, which are accessed by right-clicking on a Category that has Elements or on an Element in the Configuration Tree, are shown in Figure 5-18. All menu functions are described after the figure.

Figure 5-18: Configurator Shortcut Menus

Add Shortcut Menu

Available when right-clicking on Paths, Motors, Stations, Single Vehicle Areas, Simulated Vehicles, Nodes, Node Controllers, or Light Stacks in the Configuration Tree.

• Add To End... – Adds another element of the selected type to the end of the list of ele-ments. 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 Stacks in the Configuration Tree.

• Insert Before... – Adds another element of the selected type before the selected ele-ment.

• 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 clip-board to the selected element. 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 in the Configuration Tree.

• Insert Before... – Adds another element of the selected type before the selected ele-ment.

Insert Shortcut MenuAdd Shortcut Menu Edit Shortcut Menu Copy Shortcut Menu



• 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 in the Configuration Tree.

• 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 clip-board to the selected element. The element being pasted to must be the same type as the element that was copied.



Global Settings

Global settings are properties that apply to all parts of the transport system (motors, nodes, vehicles, and so on). The Global Settings page (shown in Figure 5-19), is accessed by select-ing the Node Configuration category at the top of the Configuration Tree. See Configure Global Settings on page 85 for usage.

NOTE: To display additional advanced settings, select the Show Advance Parameters option in the Options menu.

Figure 5-19: Global Settings Page with Advanced Parameters

• 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 (pucks) while they are on the transport system. The HLC rejects any vehicle motion com-mands that exceed this limit. The maximum acceleration can be set to any value within the limits of the transport system. The default is 2.0 m/s2 (this value is system-depen-dent, see Table A-2, MagneMotion Transport System Motion Limits, on page 224).

• Velocity Limit – Maximum velocity for all vehicles (pucks) while they are on the transport system. The HLC rejects any vehicle motion commands that exceed this limit. The maximum velocity can be set to any value within the limits of the transport system. The default is 2.0 m/s (this value is system-dependent, see Table A-2, Magne-Motion Transport System Motion Limits, on page 224).

• Min Vehicle ID – Used when Terminus Nodes are used to interconnect multiple trans-port systems, where each transport system has its own HLC and they share a host con-



troller. Used with Max Vehicle ID to enable allocating a block (min - max range) of specific Vehicle ID numbers to be used by the HLCs when assigning IDs to vehicles within each transport system. Only available when the Advanced Parameters option is selected in the Options menu in the Configurator menu bar. The default is 1.

NOTE: It is recommended leaving the Min Vehicle ID value at the default (1) when using Gateway Nodes to interconnect multiple transport systems. When using Gateway Nodes, HLC Control Groups are used for assigning and tracking the Vehicle IDs throughout the entire transport system.

• Max Vehicle ID – Used when Terminus Nodes are used to interconnect multiple trans-port systems, where each transport system has its own HLC and they share a host con-troller. Used with Min Vehicle ID to enable allocating a block (min - max range) of specific Vehicle ID numbers to be used by the HLCs when assigning IDs to vehicles within each transport system. Only available when the Advanced Parameters option is selected in the Options menu in the Configurator menu bar. The default is 65535.

NOTE: It is recommended leaving the Max Vehicle ID value at the default (65535) when using Gateway Nodes to interconnect multiple transport systems. When using Gateway Nodes, HLC Control Groups are used for assigning and tracking the Vehicle IDs throughout the entire transport system.

• Terminus Acceleration – This setting applies only when there are Terminus Nodes in the transport system and defines the acceleration/deceleration of the vehicle (puck) in the Terminus Node. The maximum acceleration can be set to any value within the lim-its of the transport system. The default is 1.0 m/s2.

• Terminus Velocity – This setting applies only when there are Terminus Nodes in the transport system and defines the velocity of the vehicle (puck) in the Terminus Node. The maximum velocity can be set to any value within the limits of the transport sys-tem. The default is 0.5 m/s.

• Arrival Position Tolerance – For all paths, the maximum distance that the vehicle (puck) can deviate from the actual destination for the HLC 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 appears to have not arrived at its position and the transport system continues trying to move the vehicle to its destination. The default is 0.010 m.

NOTE: The Arrival Position Tolerance and the Arrival Velocity Tolerance are used together to make sure that the vehicle has arrived. A vehicle (puck) is not considered to have arrived at its destination by the HLC (even if the Arrival Position Tolerance is met) if the Arrival Velocity Tolerance is not met.

When running Demo Scripts (see the NCHost TCP Interface Utility User Manual) setting the Arrival Position Tolerance to a large value (for exam-ple, 1.0 m) and setting the Arrival Velocity Tolerance to the system Veloc-ity Limit supersedes the motor settings and allows uninterrupted motion as the system considers the vehicle to have arrived when it nears its target posi-



tion, which allows the start of the next vehicle command for the vehicle with-out having the vehicle slow or stop.

• Arrival Velocity Tolerance – For all paths, the maximum velocity of a vehicle (puck) for the HLC to consider the vehicle as not moving by monitoring motor status updates. If the tolerance is set too small, and the velocity of the vehicle is not within the toler-ance, the vehicle appears to have not arrived at its destination and the transport system continues trying to move the vehicle to its destination. The default is 0.020 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 toler-ance. If on a Reset command, all vehicles do not come to a stop within five seconds the node controller resets the motors, which means they stop applying stopping force to the vehicles.

NOTE: The Arrival Velocity Tolerance and the Arrival Position Tolerance are used together to make sure that the vehicle has arrived. A vehicle is not be considered to have arrived at its destination by the HLC (even if the Arrival Velocity Tolerance is met) if the Arrival Position Tolerance is not met.

When running Demo Scripts (see 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 exam-ple, 1.0 m) supersedes the motor settings and allows uninterrupted motion as the system considers the vehicle to have arrived when it nears its target posi-tion, which allows the start of the next vehicle command for the vehicle with-out having the vehicle slow or stop.

• PC Host Disconnect Action – Identifies the action to be taken on all paths, in the event the TCP/IP interface to the host controller disconnects. The default is Suspend.

• None – No action is performed when disconnect occurs.

• Suspend – Directs all motors on the specified paths to suspend vehicle target requests and permissions and causes all vehicles to come to a controlled stop. Once stopped, the motors hold the vehicles in position. Stopping time for each vehicle is dependent on the mass of the vehicle and its payload and the acceler-ation setting of its current movement command.

• Obstructed Status Notification – Select to have Vehicle Status (0xD5) messages that indicate a vehicle is obstructed sent asynchronously using the TCP/IP communications protocol whenever a vehicle (puck) becomes obstructed. Vehicles are obstructed when they are 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 option can result in many Obstructed Vehicle Status messages being sent when vehicles are in a queue.

If not enabled, the host controller must poll the HLC for vehicle status infor-mation.

This setting does not apply to the EtherNet/IP communications protocol.



• Send Node Status Asynchronously – Select to have Node Status (0xD3) messages that indicate a change in a node sent asynchronously using the TCP/IP communica-tions protocol whenever a node changes state. Nodes are considered to change state whenever a vehicle enters/exits the node, a switch changes position, and so on. The default is cleared (off).

NOTE: If enabled, this option can result in many Node Status messages being sent whenever any node changes state.

If not enabled, the host controller must poll the HLC for node status informa-tion.

