AMR on a mission stands still

Process Modeling
1

Hello together,

enclosed you can find my model, where I try to control the AMR using missions.

missions4gates.vcmx (17.4 MB)

AMRs tasks:

  1. pick up incoming goods (“from conveyor” process node sends a signal as soon as a pallet reaches it out) and deliver them to the racks (misson done, works)
  2. when finished good appears at the gate, trigger the mission to bring empty box to the gate, pick up FG from the gate and put it on the outbound conveyor (mission done, doesn’t work :frowning: ).

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Problem:

when FG appears, it triggers the mission (with boolean signal), but after the AMR delivers the empty box, it stalls. No error message, nothing. I checked the flow, checked whether transport nodes are defined correctly in mission controller - everything looks good.

I am using VC 4.10

Dear colleagues - any ideas?

2

Ok, so the problem was in the flow: I had other (not connected) processes. By removing them from the flow, I fixed the issue.

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Now, adding and testing the same signal-triggered logic, gate by gate, I’ve noticed important thing:

Every time I deactivated (check out the “Enabled” box) one mission to test the other one, I loose “SignalName” information.

When I want to enable the mission again, need to choose the SignalName again.

3

Unfortunatelly, it doesn’t work (again)…

After adding 3rd gate (same logic, same principle, just different signal), the AMR stops in the middle of 2nd job.

I have noticed very weird behavior of Mission Controller: when checking once again mission by mission, I saw that SignalComponent and SignalName are the same for all missions, even though I set a separate signal component and name for each gate…

@Tilma @idkfa maybe you could have a look?

missions4gates3.vcmx (17.4 MB)