Driver Hänel Rotomat
- Configuration of Shark
- Configuration of the Hänel Rotomat
-
Commands
- ARRIVALTIME?
- AUTOCONFIG
- BUSY?
- CMD
- DEBUG
- DEBUG?
- GETTRAY
- GETTRAY?
- GT
- HELP?
- HELPHTML?
- INIT
- LIFT
- LIFT?
- LOADREG
- MSTATUS?
- REGISTEREVENTHANDLER
- REGMONITOR
- REPORT?
- RESETERROR
- RESTART
- RETURNTRAY
- SAVEREG
- SERIAL:CLEAR
- SERIAL:CLOSE
- SERIAL:DEBUG
- SERIAL:DEBUG?
- SERIAL:DEBUGLEVEL
- SERIAL:HELP?
- SERIAL:HELPHTML?
- SERIAL:LIST?
- SERIAL:LOADREG
- SERIAL:OPEN
- SERIAL:PING?
- SERIAL:READ?
- SERIAL:READFIXED?
- SERIAL:REGISTEREVENTHANDLER
- SERIAL:REPORT?
- SERIAL:RESET
- SERIAL:RESTART
- SERIAL:SAVEREG
- SERIAL:STATUS?
- SERIAL:TERMINATOR
- SERIAL:TERMINATOR?
- SERIAL:TERMINATORCHARACTER
- SERIAL:WRITE
- SERIAL:WRITEBYTES
- SERIAL:WRITELINE
- STATE?
- STATUS:COUNT?
- STATUS:DEBUG
- STATUS:DEBUG?
- STATUS:ERROR?
- STATUS:HELP?
- STATUS:HELPHTML?
- STATUS:LOADREG
- STATUS:REGISTEREVENTHANDLER
- STATUS:REPORT?
- STATUS:RESET
- STATUS:RESTART
- STATUS:SAVEREG
- STATUS:STATUS?
- STATUS?
- TILTSUPPORTED
- TILTSUPPORTED?
- TRAY:ADD
- TRAY:ADDGROUP
- TRAY:DEBUG
- TRAY:DEBUG?
- TRAY:EMPTYPOS?
- TRAY:FREELIST?
- TRAY:HELP?
- TRAY:HELPHTML?
- TRAY:INFO?
- TRAY:LIST?
- TRAY:LOADREG
- TRAY:POSITION
- TRAY:POSITION?
- TRAY:REGISTEREVENTHANDLER
- TRAY:REMOVE
- TRAY:REMOVEALL
- TRAY:REPORT?
- TRAY:RESTART
- TRAY:SAVEREG
- TRAY:STATUS?
- TRAY?
- TRAYACCEPT
- TURBOSUPPORTED
- TURBOSUPPORTED?
Module Hänel Rotomat
This module supports Hänel Rotomat lifts, equipped with the MP0A controller and a serial connection. The PC with Shark Control can be connected either directly or using a Moxa Box for Ethernet support.
There can be some issues, regarding security. Depending on the configuration, it can be necessary to confirm on the Hänel keyboard. The procedure to pick is:
- Shark get the tray.
- The operator picks the articles and breaks the light curtain.
- The operator must press “confirm” on the Rotomat, it can not be done in the opposite direction (confirm before breaking the light).
The display when confirmation on the Rotomat is required.
Shark used to control a Hänel Rotomat.
Configuration of Shark
The lift must be defined in the Shark Registry under devices.verticallifts.<modulename>
| Registry Parameter | Values | Description | ||
|---|---|---|---|---|
| Type | RotomatMP0A | |||
| Connection | COM1* | *COM2.. | MOXAGATEWAY:<ip>:<port> | Connection port to the machine. |
| Unit | 1..99 | Lift number, default is 1. | ||
| 1.. | Default is 0. The max tray number in the automat. If 0 it will be auto configured from what is read from the Rotomat. | |||
| MaxTrayNumber |
Configuration of the Hänel Rotomat
Before installation, check that the serial cable from the X10 connector is available. This cable is required to connect the lift to a serial connector.