This setting does not apply to the EtherNet/IP communications protocol.

• Stop Moving Suspect Vehicles – Select to have the system stop moving vehicles that have been manually moved out of position. The default is cleared (off).

• Automatic Path Recovery – Identifies the method for handling vehicle information for missing or new vehicles (pucks). Only available when the Advanced Parameters option 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 com-mand 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 selection assumes that vehicle changes only happen while motion is suspended (Suspend command or an E-stop was issued).

NOTE: All vehicles (pucks) 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.



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 (see the Host Controller EtherNet/IP Communication Protocol User Manual). The PLC EtherNet/IP Settings page (shown in Figure 5-20), is accessed by selecting the PLC EtherNet/IP category from the Configuration Tree. See Set Eth-erNet/IP for a PLC on page 88 for usage.

NOTE: If the host controller is using TCP/IP communications, do not enable this option or change the EtherNet/IP settings.

Figure 5-20: 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 for the HLC.

• PLC CPU Slot – The slot in the PLC that contains the CPU module that the HLC communicates with. This slot 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 reports vehi-cle status for to the tag memory in the PLC. Used to limit the size of the MMI_vehi-cle_status array. The default is 64 (the maximum is system-dependent, see Table A-1, MagneMotion Transport System Limits, on page 224).

NOTE: Vehicle IDs greater than the PLC Max Vehicle ID value are not be reported. The Max Vehicle ID value that is specified in the Global Settings page must be equal to or smaller than the PLC Max Vehicle ID value to make sure that 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 224 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. Do not set this set-ting too low when using a larger Vehicle Records per Status Period as the Ether-Net/IP link could be saturated with traffic. If the setting for 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 must 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 three timeouts and retries of a tag request, the communications link is restarted. For fast low latency networks, this value can be lowered. For slow high latency net-works, or when using a PLC with a slower CPU, this value can be increased to prevent premature cycling of the link. The MMI_heartbeat tag is written at an interval three times (3x) this parameter (default every 750 ms).

• PLC Host Disconnect Action – Identifies the action to be taken on all paths in the event the EtherNet/IP interface to the host controller disconnects. The default is None.

• None – No action is performed when disconnect occurs.

• Suspend – Directs all motors on the specified paths to suspend vehicle target requests and permissions and causes all vehicles to come to a controlled stop. Once stopped, the motors hold the vehicles in position. Stopping time for each vehicle is dependent on the mass of the vehicle and its payload and the acceler-ation setting of its current movement command.

• Enable NC Remote Mgmt – Select to push NC remote management response tags to PLC memory. This selection allows up to 20 Managed Node Controller Configuration Files to be uploaded for a system. A Managed Node Controller Configuration File can be activated on the HLC, and distributed to all node controllers system wide.

• Enable Extended HLC Status – Select to push extended HLC status tags to PLC memory. The extended HLC status tag includes software version, configuration ID, and configuration status of the HLC.

• Enable Extended NC Status – Select to push extended node controller status tags to PLC memory. The extended node controller status tag includes software version, con-figuration ID, and configuration status of the node controllers.



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 HLC. The HLC Control Group Settings page is used to identify one of these Control Groups as the Mas-ter Control Group. The HLC in the Master Control Group provides Vehicle ID management across all Control Groups when Gateway Nodes are used to transfer vehicles (pucks) from one Control Group to another (see Gateway Node on page 208).

The HLC Control Group Settings page (shown in Figure 5-21), is accessed by selecting the HLC Control Group category from the Configuration Tree. See Defining HLC Control Groups on page 90 for usage.

Figure 5-21: 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 coordi-nation 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 HLC). The HLC that is running the Vehicle Master function is counted (that is, a system with one master and one slave has 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.



Paths

Paths are used to define the route that a vehicle (puck) travels. The Path Details page (shown in Figure 5-22), is accessed by selecting any path from the Paths list within the Configuration Tree. See Create and Edit Paths on page 96 for usage.

Figure 5-22: 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 dis-played, by the transport system. Valid characters are: a-z, A-Z, 0-9, !#$%'*+-/=?^_`{|}~"(),:;@[\] and space.

• Upstream Port – Identifies the port where the upstream end of the path is connected. The upstream ends of all paths must connect to a node controller. The default is None.

• Serial Motors (RS-422) – Select the port that is connected to the path via an RS-422 communication cable.

• Ethernet Motors – Select Ethernet.

• Downstream Port – Identifies the port where the downstream end of the path is con-nected. The downstream ends of paths only connect to node controllers if vehicles will move past the path end onto another path. The default is None.

• Serial Motors (RS-422) – Select the port that is connected to the path via an RS-422 communication cable.

• Ethernet Motors – Select Ethernet.

• E-Stop Bit Number – Provides a menu that lists all digital input bits in the NC-12 node controller. This bit is used to monitor an optional E-stop button for this path. The default is None.



• Interlock Bit Number – Provides a menu that lists all digital input bits in the NC-12 node controller. This bit is used to monitor an optional interlock for this path. The default is None.

• Arrival Position Tolerance – Used when the tolerance for this path must differ from the global setting (see Arrival Position Tolerance on page 185). Only available when the Advanced Parameters option is selected in the Options menu in the Configurator menu bar. The default is 0.0 m (use the Global Settings value).

• Arrival Velocity Tolerance – Used when the tolerance for this path must differ from the global setting (see Arrival Velocity Tolerance on page 186). Only available when the Advanced Parameters option 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.



Motors

Motors are used to move the vehicles (pucks) on the track. To simplify configuration, Motor Defaults are used to predefine the settings for the motors, such as motor type, on a path before they are added. Once motors have been added to a path, changes to specific motors, such as motor type, can be made by opening the page for that motor. The individual motor pages pro-vide a subset of the properties on the Motor Defaults page. See Edit a Motor on page 108 for usage.

Motor Defaults

The Motor Defaults page (shown in Figure 5-23), is accessed by selecting Motor Defaults under a Path in the Configuration Tree. See View and Edit Motor Default Parameters on page 100 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 that are displayed within the Motor Defaults page are propagated to all motors that have already been added to a path. Any parameter that has been changed for a specific motor is not 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 indi-vidual motor are made using the motor-specific configuration pages. To display the configuration page for a motor, select the Motor ID assigned to that motor in the Configuration Tree. Motor-specific pages contain a subset of the properties that are displayed on the Motor Defaults page.



Figure 5-23: Motor Defaults Page



Vehicle

• Magnet array type – Identifies the type of magnet arrays that are used on the vehicle. Available through Motor Defaults only. The default is ML_Halbach.

• ML_Halbach – A special arrangement of permanent magnets (shown in Fig-ure 5-24), placed perpendicular to the direction of motion that augments the magnetic field on the side of the array that faces the motor while canceling the field to near zero on the other side.

Figure 5-24: Side View of Halbach Array, 1 Cycle, 3 Poles

• Magnet array length – Identifies the length of the magnet array that is used for move-ment and position sensing. The total number of cycles and poles for the magnet array determines the magnet array length (Figure 5-24 shows a 1 cycle, 3 pole Halbach mag-net array). Available through Motor Defaults only. The default is 1 cycle, 3 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 as measured from end to end (see Fig-ure 5-25). The length is typically defined as longer than the actual vehicle length to account for the corners of the vehicle in curves (based on the vehicle geometry and curve radius). The Vehicle Length must include any overhang from the payload the vehicle is transporting, see Define Vehicle Defaults on page 102. Available through Motor Defaults, or for individual motors when the Advanced Parameters option is selected. The default is 0.077 m, which adds 15 mm to the standard puck length to account for the corners of the puck when moving through MagneMover LITE curves.

