SeizeRobot

The block seizes the specified robot for an agent (material item) and moves the end effector of the seized robot to the specified location.

If at the moment of the agent's request the robot is busy, the agent is placed into the internal queue of the block and waits there for the robot to become available. This block retrieves agents from the internal queue based on the FIFO rule (first-in, first-out).

Use the ReleaseRobot block to release the seized robot. All seized robots must be released before the agent (material item) is disposed.

Robot

The robot that should be seized by the agent (material item).

Value type: Robot
Local variable: T agent - the agent (material item)

Movement time

The time required by the robot to move its end effector to the specified location.

Value type: double
Local variable: T agent - the agent (material item)

Destination is

Defines where the robot's end effector will be moved. The possible destinations are:

Agent - the current agent location
Node - the specified network node
Attractor - the specified attractor
Conveyor - the specified conveyor
Position on conveyor - the specified position on conveyor
(x, y, z) - the point with the specified coordinates

Value type: ProcessByRobot.DestinationType
Local variable: T agent - the agent (material item)
Valid values:
SeizeRobot.DEST_AGENT — Agent
SeizeRobot.DEST_NODE — Node
SeizeRobot.DEST_ATTRACTOR — Attractor
SeizeRobot.DEST_CONVEYOR — Conveyor
SeizeRobot.DEST_POSITION_ON_CONVEYOR — Position on conveyor
SeizeRobot.DEST_XYZ — (x, y, z)

Node

[Visible and applies only if the Destination is is set to Node]
The network node the robot will move its end effector to. This value is evaluated right after the robot picks up the agent.

Value type: Node
Local variable: T agent - the agent (material item)

Attractor

[Visible and applies only if the Destination is is set to Attractor]
The attractor the robot will move its end effector to. This value is evaluated right after the robot picks up the agent.

Value type: Attractor
Local variable: T agent - the agent (material item)

Conveyor

[Visible and applies only if the Destination is is set to Conveyor]
The conveyor the robot will move its end effector to. This value is evaluated right after the robot picks up the agent.

Value type: ConveyorPath
Local variable: T agent - the agent (material item)

Offset from

[Visible and applies only if the Destination is is set to Conveyor]
Defines how to calculate the offset of the exact point on a conveyor the robot will move its end effector to: either from The beginning of the conveyor, or from The end of the conveyor.

Value type: boolean
Local variable: T agent - the agent (material item)
Default value: true — The beginning of the conveyor

Offset

[Visible and applies only if the Destination is is set to Conveyor]
The distance from the start or end point of the conveyor (depends on the Offset from parameter) defining the exact destination point for the robot's end effector. This value is evaluated right after the robot picks up the agent.

Value type: double
Local variable: T agent - the agent (material item)

Position on conveyor

[Visible and applies only if the Destination is is set to Position on conveyor]
The position on conveyor the robot will move its end effector to. This value is evaluated right after the robot picks up the agent.

Value type: PositionOnConveyor
Local variable: T agent - the agent (material item)

X, Y, Z

[Visible and applies only if the Destination is is set to (x, y, z)]
X, Y, Z coordinate of the point the robot will move its end effector to. This value is evaluated right after the robot picks up the agent.

Value type: double
Local variable: T agent - the agent (material item)

End effector approaches

Defines from which point the robot's end effector approaches the location/agent. The possible options are:

Top side - the robot approaches the location from above.
Nearest side - the robot approaches the location from the side, closest to the robot base.

Value type: RobotApproachType
Local variable: T agent - the agent (material item)
Valid values:
ROBOT_APPROACH_TOP_SIDE — top side
ROBOT_APPROACH_NEAREST_SIDE — nearest side

Safe height

The absolute minimum height for the robot. The robot's end effector may move only above the safe height level (e.g., to avoid obstacles).

Value type: double
Local variable: T agent - the current agent (material item)
Default value: 1 meter

Priority

Defines the priority of this task for the current agent (the larger the higher). The robot will serve agents with the highest priority first. If several agents have the same priority, they will be served in the order they have arrived in the block (FIFO, First In, First Out).

Value type: double
Local variable: T agent - the current agent (material item)
Default value: 0

Actions

On enter

Here you can type Java code that will be executed when the agent (material item) enters the block.

Local variable: T agent - the agent (material item)

On seize

Here you can type Java code that will be executed when the agent (material item) seizes the robot.

Local variables:
T agent - the agent (material item)
Robot robot - the robot seized by the agent

On exit

Here you can type Java code that will be executed when the agent (material item) leaves the block.

Local variable: T agent - the agent (material item)

On remove

Here you can type Java code that will be executed when the agent (material item) is removed from this block with the remove() function.

Local variable: T agent - the agent (material item)

in

The input port.

out

The output port.

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