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Rockwell Automation MagneMotion MagneMover LITE User Manual Addendum

Wide vehicles
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MagneMover LITE User Manual Addendum,
Wide Vehicles
Original Instructions

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Summary of Contents for Rockwell Automation MagneMotion MagneMover LITE

  • Page 1 MagneMover LITE User Manual Addendum, Wide Vehicles Original Instructions...
  • Page 2 This product is protected under one or more U.S. and International patents. Additional U.S. and International patents are pending. Copyright © 2020, 2021 MagneMotion, Inc., a Rockwell Automation Company. All Rights Reserved. The information that is included in this document is proprietary or confidential to Rockwell Automation, Inc.

  • Page 3: Table Of Contents

    Node Clearance Distances and Entry Gate Positions ............. 27 Troubleshooting ........................29 Revision History ........................30 Rockwell Automation Support ....................31 Figures Figure 1: Specification of Rectangular Vehicle Geometry ............7 Figure 2: Interference of Vehicles More Than Two Motors Apart .......... 8 Figure 3: Interference of Vehicles More Than Two Motors Apart Corrected ......
  • Page 4 MagneMover LITE User Manual Addendum, Wide Vehicles Figure 11: Vehicle Rotary Motion ..................12 Figure 12: Specification of Rectangular Vehicle Geometry ........... 13 Figure 13: Calculation for Straight Motor, Curve Motor, Straight Motor ......13 Figure 14: Calculation for Curve Motor, Straight Motor, Curve Motor ......... 14 Figure 15: Calculation for Curve Motor, Straight Motor, Opposite Curve Motor ....

  • Page 5: Overview

    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, see Rockwell Automation Support on page 31.

  • Page 6: Theory Of Operation

    MagneMover LITE User Manual Addendum, Wide Vehicles Theory of Operation MagneMover LITE motors use the vehicle geometry, among other functions, to control the spacing between adjacent vehicles on the track. In the current MM LITE systems, vehicle geometry is specified only as a longitudinal length, and is applied along the centerline of the travel path.

  • Page 7: Wide Vehicle Support

    MagneMover LITE User Manual Addendum, Wide Vehicles Wide Vehicle Support The supported vehicle lengths and widths are between one puck length ~66 mm [2.6 in] and 425 mm [16.7 in]. The dimensions are centered on the vehicle (puck or tandem puck). For anti-collision control, the system assumes that the shape of the vehicle is rectangular and fits within a bounding box with maximum dimensions of 425 mm by 425 mm [16.7 in by 16.7 in] centered on the vehicle (puck or tandem puck).

  • Page 8: Supported And Unsupported Layouts

    MagneMover LITE User Manual Addendum, Wide Vehicles Supported and Unsupported Layouts The MM LITE transport system now has limited knowledge of the track geometry in specific cases, as described here and shown in the following examples. • Vehicles clear the permission area of a motor while the center of the next vehicle is over a motor that is not more than two motors distant along a vehicle route.

  • Page 9: Figure 4: Interference Of Vehicles On Improperly Spaced Non-Sequential Paths

    MagneMover LITE User Manual Addendum, Wide Vehicles depends on the four parameters that specify the geometry of the vehicle. For the purposes of track geometry, and the number of motors away, two ¼-meter motors can be treated as one ½-meter motor. This restriction on the track geometry also covers the case where vehicles on non-sequential paths can interfere with one another as shown in Figure 4.

  • Page 10: Figure 6: Example Of Zero-Length Straight Between Two Curves Using Small Vehicle

    MagneMover LITE User Manual Addendum, Wide Vehicles For paths with curves, the curve motors may require straight motors between them to make sure that any vehicle that moves through the curve does not collide with any other vehicle in the curve. Straight motors are not needed when sufficiently small vehicles on continuous curves do not interfere with each other.

  • Page 11: Figure 8: Example Of Unsupported Startup Position

    MagneMover LITE User Manual Addendum, Wide Vehicles There are cases where vehicle positions during startup are such that when one vehicle moves away from the other, one of its corners can collide with the other vehicle. For instance, when two short wide vehicles are positioned next to a curve and the inside vehicle width is greater than the curve.

  • Page 12: Figure 10: Vehicle Extension In Curves

    MagneMover LITE User Manual Addendum, Wide Vehicles When vehicles move through a curve, the corners of the vehicle extend past the width of the vehicle while turning as shown by the dashed lines in Figure 10. Vehicle Extension Through Curves Figure 10: Vehicle Extension in Curves Vehicles in motion can rotate a small amount within the confines of the rails on the motor, which makes their effective length and width larger than their actual length and width.

  • Page 13: Calculating The Length Of Straight Motors Between Curves

    MagneMover LITE User Manual Addendum, Wide Vehicles Calculating the Length of Straight Motors between Curves The equations in the following figures provide a method to determine the required length of the straight motors located between curve motors. All motion in the figures is downstream as indicated in the figure.

  • Page 14: Vehicles On Non-Adjacent And Parallel Paths

    MagneMover LITE User Manual Addendum, Wide Vehicles In Figure 14, L is the minimum length for the straight motor between the two curve motors that curve in the same direction when the width of the vehicle on the inside of the curve exceeds the radius of the curve.

  • Page 15: Clearance Distance

    MagneMover LITE User Manual Addendum, Wide Vehicles Clearance Distance All vehicles must be entirely clear of a motor module when the center of the vehicle is no further than two motor modules away. For this case only, two consecutive ¼-meter straight modules can be considered one ½-meter module as shown in Figure 3.

  • Page 16: Startup Considerations

    MagneMover LITE User Manual Addendum, Wide Vehicles Startup Considerations For robust startup operations, it is important that the configured vehicle length, not the physical vehicle length, be shorter than the path where it is located during startup. For example, a vehicle that is 300 mm long must not be started on a path that only consists of one ¼...