Figure 5-25: Vehicle and Magnet Array

SN NMotion Motion

ForwardVehicle (Puck)

Vehicle Length

Magnet Array

Back

Length

VehiclePropulsionArray Offset

MagnetsCL



• Propulsion Array Offset – Distance from the physical center of the vehicle (puck) to the forward edge of the propulsion array (see Figure 5-25). Available through Motor Defaults only.

The default for a standard MagneMover LITE magnet array is 0.0247 m. This length is 2.55 mm shorter than the physical length of the magnet array to account for field loss at the end of the array.

The Propulsion Array Offset and the Vehicle Length are used to define the location of the front and rear edges of the vehicle (puck) for collision avoidance purposes.

• Number of Bogies – The number of sections on the bottom of a vehicle that contain magnet arrays. Single bogie vehicles (pucks) contain one fixed magnet array. Double bogie vehicles (tandem pucks) contain two magnet arrays, typically each magnet array is fixed to a pivoting vehicle section with a linkage that connects those vehicles to each other. Double bogies are used to provide additional thrust or movement of larger loads. Available through Motor Defaults only. The default is 1.

NOTE: All vehicles in the transport system must use the same number of bogies.

Motor

• Motor Type – Provides a menu that lists the available motor types for selection of the type of motor being used according to the transport system layout. The default is ML_G4_1000.

• ML_G3_1000 – 1000 mm straight MagneMover LITE G3 LSM.


• ML_G3_Curve_Left – 125 mm 90° curve MagneMover LITE G3 LSM.

• ML_G3_Curve_Right – 125 mm 90° curve MagneMover LITE G3 LSM.

• ML_G3_Switch_250_Left – 250 mm straight section of a MagneMover LITE G3 LSM left switch.

• ML_G3_Switch_Curve_Left – 125 mm 90° curve section of a MagneMover LITE G3 LSM left switch.

• ML_G3_Switch_250_Right – 250 mm straight section of a MagneMover LITE G3 LSM right switch.

• ML_G3_Switch_Curve_Right – 125 mm 90° curve section of a Magne-Mover LITE G3 LSM right switch.



• ML_G4_Curve_Left – 125 mm 90° curve MagneMover LITE G4 LSM.

• ML_G4_Curve_Right – 125 mm 90° curve MagneMover LITE G4 LSM.

• ML_G4_Switch_250_Left – 250 mm straight section of a MagneMover LITE G4 LSM left switch.



• ML_G4_Switch_Curve_Left – 125 mm 90° curve section of a MagneMover LITE G4 LSM left switch.

• ML_G4_Switch_250_Right – 250 mm straight section of a MagneMover LITE G4 LSM right switch.

• ML_G4_Switch_Curve_Right – 125 mm 90° curve section of a Magne-Mover LITE G4 LSM right switch.

NOTE: The MagneMover LITE switches are configured as two motors, one ML_250 and one ML_Curve.

• Acceleration Limit – Upper acceleration/deceleration limit to set for the motor. Make sure 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 that is specified is limited to the specified value. The default is 2.0 m/s2 (this value is system-dependent, see the system maximums that are shown in Table A-2, MagneMotion Transport System Motion Limits, on page 224).

• Velocity Limit – Upper velocity limit to set for the motor. Make sure that the limit set is within the specification of the motor. In some instances, this limit can be lower than the velocity maximum specified for the path where the motor is located. For example, if a section of the path requires the motors enforce a lower velocity (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 that is specified is limited to the specified value. The default is 2.0 m/s (this value is sys-tem-dependent, see the system maximums that are shown in Table A-2, MagneMotion Transport System Motion Limits, on page 224).

• Arrival Position Tolerance – The maximum distance that a vehicle (puck) can devi-ate 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 appears to have not arrived at its commanded position and the motor continues trying to move the vehicle to its destination. The default is 0.010 m.

NOTE: The Arrival Position Tolerance and the Arrival Velocity Tolerance are used together to make sure that the vehicle has arrived. A vehicle is not con-sidered 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 notifies the HLC by asynchronously sending a move command com-plete message.

• Arrival Velocity Tolerance – The maximum velocity of a vehicle (puck) for the motor to consider the vehicle as not moving. The default is 0.010 m/s.

NOTE: The Arrival Velocity Tolerance and the Arrival Position Tolerance are used together to make sure that the vehicle has arrived. A vehicle is not con-sidered 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 velocity tolerances, the motor sends an



asynchronous vehicle status update to the node controller that provides the current position of the vehicle.

• Constant Thrust – Defines the constant thrust that is applied to vehicles (pucks) 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 (puck) moves 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 con-trol. Specific sets of parameters can be specified through either the Host Controller TCP/IP Communication Protocol or the Host Controller EtherNet/IP Communication Protocol. Avail-able 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 (pucks) 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 various 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 Eth-erNet/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.

• PID Loop Set Enable – Select to enable the use of specific control loop parameter sets. The default is cleared (unchecked) for all sets except Set 0. Only sets that are enabled can be specified in motion commands.

• Vehicle Mass – The mass of the vehicle (puck) at all times (vehicle + magnet_array + payload). The default is the standard MM LITE puck and magnet array weight, 0.45 kg (unloaded).

For custom vehicles, 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 750 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 12 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 10 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 the Advanced Parameters option 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 (see Figure 5-25). One cycle for a standard magnet array is 54.5 mm long, and consists of one full-size magnet and two half-size magnets in a Halbach array. When the magnet array consists of multiple cycles, the half-size magnets from adjacent cycles are combined into one full-size magnet. The thrust constant varies with the gap between the magnet array and the motor (see the MagneMover LITE User Manual). The default is 8.0 N/A/cycle.

• Integrator Always On – The Integrator Velocity Threshold and Integrator Dis-tance Threshold options are ignored when selected. This setting must be cleared if an external mechanism holds the vehicles on the motor at a specific position 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.

• Gap Downstream #1 – The physical space between motors. Do not change this set-ting for a standard MM LITE installation. The default is 0.003 m.

• Control Off Position Tolerance – The distance to the destination below which the PID control loop is disabled (no thrust is applied due to the control loop). Thrust is not enabled until distance from the destination is twice this value. The default is 0.0 m.

• Thrust Limit – Limits the maximum thrust that is applied to a vehicle (puck) to a per-centage of available motor thrust. Lowering the thrust limit achieves smoother motion. The default is 100%.

• Forward Drive Phase % – Controls the amount of downward force that is applied to the vehicle (puck) during forward (downstream) moves as a percentage of the thrust force. Increasing the percentage increases the downward force. The default is 0%.



• Backward Drive Phase % – Controls the amount of downward force that is applied to the vehicle (puck) during backward (upstream) moves as a percentage of the thrust force. Increasing the percentage increases the downward force. The default is 0%.

Keepout Areas

Keepout Areas are sections of a path where the motors do not allow a vehicle to enter unless it has permission (from the motors) to move fully past the area. They are typically used near merge points to keep two vehicles from merging onto one path simultaneously or in areas where some other action occurs that requires the area to be clear (such as closing a fire door). See Configure Keepout Areas on page 110for usage.