To enter setup mode for Rotomat, press: CE CE RETURN CE CE RETURN
Set the parameters:
| Parameter | Value | Note |
|---|---|---|
| GERÂTENUMMER (Lift Number) | 1 | First machine, where the PC is connected must be 1. This is in Shark, the Unit Number. |
| PROGRAMVERSION | AUTOSTART BURO | Allow the Shark to control the Rotomat. |
| DATENRUCKMELDUNG | JA |
The BCD switch on the network card (where the X10 connector is) must be set to “0”.
The Serial Cable
The cable is connected to the connected X10 and is supplied by Hänen (it looks like a standard 26 wire ribbon cable with a 25 pins female D-SUB connector).
The network interface in the Rotomat.
The connections to the 25 pins D-SUB female connector:
D-SUB 25 pins Female Connector |
Connection to D-SUB 9 Male connector. |
2 |
2 Rx |
3 |
3 Tx |
7 |
5 (GND) |
Please note, this is not a normal “Serial Female DB25/Male DB9 Adapter”, pin 2 and 3 is “swapped”.
The communication is RS232, and must be set to 9600 baud, 8 data bit, 1 stop bit, no parity.
An alternative solution to use the cable described above, could be to connect via a 26 wire ribbon-cable directly to a Moxa Box.
Commands
Commands supported by this module. Two special commands can be helpfuld to debug problems:
MSTATUS?
Will send a status request to the Automat and return the response.
CMD <cmd>
Will append a <cr><lf> to the <cmd> and write it directly to the
module. Can be used for low level testing.
ARRIVALTIME?
Returns the absolute time in ms when the tray is expected in the gate
AUTOCONFIG
BUSY?
CMD
Send a raw command to the automat
| Parameter | Type | Default | Description |
| Command | STR | Instrument command to send |
DEBUG
Enable/disable debug printouts
| Parameter | Type | Default | Description | ||||||
| Function | STR | ALL | ALL | LOWLEVEL | EVENTS | BOXTRACE | TELEGRAMS | STATUSLOOP | REGISTERACCESS</span> |
| Mode | BOOLEAN | yes | If true debug messages will be printed to standard output |
DEBUG?
GETTRAY
Get a tray to the gate
| Parameter | Type | Default | Description |
| TrayNumber | INTEGER | Tray number | |
| ID | STR | User supplied ID | |
| Tilt | BOOLEAN | off | Enable/disable tilt of tray |
| TrayHeight | FLOAT | 0.0 | Height of tray |
| LightXPos | FLOAT | 0 | X Location 0 -1 |
| LightYPos | FLOAT | 0 | Y Location 0 -1 |
| LightXWidth | FLOAT | 0 | X Width Location 0 -1 |
| LightYDepth | FLOAT | 0 | Y Width Location 0 -1 |
| NextTray | INTEGER | 0 | Next tray expected to following current tray |
GETTRAY?
Request the specified tray and returns the time when the tray is expected in the gate
| Parameter | Type | Default | Description |
| TrayNumber | INTEGER | Tray number | |
| ID | STR | User supplied ID | |
| Location | STR | Shark location address |
GT
Simple get for turbo trays
| Parameter | Type | Default | Description |
| Tray | INTEGER | 0 | |
| TurboTray | INTEGER | 0 |
HELP?
| Parameter | Type | Default | Description |
| Command | STR | Command name |
HELPHTML?
| Parameter | Type | Default | Description |
| Filename | STR | /users/sos/tmp/helphtml.htm | help.html |
INIT
Initilize the automat connection
| Parameter | Type | Default | Description |
| Port | STR | The port used to connect to the Automat | |
| Address | STR | Automat address on the PLC network |
LIFT
Set the lift
| Parameter | Type | Default | Description |
| Height | FLOAT | 1.0 | Lift height in meter |
LIFT?
Set the lift
LOADREG
Load setup from the Shark Registry
MSTATUS?
