Fork

• Basic

  • No subcategories available.

cargoContactDI

The forklift pickup switch is in place.

Note: The forklift will stop if the DI is triggered while picking up goods.

ContactDIXPos

Definition: In the AGV coordinate system, the value of the switch position coordinate x for the forklift truck to take goods into position.

Description: This sensor is used to determine the position of the goods' shape on the forklift truck.

contactDi

Definition: Forklift cargo detection switch

Description: Used to detect whether there are goods on the fork.

contactTime

Definition: Anti-jitter time for cargo detection.

Note: Used in conjunction with contactDi to filter DI for goods detection.

forkTailDi

Definition: Forklift Fork Tip Sensor ID

Note: This is used to check if there are any goods in the warehouse before unloading them.

loadTime

Delay in cargo loading time

Note: Maximum execution time for loading goods.

unloadTime

Delay time for unloading cargo.

Note: The maximum duration for uninstallation.

• forkBlockRegion

  • No sub-items

enableHeight

Forklift Subtraction Area and Effective Fork Height

Explanation:

width

Definition: The width of the deducted area under the coordinate system of a forklift.

Explanation:

xmax

Definition: Subtract the maximum x value of the region in the AGV coordinate system from the forklift coordinate system.

Explanation:

xmin

Definition: The minimum value of x for the deducted area in the AGV coordinate system with respect to the forklift coordinate system.

Explanation:

• BackLaser

  • No information available

id

Definition: Forklift Rear DI Laser ID

Explanation:

laserId

Definition: Forklift rear range scanning laser ID.

Explanation:

enabledHeight

Definition: Forklift rear laser for effective fork lowering.

Explanation:

• Type:

  • Not specified

None

ByDO

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pumpDO

Pump Motor DO

Description: (to be added)

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leakDO

Definition: Discharge Valve DO

Description: (to be added)

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topDI

Raise to the point of DI.

Description: (to be added)

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bottomDI

Drop to Dependency Injection

Description: (to be added)

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upDelayTime

Rise delay time

Description: (to be added)

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downDelayTime

Reduce the delay time

Description: (to be added)

By Controller

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safeHeight

The height at which the safe speed limit is opened. Unit: meters.

Description: (to be added)

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safeSpeed

What it means: A safe speed.

Description: (to be added)

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linearMotor

Definition: If not empty, it refers to a linear motor-controlled forklift.

Description: (to be added)

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upMaxSpeedWithGoods

Maximum speed of forklift when carrying cargo

Description: (to be added)

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downMaxSpeedWithGoods

Maximum speed at which the fork descends when loaded.

Description: (to be added)

Description of Cargo Exclusion Area

• The depreciation area for versions 3.2 and 3.3.17

When the AGV forklift picks up goods, it may block part of the laser. To prevent collision detection from triggering mistakenly, a deduction area should be used to remove this part of the laser.

The definition of the deduction area is shown in Figure 11.4.1 and Figure 11.4.2.

• Only when the forklift is greater than the S_Fork_Block_Height (changed in version 3.3) ForkBlockHeight, the deduction area takes effect.
• If the fork height is lower than the S_Fork_Block_Height (ForkBlockHeight), the deduction area is invalid.
• If the load is too deep and high, reduce the value of S_Fork_Block_Height (ForkBlockHeight).
• The four parameters of the deduction area are configured under the forklift tab of the parameter configuration in Roboshop.

If the ForkBlockHeight is set to 1 for cattle, the deduction area will be enabled when loading goods. If the value is less than 1, the deduction area will be disabled.

Table 11.4.1: The deduction area is defined under the Roboshop parameter Configuration, forklift tab.

For instance:

1. If the forklift is going to be used, report if the virtual or real laser is blocked.

Define the laser protection area of the robot model to only include the front part of the forklift, as shown in Figure 1.

2. If the forklift is loaded, but the walking time is blocked by a laser

Under the forklift label, the following values can be used in Roboshp to measure the area where the cargo laser points are located, so that the deduction area includes all laser points: S_Fork_Block_Height (ForkBlockHeight), S_Fork_Block_Width (ForkBlockWidth), s_fork_block_height, s_fork_block_width, S_Fork_Block_Xmax (ForkBlockXmax), and S_Fork_Block_Xmin (ForkBlockXmin). The definitions of S_Fork_Block_Width (ForkBlockWidth), S_Fork_Block_Xmax (ForkBlockXmax), and S_Fork_Block_Xmin (ForkBlockXmin) are shown in Figure 2 and 3.

• Version 3.3.17 or later

When the AGV forklift raises the fork, the forklift's shelf will obstruct a portion of the laser, as depicted in Figure 4. To avoid triggering collision detection erroneously, it is necessary to exclude this portion of the laser using a deduction area. The definition of the deduction area is illustrated in Figure 5. The deduction area is only active when the forklift's height exceeds the enableHeight. If the forklift's height is lower than the enableHeight, the deduction field is not applicable.

If the forklift needs to lift goods using forks and the cargo lifting may obstruct the laser, then it is necessary to load the cargo onto a pallet, as shown in Figure 6. The dimensions of the goods are defined by the pallet_width and pallet_length parameters. The block_laser parameter indicates whether the laser will be partially obstructed. Additionally, the location of the goods on the fork is determined by the contactDIXpos parameter in the model file, which generally has the same value as xmin in Figure 6.