A vehicle that enters a keep-out area in the direction of the keep-out area takes ownership of all motor blocks within the keep-out area. A keep-out area in one direction does not affect the motion of vehicles moving in the other direction unless there is a vehicle within the keep-out area moving in the direction of the keep-out area. If vehicle movement is suspended (E-stop, interlock, or a Suspend command is issued), any vehicle in the Keepout Area moving in the direction of the Keepout Area moves beyond the Keepout Area and then decelerates to a stop.

NOTE: Keepout Areas can start anywhere on a motor but must always end at the end of a motor.

• No Move Permission Before – For vehicles (pucks) moving upstream, the position relative to the start of the motor where the Keepout Area begins. 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 (pucks) moving downstream, the position relative to the start of the motor where the Keepout Area begins. 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).



Motor #n in Path n

The Motor page (shown in Figure 5-26), is accessed by selecting a specific motor under a Path in the Configuration Tree. This page provides the settings for each individual motor on the path where it is listed. See Edit a Motor on page 108 for usage. The parameters that are presented are described in Motor Defaults on page 193.

NOTE: The Vehicle and Advanced Parameters sections are only displayed when the Show Advanced Parameters option is selected in the Options menu in the Configurator menu bar.

The Control Loop Parameters section is only displayed when the Show Per Motor Control Loop Parameters option is selected in the Options menu in the Configurator menu bar.

Figure 5-26: Motor Page



Stations

Stations are used to define a specific position on a path to send a vehicle. The Station page (shown in Figure 5-27), 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. See Create and Edit Stations on page 134 for usage.

Figure 5-27: Stations Page

• ID – A unique numerical identifier for the station (must be a positive integer).

• Name – An optional name for the station for reference. This name is not used, or dis-played, 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 begin-ning 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 changes.



Single Vehicle Areas

Single Vehicle Areas (SVA) are used to define an area on a path where only one vehicle (puck) at a time can enter and move. The Single Vehicle Area page (shown in Figure 5-28), is accessed by expanding the Single Vehicle Areas list under a Path in the Configuration Tree and selecting the appropriate SVA. See Create and Edit Single Vehicle Areas on page 138 for usage.

Figure 5-28: 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 that lists the area types by direction of movement on the path. The default is Downstream.

• Downstream – The normal commanded motion on the path where the Single Vehicle Area is located is downstream (forwards).

• Upstream – The normal commanded motion on the path where the Single Vehicle Area is located is upstream (backwards).

• Start Location – Position for the start of the Single Vehicle Area, which is measured from the beginning of the path where the area is located. The default is 0.0 m.

• End Location – Position for the end of the Single Vehicle Area, which is 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 changes.



Simulated Vehicles

Simulated vehicles are used to create simulated vehicles (pucks) for use when simulating the transport system for testing. The Simulated Vehicle page (shown in Figure 5-29), is accessed by expanding the Simulated Vehicles list under a Path in the Configuration Tree and select-ing the appropriate simulated vehicle. See Create and Edit Simulated Vehicles on page 158 for usage. The simulated vehicle is a simulated version of the vehicle that is defined on the Motors page.

NOTE: To access the Simulated Vehicle page (shown in Figure 5-29), make sure the Show Simulated Vehicles option in the Options menu in the Configurator is selected.

Figure 5-29: Simulated Vehicles Page

• Location – The starting position for the simulated vehicle (puck) 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 (puck) is located. If the number or type of motors, or the spacing between motors, is changed this value changes.



Nodes

Nodes are used to define the connections between paths. The Node page (shown in Fig-ure 5-30), is accessed by expanding the Nodes list in the Configuration Tree and selecting the appropriate node. See Create and Edit Nodes on page 112 for usage. The properties pages for the different node types are provided after the description of the basic nodes page. Only the additional properties for each node type are described.

Figure 5-30: 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 that lists 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 (pucks) to move to or from the transport system.

• Gateway – Connects two independent paths, with each path managed by sepa-rate Control Groups. Separate HLCs must be configured to manage each inde-pendent Control Group.

• Merge – Connects two paths to a third path.

• Diverge – Connects one path to two additional paths.

• Merge-Diverge – Connects two paths to two additional paths.



Simple Node

A Simple Node is used to begin a path that is not connected to anything else at the upstream end. See Simple Node on page 114 for configuration. The additional properties for the Simple Node are described after Figure 5-31.

Figure 5-31: Simple Node Properties

• Exit Path ID – Provides a menu that lists all paths in the transport system for selection of the path that exits the node. The default is None.

Relay Node

A Relay Node is used to connect the downstream end of one path and the upstream end of a path. See Relay Node on page 116 for configuration. The additional properties for the Relay Node are described after Figure 5-32.

Figure 5-32: Relay Node Properties

• Entry Path ID – Provides a menu that lists all paths in the transport system for selec-tion of the path that enters the node. The default is None.

• Exit Path ID – Provides a menu that lists all paths in the transport system for selection of the path that exits the node. The default is None.



Terminus Node

A Terminus Node is used to move vehicles (pucks) to or from another system. See Terminus Node on page 118 for configuration. The additional properties for the Terminus Node are described after Figure 5-33.

Figure 5-33: Terminus Node Properties

• Path – Provides a menu that lists 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 used at the downstream end of the path.

• Upstream – The node is used at the upstream end of the path.



Gateway Node

A Gateway Node is used for connecting paths between independent Control Groups. Once configured, vehicles are able to pass freely between transport system subdivisions (each man-aged 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 at the upstream end of a path and one at the downstream end of a path. The Gateway Nodes do not need to be 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 5-34. See Gateway Node on page 120 for configuration.

Figure 5-34: Gateway Node Properties

• Path – Provides a menu that lists 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 used at the downstream end of the path.

• Upstream – The node is used at the upstream end of the path.

• 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 sub-net.



• 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 that enter the Control Group through this Gateway Node. This path is typically the path that is con-nected to the Gateway Node. The default is None.

• Dest. Position – The default position on the path that is specified in the Dest. Path ID field, where vehicles move once they enter the Control Group through this Gateway Node. The vehicle stops at this position if it has no pending vehicle movement order. The default is 0.0 m.



Merge Node

A Merge Node is located where the downstream ends of two paths connect to the upstream end of a third path. See Merge Node on page 123 for configuration. The additional properties for the Merge Node are described after Figure 5-35.

Figure 5-35: Merge Node Properties

Path List

• Entries and Exits – Lists the entry and exit paths for the node.

• Path – Provides menus that list 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.



Diverge Node

A Diverge Node is located where the downstream end of one path connects to the upstream ends of two paths. See Diverge Node on page 125 for configuration. The additional properties for the Diverge Node are described after Figure 5-36.

Figure 5-36: Diverge Node Properties

Path List


• Path – Provides menus that list 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.



Merge-Diverge Node

A Merge-Diverge Node is located where the downstream ends of two paths connect to the upstream ends of two paths. See Merge-Diverge Node on page 127 for configuration. The additional properties for the Merge-Diverge Node are described after Figure 5-37.

Figure 5-37: Merge-Diverge Node Properties

Path List


• Path – Provides menus that list all paths in the transport system for selection of the two entry paths and the two exit paths where the node is located. The default is None.



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 5-38), is accessed by expanding the Node Controllers list in the Configuration Tree and selecting the appropriate node controller. See Define and Edit Node Controllers on page 129 for usage.