  • Page 17: Magnemover Lite Configurator User Manual Addendum

    MagneMover LITE User Manual Addendum, Wide Vehicles MagneMover LITE Configurator User Manual Addendum This section is an addendum to the MagneMover LITE Configurator User Manual and describes additions to the Configurator User Interface for support of wide vehicles. Support for the changes that are described in this section starts with the following MMConfigTool version: •...

  • Page 18: Vehicle

    MagneMover LITE User Manual Addendum, Wide Vehicles Vehicle Figure 18: Motor Defaults Page, Vehicle Section – Linear Vehicle Figure 19: Motor Defaults Page, Vehicle Section – Rectangular Vehicle • Magnet array type – See the MagneMover LITE Configurator User Manual. •...

  • Page 19: Figure 20: Vehicle Sizing

    MagneMover LITE User Manual Addendum, Wide Vehicles When Vehicle Shape of Linear is selected, as shown in Figure 18, this value is the length of the vehicle as measured from end to end. When Vehicle Shape of Rectangular is selected, as shown in Figure 19, this value is the sum of the Fore Length and Aft Length.
  • Page 20 MagneMover LITE User Manual Addendum, Wide Vehicles • Port Width – The length from the center of the magnet array to the left side of the vehicle (0.031 m to 0.2125 m). Only available when Vehicle Shape is Rectangular is selected, as shown in Figure 19.

  • Page 21: Diverge Node

    MagneMover LITE User Manual Addendum, Wide Vehicles Diverge Node The additional properties for the Diverge Node are described after Figure 22. See the Nodes section of the UI Reference in the MagneMover LITE Configurator User Manual for detailed descriptions of all other items on the Diverge Node page. Figure 22: Diverge Node Page •...

  • Page 22: Figure 24: Entry Gate Distance Warning

    MagneMover LITE User Manual Addendum, Wide Vehicles • Clearance Distance – The location, in meters, to the center of the vehicle where the trailing edge of the vehicle is considered cleared from the node. Applies to the trailing edge of all vehicles as they exit the switch, regardless of vehicle direction. The default is 0.0 (no clearance distance, see Node Clearance Distances and Entry Gate Positions page 27).

  • Page 23: Merge Node

    MagneMover LITE User Manual Addendum, Wide Vehicles Merge Node The additional properties for the Merge Node are described after Figure 25. See the Nodes section of the UI Reference in the MagneMover LITE Configurator User Manual for detailed descriptions of all other items on the Merge Node page. Figure 25: Merge Node Page •...
  • Page 24 MagneMover LITE User Manual Addendum, Wide Vehicles • Entry Gate ID – A Configurator specified unique ID number for each Entry Gate. • Entry Gate Distance – The location, in meters, to the center of the vehicle where the leading edge of the vehicle is considered clear of vehicles and their payloads on adjoining paths.

  • Page 25: Merge-Diverge Node

    MagneMover LITE User Manual Addendum, Wide Vehicles Merge-Diverge Node The additional properties for the Merge-Diverge Node are described after Figure 26. See the Nodes section of the UI Reference in the MagneMover LITE Configurator User Manual for detailed descriptions of all other items on the Merge-Diverge Node page. Figure 26: Merge-Diverge Node Page •...
  • Page 26 MagneMover LITE User Manual Addendum, Wide Vehicles • Entry Gate ID – A Configurator specified unique ID number for each Entry Gate. • Entry Gate Distance – The location, in meters, to the center of the vehicle where the leading edge of the vehicle is considered clear of vehicles and their payloads on adjoining paths.

  • Page 27: Node Clearance Distances And Entry Gate Positions

    MagneMover LITE User Manual Addendum, Wide Vehicles Node Clearance Distances and Entry Gate Positions Node Clearance Distances and Entry Gate positions are used on switching nodes (Merge, Diverge, and Merge-Diverge). These anti-collision parameters define the clearance distance for vehicles as they enter and exit the nodes and are used to avoid collisions with other vehicles on adjoining paths.

  • Page 28: Figure 27: Node Clearance Distance And Entry Gate Position For Switch

    MagneMover LITE User Manual Addendum, Wide Vehicles Diverge Node Clearance Distance Clearance Distance (Center of Puck) Path 1 MM LITE Switch Clearance Distance Path 2 Entry Gate ID 4 Entry Gate Distance Path 1 Entry Gate ID 5 (Center of Puck) Path 2 Entry Gate ID 6 Path 3...

  • Page 29: Troubleshooting

    MagneMover LITE User Manual Addendum, Wide Vehicles Troubleshooting This section briefly identifies common difficulties that can occur with vehicles using the wide vehicle option. Table 1 Troubleshooting Symptom Problem Solution Vehicles in curves or Vehicles were moved For switches, leave one switches report ‘Hindered’...

  • Page 30: Revision History

    MagneMover LITE User Manual Addendum, Wide Vehicles Revision History Ver. Change Description Initial release Initial external release. Clarified figures and descriptions. MMI-UM034B-EN-P Page 30 of 31...

  • Page 31: Rockwell Automation Support

    Americas: Rockwell Automation, 1201 South Second Street, Milwaukee, WI 53204-2496 USA, Tel: (1) 414.382.2000, Fax: (1) 414.382.4444 Europe/Middle East/Africa: Rockwell Automation NV, Pegasus Park, De Kleetlaan 12a, 1831 Diegem, Belgium, Tel: (32) 2 663 0600, Fax: (32) 2 663 0640 Asia Pacific: Rockwell Automation, Level 14, Core F, Cyberport 3, 100 Cyberport Road, Hong Kong, Tel: (852) 2887 4788, Fax: (852) 2508 1846 Copyright ©...

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