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    Instructions For AGV

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    tigy varghese
    The document describes the communication protocol for controlling an automatic guided vehicle (AGV) from a programmable logic controller (PLC). The AGV can move to five predefined positions (A, B, C, D, and HOME). The PLC sends movement orders to the AGV and the AGV responds with its current position once stopped. The protocol specifies a handshake process where the PLC and AGV exchange strobe signals to indicate when an order is received, when movement will start, and when the AGV's position response is ready.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Instructions For AGV

    Uploaded by

    tigy varghese
    71 views1 page
    The document describes the communication protocol for controlling an automatic guided vehicle (AGV) from a programmable logic controller (PLC). The AGV can move to five predefined positions (A, B, C, D, and HOME). The PLC sends movement orders to the AGV and the AGV responds with its current position once stopped. The protocol specifies a handshake process where the PLC and AGV exchange strobe signals to indicate when an order is received, when movement will start, and when the AGV's position response is ready.

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    Instructions for AGV

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    The document describes the communication protocol for controlling an automatic guided vehicle (AGV) from a programmable logic controller (PLC). The AGV can move to five predefined positions (A, B, C, D, and HOME). The PLC sends movement orders to the AGV and the AGV responds with its current position once stopped. The protocol specifies a handshake process where the PLC and AGV exchange strobe signals to indicate when an order is received, when movement will start, and when the AGV's position response is ready.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    71 views1 page

    Instructions For AGV

    Uploaded by

    tigy varghese
    The document describes the communication protocol for controlling an automatic guided vehicle (AGV) from a programmable logic controller (PLC). The AGV can move to five predefined positions (A, B, C, D, and HOME). The PLC sends movement orders to the AGV and the AGV responds with its current position once stopped. The protocol specifies a handshake process where the PLC and AGV exchange strobe signals to indicate when an order is received, when movement will start, and when the AGV's position response is ready.

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    © All Rights Reserved
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    University West

    Dep of Engineering Science


    Bo Svensson January 2019

    Automatic Guided Vehicle – AGV


    The AGV can be ordered to move to five predefined positions (A, B, C, D and HOME). All motion
    programs are already downloaded in the AGV. Send an order to the AGV and then wait for an answer
    from the AGV after it has stopped. The communication between PLC and AGV must follow the
    protocol (handshake) described below. If the protocol is not followed, or a wrong order is given, the
    AGV will go into error state (jump away) and must be repaired (restart simulation).

    I/O definitions for AGV virtual process


    //Input to PLC from process
    ixAGVStrobe: BOOL; (* AGV strobe signal *)
    iiAtPos: INT; (* Actual position of AGV *)

    //Output from PLC to process


    qxPLCStrobe: BOOL; (* PLC strobe signal *)
    qiGotoPos: INT; (* Target position for AGV *)

    Messages
    Order to AGV Answer from AGV
    1 Go to position HOME 1 At position HOME
    2 Go to position A 2 At position A
    3 Go to position B 3 At position B
    4 Go to position C 4 At position C
    5 Go to position D 5 At position D
    6 Stop instantly 6 Not at any defined position

    Handshake PLC – AGV


    a) AGV read order from PLC at rising edge of PLC strobe.
    b) AGV send ‘order received’ (answer = 0 and rising edge of AGV strobe).
    c) AGV wait for PLC ‘send ready’ (falling edge of PLC strobe).
    d) AGV send ‘ack strobe’ (falling edge of AGV strobe) and start moving.
    e) AGV send ‘answer ready’ (answer > 0 and rising edge of AGV strobe) after AGV stopped.
    f) AGV wait for PLC ‘answer received’ (order = 0 and rising edge of PLC strobe).
    g) AGV send ‘answer end’ (answer = 0 and falling edge of AGV strobe).
    h) AGV wait for PLC ‘ack strobe’ (falling edge of PLC strobe).
    i) AGV ready to read new order.

    Set Send Send Answer Ack


    PLC order order ready received strobe

    Order

    Strobe

    Read Order Ack Set Answer Answer


    AGV order received strobe answer ready end
    AGV move

    Answer

    Strobe

    Instructions for AGV.docx page 1 of 1

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