Figure 5-38: 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 con-trollers).

• Node Ownership Control – This section provides the tools to select the nodes that this node controller is responsible for.

• Node ID – Provides a menu that lists all nodes in the transport system for selection of a node to be controlled, or released, by the node controller. The default is 1.



• Take Ownership – Causes the node controller to take ownership of the selected node. The node is listed in the Owned Nodes List and all paths that are associated with the node are listed in the Node Connection List.

• Remove Ownership – Causes the node controller to release ownership of the selected node. The node is removed from the Owned Nodes List and all paths that are associated with the node are removed from the Node Connection List.

• Owned Nodes List – Lists the nodes, their type, and their optional name that this node controller is responsible for.

Node Connection List

• Path ID – Shows the ID of the paths that are connected to the node.

• Path End – Identifies the end of the paths connecting to the node (upstream or down-stream).

• Node Membership – Identifies the node and the way the path connects to the node (Enters or Exits).

• Comm Port – Provides a menu that lists the ports available on the node controller for selection of the port to be used for the Path End that is connected to the node.

• For RS-422 connections to an NC-12 node controller, all 12 ports can be used.

• For RS-422 connections to a Node Controller LITE, only ports 1–4 can be used.

• For Ethernet connections, select Ethernet instead of selecting a port.



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. See Define a Light Stack on page 148 for usage. The Light Stack page (shown in Figure 5-39), is accessed by expanding the Light Stacks list under a Node Controller in the Configuration Tree and selecting the appropriate light stack.

Figure 5-39: Light Stack Page

• Run Bit – Provides a menu that lists all digital output bits in the NC-12 node control-ler. This bit is used to control the light that indicates movement is permitted on the monitored paths or nodes (typically the green light). The default is None.

• Warning Bit – Provides a menu that lists all digital output bits in the NC-12 node con-troller. This bit is used to control the light that indicates a fault has occurred on the monitored paths or nodes (typically the yellow light). The default is None.

NOTE: Vehicle motion can continue on any paths or nodes that are indicating a Fault.

Faults exclude the suspend signal that is issued by the node controller. Faults that are included are:

• 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 that lists all digital output bits in the NC-12 node control-ler. This bit is used to control the light indicating that all movement has stopped on the monitored paths or nodes (typically the red light). The default is None.

NOTE: When the Stop bit is high it only indicates that there is no current vehicle motion, motion can resume at any time.



• Path ID – Provides a menu that lists all paths in the transport system for selection of a path to be monitored for light stack status. The default is 1.

NOTE: The light stack can monitor paths that are owned by other node controllers.

• Add Path – Causes the path to be added to the Member Paths list for moni-toring. Any changes to the status of the path are displayed in the light stack.

• Remove Path – Causes the path to be removed from the Member Paths list to stop monitoring. Any changes to the status of the path are not displayed in the light stack.

• Member Paths – The list of paths that are being monitored for display in the light stack.

• Node ID – Provides a menu that lists all nodes in the transport system for selection of a node to be monitored for light stack status. The default is 1.

NOTE: The light stack can monitor nodes that are owned by other node controllers.

• Add Node – Causes the node to be added to the Member Nodes list for moni-toring. Any changes to the status of the node are displayed in the light stack.

• Remove Node – Causes the node to be removed from the Member Nodes list to stop monitoring. Any changes to the status of the node are not displayed in the light stack.

• Member Nodes – The list of nodes that are being monitored for display in the light stack.



All Stations

The All Stations category in the Configuration Tree provides an easy method to view all con-figured stations regardless of the path that they are on. There are no properties that are associ-ated with this category. However, selecting any of the stations in the All Stations list displays its Property page for review or editing as shown in Figure 5-40.

Figure 5-40: All Stations Configuration Tree Category

• Configuration Tree – Provides a list of all configured stations under the All Stations category. Selecting any station from the list displays its properties.

• Station n in Path n – Displays the properties for the selected station. See Stations on page 202 for detailed descriptions of all properties.

UI Reference




Troubleshooting 6

Overview

This chapter describes the common difficulties that may be encountered when using the Mag-neMover® LITE Configurator. Included in this chapter are:

• Initial Troubleshooting.

For assistance, contact MagneMotion® Customer Support at +1 978-757-9102 or [email protected].

mailto:[email protected]

TroubleshootingMagneMover LITE Configurator Troubleshooting


MagneMover LITE Configurator Troubleshooting

Table 6-1briefly identifies common MagneMover LITE Configurator faults, and general solu-tions.

Table 6-1: Initial MagneMover LITE Configurator Troubleshooting

Symptom Problem Solution

Transport system components, such as paths, are not being dis-played in the Configuration Tree or not being displayed correctly.

No Node Controller Configura-tion File loaded.

Open the Node Controller Con-figuration File in the Configura-tor. See Run the MagneMover LITE Configurator on page 36.

Incorrect Node Controller Con-figuration File loaded.

Make sure that the correct Node Controller Configuration File is open. See Run the MagneMover LITE Configurator on page 36.

The MagneMover LITE Configu-rator does not run.

Microsoft .NET is not installed or is missing components.

Download and install the Micro-soft .NET Framework 4 (Stand-alone Installer). (http://www.microsoft.com/en-us/download/details.aspx?id=17718)

The Track Layout File does not contain the saved layout.

The MagneMover LITE Configu-rator crashes when running the Walk the Paths command.

Red dot displayed next to text entry field.

Invalid or improperly formatted value was entered.

Reenter the value and make sure that it is valid and correctly for-matted. See Dialog Box and Win-dow Elements on page 168.

http://www.microsoft.com/en-us/download/details.aspx?id=17718

http://www.microsoft.com/en-us/download/details.aspx?id=17718


Appendix

Overview

The following appendices are included to provide the user with additional information that is related to the MagneMover® LITE Configurator and MagneMotion® transport systems.

Included in this appendix are:

• File maintenance.

• Additional documentation.

• Transport system configuration limits.

AppendixFile Maintenance


File Maintenance

Backup Files

Making regular backups of all files that have been changed is recommended. Keep copies of all original and backup files at a remote location for safety.

Creating Backup Files

Backup files are not created automatically. It is the responsibility of the user to create backups of all files by copying them to a safe location.

Restoring from Backup Files

Damaged files can be restored by copying the backup files into the appropriate locations.

AppendixAdditional Documentation


Additional Documentation

Release Notes

The Release Notes that are supplied with MagneMotion software include special instructions, identification of software versions, identification of new features and enhancements, and a list of known issues. Reading this file is recommended before using the software.

Upgrade Procedure

The Upgrade Procedures that are supplied with MagneMotion software provide instructions for upgrading from one version of MagneMotion software to another. They also include the procedures for file and driver upgrades that are associated with the software.

AppendixTransport System Limits


Transport System Limits

Table A-1: MagneMotion Transport System Limits

Path Node Controller System

Motors 20 240†

† Limited by the number of RS-422 connections on the node controller (NC LITE – 4, NC-12 – 12).

1,280

Node Controllers – – 64

Nodes 2 –† 128

Paths – –† 64

Stations 255 255 255

Vehicles 50*

* 50 vehicles maximum per path when all vehicles on the path are commanded forward.45 vehicles maximum per path when all vehicles on the path are commanded backwards.