Read the automat status, blocking!
REGISTEREVENTHANDLER
REGMONITOR
Setup up a monitor that will read PLC registers continously and send the result as an event when data is changed
| Parameter | Type | Default | Description |
| Register | STR | Start register to monitor | |
| Length | INTEGER | 1 | Lenght of number block |
| Interval | INTEGER | 1000 | Interval in ms to monitor |
| RepeatCount | INTEGER | 1 | Number of times to repeat |
REPORT?
Returns a module specific status report
RESETERROR
RESTART
Reset the module to the original state
RETURNTRAY
SAVEREG
Save current setup to the Shark Registry
SERIAL:CLEAR
SERIAL:CLOSE
SERIAL:DEBUG
Enable/disable debug printouts
| Parameter | Type | Default | Description | ||||||
| Function | STR | ALL | ALL | LOWLEVEL | EVENTS | BOXTRACE | TELEGRAMS | STATUSLOOP | REGISTERACCESS</span> |
| Mode | BOOLEAN | yes | If true debug messages will be printed to standard output |
SERIAL:DEBUG?
SERIAL:DEBUGLEVEL
| Parameter | Type | Default | Description |
| Level | INTEGER | 0 | 0: None, 1: Normal log, 2: Detailed |
SERIAL:HELP?
| Parameter | Type | Default | Description |
| Command | STR | Command name |
SERIAL:HELPHTML?
| Parameter | Type | Default | Description |
| Filename | STR | /users/sos/tmp/helphtml.htm | help.html |
SERIAL:LIST?
SERIAL:LOADREG
Load setup from the Shark Registry
SERIAL:OPEN
| Parameter | Type | Default | Description | ||
| Port | STR | COM1 | COM port number to use for the connection | ||
| Baudrate | INTEGER | 9600 | Baudrate | ||
| Databits | INTEGER | 8 | Databits | ||
| Stopbits | INTEGER | 1 | Stopbits | ||
| Parity | STR | none | none | even | odd</span> |
SERIAL:PING?
SERIAL:READ?
SERIAL:READFIXED?
| Parameter | Type | Default | Description |
| Count | INTEGER | 1 | Number of bytes to read |
SERIAL:REGISTEREVENTHANDLER
SERIAL:REPORT?
Returns a module specific status report
SERIAL:RESET
SERIAL:RESTART
Reset the module to the original state
SERIAL:SAVEREG
Save current setup to the Shark Registry
SERIAL:STATUS?
Returns the current status for the module
SERIAL:TERMINATOR
| Parameter | Type | Default | Description |
| Terminator | INTEGER | 10 | Decimal value of terminator character |
SERIAL:TERMINATOR?
SERIAL:TERMINATORCHARACTER
| Parameter | Type | Default | Description |
| Terminator | STR | ! | Character used for read termination |
SERIAL:WRITE
| Parameter | Type | Default | Description |
| Command | STR | Text string that will be written to the serial port |
SERIAL:WRITEBYTES
| Parameter | Type | Default | Description |
| IntegerList | INTEGER_ARRAY | List of ASCII values as integer representation |
SERIAL:WRITELINE
| Parameter | Type | Default | Description |
| Command | STR | Text string that will be written to the serial port |
STATE?
STATUS:COUNT?
STATUS:DEBUG
Enable/disable debug printouts
| Parameter | Type | Default | Description | ||||||
| Function | STR | ALL | ALL | LOWLEVEL | EVENTS | BOXTRACE | TELEGRAMS | STATUSLOOP | REGISTERACCESS</span> |
| Mode | BOOLEAN | yes | If true debug messages will be printed to standard output |
STATUS:DEBUG?
STATUS:ERROR?
STATUS:HELP?
| Parameter | Type | Default | Description |
| Command | STR | Command name |
STATUS:HELPHTML?
| Parameter | Type | Default | Description |
| Filename | STR | /users/sos/tmp/helphtml.htm | help.html |
STATUS:LOADREG
Load setup from the Shark Registry
STATUS:REGISTEREVENTHANDLER
STATUS:REPORT?
