Simple Gantry Loader in Siemens Tecnomatix Plant Simulation

 Simple Gantry Loader in Siemens Tecnomatix Plant Simulation

Project Files (GitHub) : nachikethboin/Simple-Gantry-Loader-in-Siemens-Tecnomatix-Plant-Simulation

1. Open Plant Simulation and Manage Libraries
   Start Plant Simulation and select Manage Library from the ribbon.
   In the Libraries tab, check Standard Libraries (free of charge).
   Tick the checkbox for Crane, then click OK to add it to your class library.
2. Prepare Your Model Frame
   In the planning view, insert a Source object (where parts are created), four Stations (machines to be loaded/unloaded), and a Drain (where finished parts exit).
3. Insert and Configure the GantryLoader
   Go to the Crane tab in your toolbox and drag a GantryLoader into your model frame.
   When the dialog appears, note that defining more than two anchor points will reduce to two.
   Reposition stations so they are directly beneath the GantryLoader for valid operation.

4. Customize Gantry Gripper Settings
   Double-click the GantryLoader to open its dialog.
   In the Gripper tab, enable the Double Gripper option for increased handling efficiency.
5. Program Exit Control Method
   Insert a Method object and rename it (e.g., “onExit”).
   Drag and drop this method onto each station to assign it as their exit control.
   Double-click the method to edit its logic:

Code for onExit Method:

var gantry := GantryLoader
var Loader := Gantry.Loader1
var Hook := loader.cont

var step : integer := 1
waituntil Loader.state="idle"

repeat

    switch step
    case 1
        Loader.pickMUFrom(SP1)

    case 2
        if not SP2.occupied then
            step := 4
        end

        loader.replaceMUAt(SP2)

    case 3
        if not SP3.occupied then
            step := 4
        end
             loader.replaceMUAt(SP3)

    case 4
        loader.placeMuAt(SP4)

    case 5
        Loader.endSequence
        exitLoop
    end
    waituntil Loader.state="idle" or Loader.state="waiting"

    step += 1

until false

• Define variables for the GantryLoader and an operation step counter.
• Wait for the loader to be idle before issuing new commands.
• Use a repeat loop to implement loading logic:
• Step 1: Command the loader to pick up a part from a station.
• Step 2: Check if a part is present on Station 1; if absent, finish after dropping a part.
• Step 3: Check for a part on Station 2; same logic as above.
• Step 4: Command the loader to drop a part at Station 3.
• If the step number exceeds 4, exit the loop.
• Always wait for the loader to finish the current or entire command sequence before proceeding.

6. Run and Observe the Simulation
   Start the simulation. The GantryLoader will automatically handle the pick-and-place operations between stations, following the defined sequence.