384 2,560

Table A-2: MagneMotion Transport System Motion Limits*

* The limits that are shown are at the specified payloads. Using a smaller payload may permit higher limits.Using a larger payload may lower the limits.

Acceleration Velocity Thrust Payload

MagneMover® LITE 2.0 m/s2 [0.2 g] 2.0 m/s [4.5 mph] 6.0 N/cycle†

† MM LITE™ thrust at 25% duty cycle, nominal Vehicle Gap is 1 mm for G3 and 1.5 mm for G4.2.

2 kg [4.4 lb]**

** MM LITE single puck maximum payload is 1 kg, tandem puck maximum payload is 2 kg.

QuickStick® 100 9.8 m/s2 [1.0 g] 2.5 m/s [5.6 mph] 15.9 N/cycle‡

‡ QS 100 thrust at 4.0 A stator current with a nominal Vehicle Gap of 3 mm using a standard magnet array.

100 kg [220 lb]

QuickStick® HT 60.0 m/s2 [6.1 g] 3.5 m/s [7.8 mph] 182.0 N/cycle§

§ QSHT thrust at 10.9 A stator current with a nominal Vehicle Gap of 12 mm using a high flux magnet array.

4500 kg [9900 lb]


Glossary

Block: See Motor Block.

Bogie: A structure underneath a vehicle to which a magnet array is attached. The structure is then attached to the vehicle. For vehicles that travel over curves, the attachment is through a bearing that allows independent rotation.

Brick-wall Headway: The space that is maintained between vehicles to make sure that a trailing vehicle is able to stop safely if the lead vehicle stops suddenly (‘hits a brick wall’).

Byte: An octet of data (8 bits).

Component: The main parts that form a MagneMotion® transport system. Also called sys-tem components, these include Motors and Node Controllers.

Configuration File: See Node Controller Configuration File.

Configurator: The application that is used to define and edit the basic operating parameters of the transport system that is stored in the Node Controller Configuration File.

Controller: A device that monitors and controls the operating conditions of the equipment being monitored. In a MagneMotion transport system, the types of controllers include the High Level Controller, Node Controller, and Host Controller.

Cycle Length: Cycle Length is the distance between the centerlines of two like poles on the magnet array.

Demo Script: A text file that is used with the NCHost TCP Interface Utility for test or demonstration purposes to move vehicles on the transport system.

Design Specifications: The unique parameters for a specific MagneMotion transport system.

Downstream: The end of a motor or path as defined by the logical forward direction. Vehicles typically enter the motor or path on the Upstream end.

Downstream Gap: The physical distance from the end of the stator in one motor to the beginning of the stator in the next motor downstream on the same path. This distance includes the Motor Gap.

E-stop: See Emergency Stop.

Emergency Off: A user-supplied device that disconnects AC power to the transport system.

GlossaryEmergency Stop


Emergency Stop: A user-supplied circuit with a locking button that anyone can press to stop motion in the transport system. It can be wired through the digital I/O on the NC-12 Node Controller.

EMO: See Emergency Off.

Entry Path: An Entry Path is a path whose downstream end is a member of a node. A vehi-cle that is moving downstream enters a node on an Entry Path.

Exit Path: An Exit Path is a path whose upstream end is a member of a node. A vehicle that is moving downstream exits a node on an Exit Path.

Forward Direction: The default direction of motion, from Upstream to Downstream, on a Magne-Motion transport system.

Global Directives: The Demo Script commands that define the general operating characteristics for all vehicles specified. See also Vehicle Directives.

Ground: The reference point in an electrical circuit from which voltages are measured. This point is typically a common return path for electric current. See also PE.

Guideway: A component of the Track System that consists of rails or other devices in con-tact with the Vehicle, either through wheels or low friction runners on the vehi-cle. The guideway maintains the proper relationship between the vehicles and the motors. In the MagneMover® LITE transport system, the guideway is the integral rails that are mounted on the motors.

Hall Effect Sensor: A transducer that varies its output in response to changes in a magnetic field. Hall Effect Sensors (HES) are used by MagneMotion LSMs for vehicle posi-tioning and speed detection.

High Level Controller: The application in a node controller that communicates with the host con-troller. Only one node controller per HLC Control Group runs the high level controller application. In a transport system with only one node controller, it runs both the node controller and high level controller applications.

HLC: See High Level Controller.

HLC Control Group: The portion of a multi-HLC LSM transport system under control of a specific HLC.

Host Application: The software on the host controller that provides monitoring and control of the transport system.

Host Controller: The user-supplied controller for the operation of the transport system. The con-troller can be either a PC-Based Controller or a Programmable Logic Control-ler.

Host Control Session: A session between a host controller application (such as the NCHost TCP Interface Utility) and a high level controller that allows control of all aspects of transport system operation. The Host Control Session also allows active moni-toring of transport system status.

GlossaryMotor Gap


Host Status Session: A session between a host controller application (such as the NCHost TCP Interface Utility) and a high level controller that only allows active monitoring of transport system status.

ID: The software labels used to identify various components of the transport sys-tem to make sure proper execution of commands involving vehicle position, vehicle destination, and transport system configuration. ID types include vehi-cle and path.

Interlock: A user-supplied circuit that is used to stop motion in the transport system. It is wired through the digital I/O on the NC-12 Node Controller.

Inverter: Hardware that converts DC from the propulsion power bus to AC to energize the coils in a Motor Block.

Keep-out Area: A unidirectional area of a Path where a vehicle moving in the specified direc-tion is not allowed to enter unless it has permission from the motors to either move past or stop within the area. Once a vehicle enters the keep-out area in the specified direction, all other vehicles moving in the same direction must wait to enter the area until that vehicle exits.

Logic Power: The power that is used for the controllers and signals. See also, Propulsion Power.

LSB: Least Significant Byte.

LSM: Linear Synchronous Motor. See MagneMover LITE and QuickStick.

Master Controller: The controller for each motor that directs Motor Block operation and commu-nicates vehicle positions and other information to the Node Controller. It is internal to the motor assembly on MagneMover LITE and QuickStick® 100 motors. For QuickStick HT motors the master is in the motor controller.

MagneMover LITE: A MagneMotion linear synchronous motor with integrated guideways and vehicles that enables quick, efficient conveyance of loads up to 1 kg on one vehicle (2 kg on a tandem puck).

Magnet Array: The magnets that are attached to the Vehicle. It is the motor secondary, moved by the primary in the motor.

MM LITE™: See MagneMover LITE.

Motor: See LSM.

Motor Block: A discrete motor primary section (coil or set of coils) in a motor that can be energized independently. This section can contain only one vehicle during transport system operation.

Motor Controller: The assembly that contains the Master Controller and the Inverter for Quick-Stick HT motors.

Motor Gap: The physical distance between two motors that are mounted end to end. This gap excludes the distance from the end of the stator to the end of the motor housing.

GlossaryMSB


MSB: Most Significant Byte.

NC: See Node Controller.

Node: A junction that is defined as the beginning, end, or intersection of Paths. The different node types define their use: Simple, Relay, Terminus, Merge, Diverge, and so on.

Node Controller Configuration File: The XML file unique to the transport system that defines the basic operating parameters of the transport system. A copy of the Node Con-troller Configuration File is uploaded to each node controller in the transport system.

Node Controller: The application in a node controller that coordinates vehicle motions along a path or paths of motors. The node controller is responsible for the motors on all paths that begin at nodes that the node controller is responsible for.

