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Mover List Object

The Mover List object provides a way to group Movers together and issue commands to every Mover in the list. Alternatively, commands can be sent to individual movers within the list based on their geographic proximity to a track position.

Many of the methods and properties below are group commands based on corresponding methods available and documented in the singular Mover object.

Setup & Execution

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// Declaration
MoverListA      : MoverList;

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// Usage
MoverListA.RegisterMover( Mover[1] );
MoverListA.RegisterMover( Mover[2] );
MoverListA.RegisterMover( Mover[3] );

MoverListA.SetAllVelocity( 1000 );
MoverListA.MoveAllToStation( Station[4] );

MoverListA.UnregisterAll();

MoverLists must also be added to the Mediator object. By default, this is handled already in the MAIN.Initialize ACTION.

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// Example implementation
Mediator.AddMoverList( MoverListA );

The Track and Zone objects keep internal mover lists that can be accessed with the .CurrentMoverList property. And many of the methods below return mover lists.

Additionally a mover list is extended from Objective which provides two additional and very helpful properties .RegisteredMoverCount and .RegisteredMovers.

The combination of these functionalities can allow for powerful and concise handling of movers throughout the system. Some examples follow.

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// find all movers on track 2 with a destination station of 3 and redirect them to station 4
Track[2].CurrentMoverList.FilterDestinationStation(Station[3]).MoveAllToStation(Station[4]);

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// count the number of movers in Zone 2 and Zone 3
MoverCount := Zone[2].CurrentMoverList.LogicalIntersect(Zone[3].CurrentMoverList).RegisteredMoverCount;

Methods

ActivateAllTrack

ActivateAllTrack( Track: Track)

Issues individual ActivateTrack commands to every mover registered with the list.

The property IsAllTrackReady can be used to query for the completion of this method. Note that ActivateAllTrack and IsAllTrackReady may need to operate on different lists when working with Zone and Track lists as both Zone and Track are track-aware and only return movers that are both assigned to the track that the track or zone is also assigned to.

See Mover.ActivateTrack and for additional notes about track management.

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// state machine
100:
    Track[1].CurrentMoverList.ActivateAllTrack(Track[2]);
    // check track 2 for command completeness as the movers are being reassigned to this track
    IF (Track[2].CurrentMoverList.IsAllTrackReady) THEN
        iState := 200;
    END_IF;

200:
    // movers on track 2 ready for commands

ApplyAllParameterSet

ApplyAllParameterSet( ParameterSet : MotionParameters_typ )

Applies a set of motion paramaters to then entire mover list.

This only sets the motion parameters that will be used for the next motion command. Any in process motion will not be affected by this method. To immediately change motion paramaters use methods such as .SetAllVelocity or .SetAllAcceleration.

Contains

Contains( Mover: Mover )

Returns TRUE if the MoverList already contains the input Mover

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IF MoverListA.Contains( Mover[4] ) THEN
    // Yes, Mover 4 must exist in MoverListA
END_IF

FilterDestinationStation

FilterDestinationStation( Destination : REFERENCE TO Station ) : MoverList

Filters the mover list to only include movers that have a destination that matches the parameter Destination.

Filtering a mover list by station can be helpful when workings with several movers in a zone. There are two typical use cases. The first is to avoid re-triggering a move to station command after code such as Zone[1].CurrentMoverList.MoveAllToStation(Station[2]) has executed, but movers are still accelerating out of this zone. The second is to ignore movers that may have a non-typical destination such as a rejected part in an otherwise normal flow of good parts.

DisableAll

DisableAll()

Calls the Disable() method for all movers in the list.

EnableAll

Calls the Enable() method for all movers in the list.

GetMoverByLocation

GetMoverByLocation( Index : USINT, Position : LREAL, Direction : Tc2_MC2.MC_Direction ) : REFERENCE TO Mover

Returns a reference to a singular mover from the Mover List, based on it's geographic location relative to a fixed track position.

Index specifies the number of movers that should lie between the selection and the Position input. Therefore Index = 1 would be the closest mover to the input position (in a given direction), Index = 2 would be the second closest, Index = 3 would be the third closest, etc.

Position specifies the target around which mover proximity should be considered.

Direction specifies the direction around the track from which the movers are indexed. Therefore MC_Positive_Direction will begin returning movers with the most positive absolute position values that are still less than the position input. In linear, non-closed tracks MC_Shortest_Way can be used to find movers in both directions using the absolute value of the difference between the fixed Position and the mover position.