Returns a module specific status report
STATUS:RESET
STATUS:RESTART
Reset the module to the original state
STATUS:SAVEREG
Save current setup to the Shark Registry
STATUS:STATUS?
Returns the current status for the module
STATUS?
Returns the current status for the module
TILTSUPPORTED
Define if the automat supports tray tilt
| Parameter | Type | Default | Description |
| Supported | BOOLEAN | false | If true tray tilt is supported |
TILTSUPPORTED?
Returns if the automat supports tray tilt
TRAY:ADD
Add a tray to the Shark configuration (does not make any changes in the lift)
| Parameter | Type | Default | Description |
| TrayNumber | INTEGER | Tray number to add | |
| Position | INTEGER | Position of the tray | |
| Height | INTEGER | Height of the tray in mm |
TRAY:ADDGROUP
Adds a serie of trays, mainly for debugging
| Parameter | Type | Default | Description |
| FromTrayNumber | INTEGER | First tray to add | |
| ToTrayNumber | INTEGER | Last tray to add |
TRAY:DEBUG
Enable/disable debug printouts
| Parameter | Type | Default | Description | ||||||
| Function | STR | ALL | ALL | LOWLEVEL | EVENTS | BOXTRACE | TELEGRAMS | STATUSLOOP | REGISTERACCESS</span> |
| Mode | BOOLEAN | yes | If true debug messages will be printed to standard output |
TRAY:DEBUG?
TRAY:EMPTYPOS?
Returna an empty position with the requested height. Will not allocate anything.
| Parameter | Type | Default | Description |
| Height | INTEGER | 0 | Height in mm of requested position |
TRAY:FREELIST?
Returns a list of free positions with total free height
TRAY:HELP?
| Parameter | Type | Default | Description |
| Command | STR | Command name |
TRAY:HELPHTML?
| Parameter | Type | Default | Description |
| Filename | STR | /users/sos/tmp/helphtml.htm | help.html |
TRAY:INFO?
Returns info about the selected logical tray: position, tray, tray_heigh, back, distance, pos_height
| Parameter | Type | Default | Description |
| tray | INTEGER | 0 | Logical Tray Number (empty shows all) |
TRAY:LIST?
Return a list of all trays for the lift
TRAY:LOADREG
Load setup from the Shark Registry
TRAY:POSITION
Set info for the specified position
| Parameter | Type | Default | Description |
| position | INTEGER | 0 | Position |
| tray | INTEGER | 0 | Tray Number |
| height | INTEGER | -1 | Height in mm of the position |
| back | INTEGER | -1 | 0=Front, 1=Back |
| type | INTEGER | -1 | 1=Tray |
| distance | INTEGER | -1 | Encoder value |
| tray_height | INTEGER | -1 | Height in mm of the tray if present |
TRAY:POSITION?
Returns info about the selected position: tray, heigh, back, distance, type
| Parameter | Type | Default | Description |
| position | INTEGER | Position Number |
TRAY:REGISTEREVENTHANDLER
TRAY:REMOVE
Remove a tray from Sharks configuration
| Parameter | Type | Default | Description |
| TrayNumber | INTEGER | Tray number to add |
TRAY:REMOVEALL
Remove all trays from Sharks configuration
TRAY:REPORT?
Returns a module specific status report
TRAY:RESTART
Reset the module to the original state
TRAY:SAVEREG
Save current setup to the Shark Registry
TRAY:STATUS?
Returns the current status for the module
TRAY?
TRAYACCEPT
Accept the current tray height
| Parameter | Type | Default | Description |
| accept | BOOLEAN | no | If true accept the current tray height |
TURBOSUPPORTED
Define if the automat supports turbo mode
| Parameter | Type | Default | Description |
| Supported | BOOLEAN | false | If true turbo is supported |
TURBOSUPPORTED?
Returns if the automat supports turbo mode