There can be multiple node controllers in a transport system each responsible for a subset of the nodes within the transport system.

NRTL/ATL: Nationally Recognized Test Lab/Accredited Test Lab.

OSHA recognizes NRTL organizations in accordance with 29 CFR 1910.7 to test and certify equipment or materials (products).

Accreditation bodies evaluate ATL organizations to ISO/IEC 17025 for testing and calibration laboratories.

Path: A designation for one or more motors placed end to end, which defines a linear route for vehicle travel. A path begins at the Upstream end of the first motor in the series and ends at the Downstream end of the last motor in the series. All paths must begin at a Node and the beginning of a path is always the zero posi-tion for determining vehicle positions along that path.

PC-Based Controller: The user-supplied general-purpose computer that provides control and sequencing for the operation of the transport system.

PE: Protective Earth. A conductor that is provided for safety purposes (for exam-ple, against the risk of electric shock) and which also provides a conductive path to earth. See also, Ground.

Platooning: Platooning allows the trailing vehicles to follow a lead vehicle while maintain-ing Brick-wall Headway.

PLC: See Programmable Logic Controller.

Position: A specific location on a Path, which is measured from the beginning of that path, which is used as a vehicle destination. Position zero on any path is defined as the leading edge of the first LSM in the path.

A vehicle at a specific position has its midpoint over that location on the path.

Power Supply: The equipment that is used to convert facility AC power to the correct voltages for the transport system.

GlossaryTandem Vehicle


Programmable Logic Controller: The user-supplied dedicated controller consisting of Processor and I/O modules that provides control, sequencing, and safety interlock logic for the operation of the transport system.

Propulsion Power: The power that is used for vehicle motion. See also, Logic Power.

Puck: A preconfigured vehicle for use on MagneMover LITE transport systems. See also, Vehicle.

QS: See QuickStick.

QuickStick: A MagneMotion linear synchronous motor that enables quick, efficient con-veyance of large loads on user-designed guideways and vehicles. QuickStick 100 (QS 100) motors move loads up to 100 kg [220 lb] per vehicle. QuickStick High Thrust (QSHT) motors move loads up to 4,500 kg [9,900 lb] per vehicle.

QuickStick System: A group of specific components that contribute to a Transport System. These components include QuickStick motors, Node Controllers, Motor Controllers (QSHT only), Magnet Arrays, and other parts available from MagneMotion.

Sensor Map: A snapshot of the signal state of vehicle magnet array sensors that are collected from all blocks of a motor.

Signal: Each motor contains sensors that detect the magnetic field from the magnet array. When the signal is higher than a threshold, the signal for the associated sensor is set high, otherwise it is set low.

Single Vehicle Area: A unidirectional area of a Path where only one vehicle entering in the direc-tion of that area is allowed to move at any time. Other vehicles on the path moving in the same direction as the initial vehicle in the SVA must wait before entering this area until the previous vehicle leaves the area. This queueing allows one vehicle to move backward and forward along a portion of a path without interfering with any other vehicles.

Station: A specific location on a Path, which is measured from the beginning of that path, and identified with a unique ID, used as a vehicle destination.

Stator: The stationary part of the motor over which the magnet array is moved.

Switch: The mechanical guide for positioning a vehicle through guideway sections that merge or diverge.

SYNC IT™: Provides direct control by a PLC of up to three sync-zones (motors) where the host controller generates the vehicle movement profile.

Sync Zone: An area where vehicle motion can be synchronized with other systems through direct control of the motor by the host controller.

System Component: See Component.

Tandem Vehicle: A vehicle that is designed to carry larger loads using dual bogies (two magnet arrays on pivoting carriers that are linked to the vehicle) to provide enough thrust.

GlossaryTrack System


Track System: The components that physically support and move vehicles. For a QuickStick transport system, the track includes a Guideway, one or more QuickStick motors, mounting hardware, and a stand system. For a MagneMover LITE transport system, the track includes the MagneMover LITE motors and stands.

Transport System: The components that collectively move user material. These components include the Motors, external Motor Controllers (QSHT only), Track System, Node Controllers, Vehicles, cables, and hardware.

Upstream: The beginning of a motor or path as defined by the logical forward direction. The upstream ends of all paths are connected to node controllers. Vehicles typ-ically exit the motor or path on the Downstream end.

V-Brace: The mechanical fixture that is used to align and secure MagneMover LITE guide rail sections.

Vehicle: The independently controlled moving element in a MagneMotion transport system. The vehicle consists of a platform that carries the payload and a pas-sive magnet array to provide the necessary propulsion and position sensing. All vehicles on paths in the transport system that are connected through nodes must be the same length.

The transport system constantly monitors and controls vehicle position and velocity for the entire time the vehicle is on the transport system. All vehicles are assigned a unique ID at startup and retain that ID until the transport system is restarted or the vehicle is removed or deleted.

Vehicle Directives: The Demo Script commands that define the individual motion characteristics for a specific vehicle. See also Global Directives.

Vehicle Gap: The distance between the bottom of the magnet array that is attached to a vehi-cle and the top surface of a motor.

Vehicle ID Master Database: The high level controller database for the assignment and tracking of Vehicle IDs in the transport system. When using HLC Control Groups, the Master HLC maintains this database.

Vehicle ID Slave Database: The Slave HLC database for tracking of Vehicle IDs in the HLC Con-trol Group managed by that Slave HLC and assigned by the Master HLC. This database is only used when using HLC Control Groups to subdivide a transport system.

Vehicle Master: The motor controlling the vehicle.

Vehicle Signal: A motor software flag for each vehicle that is used to indicate if the vehicle is detected on the transport system.

Vehicle Spacing: The distance between two vehicles on the same path.

Zero Point: The position on the Upstream end of a Path that denotes the first part on which a Vehicle travels.


Index

Symbols.NET Framework, 33

AAcceleration

global limit, 184limits, 224motor limit, 197

Advanced ParametersArrival Position Tolerance, 192Arrival Velocity Tolerance, 192hide, 157Max Vehicle ID, 185Min Vehicle ID, 184motors, 199show, 157Thrust Constant Per Cycle, 199

All Stationsfunction, 217view, 137

Automatic Path Recovery, 187

BBackup, 222BMP, 76Bogie, 196

CCheckboxes, 168Communication Cables, 25Computer Requirements, 28Configuration

Advanced Parameters, 157create Track File, 163editing, 152E-stops, 142

Configuration (Continued)European Number Formatting, 162Global Settings, 85HLC Control Group, 90interlocks, 145light stacks, 148motors, 100node controllers, 129nodes, 112paths, 96PLC EtherNet/IP, 88Show Per Motor Control Loop Parameters,

156simulated vehicles, 158Single Vehicle Areas, 138Station Insert Mode, 154stations, 134

Configuration File, see Node Controller Config-uration File

Configuration Properties Pane, 38, 166, 171Configuration Tree, 84, 171Configurator Menu Bar, 179Configurator, see MagneMover LITE Configura-

torConsole Interface, description, 26Contact MagneMotion, 22, 219Control Group, see HLC Control Groupcontroller_image, see Node Controller Software