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// Select a mover in the MoverList
// Which is the first closest mover to position 900
// And which has a position less than 900
// Then sends it to a station
MoverListA.GetMoverByLocation( 1, 900, MC_Positive_Direction ).MoveToStation( Station[3] );

// Select a mover in the MoverList
// Which is the third closest mover to position 2000
// And which has a position greater than 3000
// Then sets its acceleration
MoverListA.GetMoverByLocation( 3, 3000, MC_Negative_Direction ).SetAcceleration( 1E4 );

Halt All

HaltAll()

Calls the Halt() method for all movers in the list.

LogicalComplement

Removed

This method has been removed to help with better code readability and to make the LogicalXXX methods work with the same parameter signatures. The same functionality can be achieved with the use of LogicalDifference: MoverListA.LogicalDifference(XTS.System.CompleteMoverList).

LogicalDifference

LogicalDifference( MoverList : MoverList )

Returns the logical difference of the current MoverList and the provided MoverList. Thus the returned list will list all movers in the current MoverList (MoverListA) and not in the provided MoverList (MoverListB).

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// MoverListA = M1, M2, M3
// MoverListB =         M3, M4, M5
MoverListA.LogicalDifference( MoverListB ); // returns: M1, M2

LogicalIntersect

LogicalIntersect( MoverList : MoverList )

Returns the logical intersection of the current MoverList and the provided MoverList. Thus the returned list will list all movers in the current MoverList (MoverListA) that are also in the provided MoverList (MoverListB).

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// MoverListA = M1, M2, M3
// MoverListB =         M3, M4, M5
MoverListA.LogicalIntersect( MoverListB ); // returns: M3

LogicalUnion

LogicalUnion( MoverList : MoverList )

Returns the logical union of the current MoverList and the provided MoverList. Thus the returned list will list all movers in the current MoverList (MoverListA) and in the provided MoverList (MoverListB) deduplicated.

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// MoverListA = M1, M2, M3
// MoverListB =         M3, M5
MoverListA.LogicalUnion( MoverListB ); // returns: M1, M2, M3, M5

MoveAllToPosition

MoveAllToPosition( DestinationPosition : LREAL )

Issues individual MoveToPosition commands to every mover registered with the list.

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MoverListA.MoveAllToPosition( 1200 );

MoveAllToStation

MoveAllToStation( DestinationStation: Station )

Issues individual MoveToStation commands to every mover registered with the list.

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MoverListA.MoveAllToStation( Station[3] );

MoveAllVelocity

MoveAllVelocity( DesiredVelocity : LREAL )

Issues individual MoveVelocity commands to every mover registered with the list.

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MoverListA.MoveAllVelocity( 300 );

SetAllAcceleration

SetAllAcceleration( DesiredAcceleration : LREAL )

Sets the acceleration motion parameter equal to the input argument for every mover in the list

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MoverListA.SetAllAcceleration( 1E3 );

Note

This method causes new motion commands to be issued for the dynamics to take effect immediately- potentially triggering a large number of motion commands to execute on the same scan. See the individual Mover command and consider the ramifications for your application.

SetAllDeceleration

SetAllDeceleration( DesiredDeceleration : LREAL )

Sets the deceleration motion parameter equal to the input argument for every mover in the list

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MoverListA.SetAllDeceleration( 15000 );

Note

This method causes new motion commands to be issued for the dynamics to take effect immediately- potentially triggering a large number of motion commands to execute on the same scan. See the individual Mover command and consider the ramifications for your application.

SetAllDirection

SetAllDirection( Direction : Tc3_Mc3Definitions.MC_DIRECTION )

Sets the direction motion parameter equal to the input argument for every mover in the list

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MoverListA.SetAllDirection( mcDirectionPositive );

Note

This method causes new motion commands to be issued for the dynamics to take effect immediately- potentially triggering a large number of motion commands to execute on the same scan. See the individual Mover command and consider the ramifications for your application.

SetAllGap

SetAllGap( Gap : LREAL )

Sets the gap for every mover in the list

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MoverListA.Gap( 65.0 );

Note

This method causes new motion commands to be issued for the dynamics to take effect immediately- potentially triggering a large number of motion commands to execute on the same scan. See the individual Mover command and consider the ramifications for your application.

SetAllGapMode

SetAllGapMode( Mode : Tc3_Mc3Definitions.MC_GAP_CONTROL_MODE )

Sets the gap mode for every mover in the list

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MoverListA.SetAllGapMode( mcGapControlModeStandard );

Note

This method causes new motion commands to be issued for the dynamics to take effect immediately- potentially triggering a large number of motion commands to execute on the same scan. See the individual Mover command and consider the ramifications for your application.

SetAllJerk

SetAllJerk( DesiredJerk : LREAL )

Sets the jerk motion parameter equal to the input argument for every mover in the list

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MoverListA.SetAllJerk( 1e5 );

Note

This method causes new motion commands to be issued for the dynamics to take effect immediately- potentially triggering a large number of motion commands to execute on the same scan. See the individual Mover command and consider the ramifications for your application.

