Table of Contents

Table of Contents

AGV Properties

AGV Properties

Overview and Key Concepts

When you connect a task executer to an AGV path network, it becomes a traveler on the AGV network. Once connected, there are additional properties, events, and statistics that are available on that AGV. This topic explains these elements and shows how to access them.

AGV Properties Pane

An AGV's properties are accessible through Quick Properties. Click on the AGV in the 3D view, and the AGV Properties will appear on the right.

AGV Type

Define which of the user-defined AGV Types this AGV is one of.

Switch Initial Direction

When the model is reset, AGVs go back to the control point that you originally connected them to. By default, they will reset to facing forward along that control point's path. Press this button to switch this initial direction.

Initial Path Offset

When the model is reset, AGVs go back to the control point that you originally connected them to. Specifying a non-zero value here will define an AGV's reset position as offset, by that distance, from this reset control point.

Events

An AGV also has additional events that can be accessed either through the task executer's Triggers tab, or from a process flow.

  • OnStartTravel - Fired when the AGV starts a travel task.
  • OnFinishTravel - Fired when the AGV finishes a travel task.
  • OnPreAllocate - Fired just before the AGV attempts to allocate forward. This will either be followed by one or more OnAllocate events or by an OnAllocationFailed event if it was not able to allocate forward. Allocation happens either on pre-arrival to a control point or when trying to allocate an intersection point on an accumulating path.
  • OnAllocate - Fired when a control point, control area, or accumulating path intersection point is allocated.
  • OnAllocationFailed - Fired when the AGV fails to allocate forward and hence must stop and wait.
  • OnDeallocate - Fired when the AGV deallocates a control point, control area, or accumulating path intersection point.
  • OnAccumulationStop - Fired when the AGV hits its proximity stop threshold on an accumulating path and must stop.
  • OnAccumulationResume - Fired when the AGV hits its proximity resume threshold on an accumulating path and can resume.
  • OnPreArrival - Fired at an AGV's pre-arrival to a control point, i.e. the point at which the AGV would start to decelerate to stop at the control point if needed. OnPreArrival is fired prior the AGV allocating further ahead, or when the AGV starts decelerating to its final destination.
  • OnArrival - Fired at an AGV's arrival at a control point, i.e. when the AGV has decelerated to stop at the control point, either because it could not allocate further ahead or if the control point is the final destination.

Statistics

AGVs can also track the following statistics:

  • BatteryLevel - The AGV's battery level, as a percentage between 0 and 100.