Image FileCopy

configuration elements, 152layout symbols, 74

Create Track File, 163Cut

configuration elements, 152layout symbols, 74

IndexD


DDeceleration

global limit, 184motor limit, 197

Deleteconfiguration elements, 153layout symbols, 74

Demo Scriptdescription, 27use, 29

Dialog Boxes, 167Digital I/O

board, 213E-stop, 99, 143interlock, 99, 146light stack, 150

Dimension Line Iconoverview, 39placing, 68

Direction Iconoverview, 39placing, 64

Diverge Nodeconfiguration, 125page description, 211

Downstream, 96Drop-Downs, 168

EEdit

Node Controller Configuration File, 49Track Layout File, 43

Edit ConfigurationAdd To End, 153Copy, 152Cut, 152Delete, 153Duplicate, 74Insert After, 153Insert Before, 153Paste, 152

Edit LayoutCopy, 74Cut, 74Delete, 74Paste, 74reposition, 74

Edit Layout (Continued)symbol properties, 74

E-stopconfigure, 142edit, 143property, 99, 191

Ethernet Connector Line Icon, overview, 40Ethernet Switch Icon

overview, 40placing, 72

Ethernet, node controller address, 29European Number Formatting

configure, 162hide, 162show, 162

Exit, 43, 48

GGateway Node

configuration, 120HLC Control Group, 90, 93page description, 208

Getting Started, 28Global Settings

configuration, 85overview, 45page description, 184System Layout, 175, 178

Graphical Buttons, 169

HHelp, 181High Level Controller, 25HLC Control Group

configuration, 90page description, 190startup considerations, 94Vehicle ID management, 93

Host Controller, 25

IIcon

dimension line, 39direction, 39Ethernet connector line, 40Ethernet switch, 40

IndexN


Icon (Continued)leg, 39motor, 39node, 39node controller, 40Precision Locator, 40pucks, 40sync box, 40text, 39

Image Filesmotor, 27node controller, 27

Interlockconfigure, 145edit, 146property, 99, 192

KKeepout Area

configure, 110property, 200

LLayout Menu Bar, 172Layout, see Track LayoutLeg Icon


Light Stackconfigure, 148edit, 149page description, 215

Load From Track Layout File, 43

MMagneMotion

contact, 22support, 219

MagneMover LITEcomponents, 25motors, 104paths, 96transport system, 23

MagneMover LITE Configuratorabout, 24description, 27running, 32, 36, 54

Magnet Arrayidentification, 25length, 195offset, 196type, 195

Magnet Array Type File, description, 27magnet_array_type.xml, see Magnet Array Type

FileManual

chapter descriptions, 21conventions, 18prerequisites, 17related manuals, 21

Menuconfigurator, 179shortcut, 182system layout, 172

Merge Nodeconfiguration, 123page description, 210

Merge-Diverge Nodeconfiguration, 127page description, 212

Messages, 167MMConfigTool.exe, see MagneMover LITE

ConfiguratorMotor

configuration, 106default parameters, 100define default parameters, 104Keepout Area, 200limits, 224overview, 45page description, 193, 201system components, 25type, 196

Motor Iconsoverview, 39placing, 58

Motor Image File, description, 27Motor Type File, description, 27motor_image.erf, see Motor Image Filemotor_type.xml, see Motor Type File

NNC LITE, see Node Controller LITENCHost TCP Interface Utility, description, 26

IndexO


NCHost.exe, see NCHost TCP Interface UtilityNetwork, 25New


Node Controllerdefine, 129edit, 130identification, 25limits, 224overview, 45page description, 213paths, 45, 96

Node Controller Configuration Fileabout, 45create, 47create automatically, 29create manually, 29define, 83description, 27edit, 49motors, 45Node Controller Web Interface, 51node controllers, 45nodes, 45open, 49paths, 45save, 47

Node Controller Console Interface, see ConsoleInterface

Node Controller Iconoverview, 40placing, 71

Node Controller Software Image File, descrip-tion, 27

Node Controller Web InterfaceConfiguration Files page, 51Restart page, 52upload Node Controller Configuration File,

51Node Controller Web Interface, see Web Inter-

faceNode Icon


node_configuration.xml, see Node ControllerConfiguration File

Nodescreate, 112Diverge, 125edit, 113Gateway, 120limits, 224Merge, 123Merge-Diverge, 127overview, 45page description, 205Relay, 116Simple, 114Terminus, 118types, 114

Notes, 19

OOpen XML Configuration, 49

PPane

Configuration Properties, 166Configuration Tree, 166System Layout, 166

Pasteconfiguration elements, 152layout symbols, 74

Pathsconfiguration, 96downstream end, 96edit, 97limits, 224overview, 45page description, 191stations, 134upstream end, 96zero point, 96

PC Host Disconnect Action, 86PDF, 75Per Motor Control Loop Parameters

hide, 156show, 156

PID, 198PLC EtherNet/IP

configuration, 88page description, 188

IndexT


PLC Host Disconnect Action, 89Power Cables, 25Power Supply, 25Precision Locator Icon


Puck, see VehiclePucks Icon


RRelay Node


Reposition Layout Symbols, 74Running the MagneMover LITE Configurator,

36

SSafety Alert Types, 19Save


Save AsNode Controller Configuration File, 47Track Layout File, 41

Saving FilesNode Controller Configuration File, 47Track File, 163Track Layout File, 41

Scope, see Virtual ScopeSend Node Status Asynchronously, 86, 187Show Advanced Parameters, 181Show Per Motor Control Loop Parameters, 156,

181Show Simulated Vehicles, 181Simple Node


Simulated Vehiclecreate, 158edit, 159page description, 204

Single Vehicle Areacreate, 138

Single Vehicle Area (Continued)edit, 139page description, 203

Software Requirements, 32Software Types, 26Station Insert Mode, 181Stations

create, 134edit, 135limits, 224page description, 202paths, 134

Suspend, 186, 189Switch, configuration, 106Sync Box Icon


System Layout Pane, 37, 166, 171

TTerminus Node


Text and Display Fields, 168Text Files

Demo Script, 27Track File, 27

Text Iconoverview, 39placing, 69

Track Filecreate, 163description, 27

Track Layoutadd text, 69automatic node placement, 77Clear Path Indicators, 81create BMP, 76create Node Controller Configuration File,

78create PDF, 75dimensioning, 68editing, 74Ethernet switches, 72forward motion, 64legs, 67Motors, 58

IndexU


Track Layout (Continued)node controllers, 71node placement, 61Precision Locator, 65vehicles (pucks), 66

Track Layout Fileabout, 39create, 41define, 54description, 27edit, 43open, 43save, 41

track_file.mmtrk, see Track Filetrack_layout.ndx, see Track Layout FileTransport System, software, 26Type Files

magnet array, 27motor, 27

UUI, see User InterfaceUpstream, 96User Interface

Configuration Properties pane, 171Configuration Tree, 171Configurator Menu Bar, 171, 179description, 170Layout Menu Bar, 171, 172starting, 32, 36System Layout pane, 171

VVehicle

bogie, 196default parameters, 102ID, 90length, 102limits, 224records, 89, 187Status Array, 89, 188

Vehicle ID MasterHLC, 90restart, 94Vehicle ID management, 93

Vehicle ID Slave HLC, 90

Velocityglobal limit, 184limits, 224motor limit, 197

Virtual Scope, description, 27

WWalk the Paths, 79Web Interface, description, 26

XXML Files

Magnet Array Type File, 27Motor Type File, 27Node Controller Configuration File, 27Track Layout File, 27

ZZero Point, path, 96


Notes:

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