SetAllVelocity

SetAllVelocity( DesiredVelocity : LREAL )

Sets the velocity motion parameter equal to the input argument for every mover in the list

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MoverListA.SetAllVelocity( 2000 );

Note

This method causes new motion commands to be issued for the dynamics to take effect immediately- potentially triggering a large number of motion commands to execute on the same scan. See the individual Mover command and consider the ramifications for your application.

UnregisterAll

UnregisterAll()

Unregisters every mover from the list immediately

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MoverListA.UnregisterAll();

Properties

.AllMovers

ARRAY [1..Param.MAX_MOVERS] OF POINTER TO Mover

Returns an unordered list of pointers to all movers currently in the list.

Note

If you need to find a specific mover within the list, such as the leading mover see .GetMoverByLocation

This property is intended to allow you to run arbitrary code on a set of movers beyond what is currently provided by methods like MoveAllToStation(). This will return an array with pointers to movers in the list starting at index 1 and ending at index MoverList.RegisteredMoverCount. This is slightly different than .RegisteredMovers as that property may return a sparse array.

The example below gets a count of movers in a zone that are marked as rejects by the Payload data.

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// DECLARATIONS

ZoneMovers   : ARRAY [1..Param.MAX_MOVERS] OF POINTER TO Mover;
    MoverPayload : MoverPayload_typ;
    FailureCount : DINT;
    i            :DINT;

// CODE

// start a counter
FailureCount := 0;

// get pointers to all the movers in the zone
ZoneMovers := XTS.Zone[1].CurrentMoverList.AllMovers;

// examine all the movers in the zone
FOR i := 1 TO XTS.Zone[1].CurrentMoverCount DO  
    MoverPayload := ZoneMovers[1]^.Payload;
    IF MoverPayload.FailureReason > 0 THEN
        FailureCount := FailureCount + 1;
    END_IF
END_FOR

.IsAllMoversDisabled

BOOL

Queries all movers registered with the mover list for the their .Ready property and returns true if all movers are not ready.

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// state machine
    100:
        // disable movers
        MoverList[1].DisableAll();
        state := 200;
    200:
        // wait for all movers to be disabled
        IF (MoverList[1].AllMoversDisabled) THEN
            state := 300;
        END_IF;
    300:
        // movers are disabled

.IsAllMoversHalted

BOOL

Queries all movers registered with the mover list for their .Moving property and returns true if all movers are not moving.

Caution

Movers who can not reach their destination because of the gap and collision avoidance settings and are effectively queued will be considered halted for the property. If you need to confirm no commands are acting on the mover see .IsNoMoverBusy.

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    // state machine
        100:
            // halt all movers in zone 1
            Zone[1].CurrentMoverList.HaltAll();
            state := 200;
        200:
            // wait for all movers to be stopped
            IF (Zone[1].CurrentMoverList.AllMoversHalted) THEN
                state := 300;
            END_IF;
        300:
            // movers in zone 1 are stopped

.IsAllMoversReady

BOOL

Queries all movers registered with the mover list for their .Ready property and returns true if all mover are ready.

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// state machine
    100:
        // enable movers
        MoverList[1].EnableAll();
        state := 200;
    200:
        // wait for all movers to be ready
        IF (MoverList[1].AllMoversReady) THEN
            state := 300;
        END_IF;
    300:
        // movers are enable and ready for motion commands

.IsAllTrackReady

BOOL

Queries all movers registered with the mover list for their IsTrackReady property and returns true when all movers have this property set true.

Note

This routine intentionally returns false if no movers are on the track. This is to handle the several scan delay between activating a track and the mover reporting the track is active. In a typical use case .ActivateAllTrack and .IsAllTrackReady are called back to back. Without this exception code folling .IsAllTrackReady would falsely assume the track switch is complete if the track was empty causing mover motion commands to throw errors.

See ActivateAllTrack() for an example.

.IsNoMoverBusy

BOOL

Returns true if all movers in the zone are not .Busy.

This property can be used when it's necessary to confirm that all movers in a zone have reached their destination position. It's frequently used during recovery steps where movers are commanded back to their previous location after a safety event, and then before normal processing can continue waiting for this property will confirm all movers have reached a location and have stopped.

Note

This uses the Mover's .Busy flag. Busy will remain true if a mover is stopped, but unable to reach the destination station or position set by it's previous command. If you're only looking to see if all movers are stoppped see .IsAllMoversHalted.

.RegisteredMoverCount

USINT

Note

This property is part of Objective but is frequently used with mover lists and can be accessed as part of the MoverList object.

.RegisteredMovers

ARRAY OF POINTER TO Mover

Note

This property is part of Objective but is frequently used with mover lists and can be accessed as part of the mover list.