sim-autostore/requirements/interface_spec.md

Interface

Operation Manual

Manual revision: 0

Publishing date: 26.09.2022

AS-55126-STD-en Language: English Original

AS-50126-STD-eng

Imprint

AutoStore AS

Stokkastrandvegen 85

N-5578 Nedre Vats

Norway

Tel: +47 5276 3660

http://www.autostoresystem.com/

Imprint

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Copyright, Intellectual Property, and Disclaimer

All rights reserved. This manual is protected by applicable copyright law and international treaty provisions. AutoStore Technologies AS is the sole proprietary owner of this manual, its contents and related intellectual property, including, but not limited to, creative work, designs, patents and trademarks. No parts of this work, including but not limited to, design, technical solutions, trademarks, graphic, electronic or mechanical, may be reproduced in any form or by any means whether by photocopying, recording, taping, information storage and retrieval systems or otherwise, without the written permission of AutoStore Technologies AS.

This manual and its contents and specifications are subject to change without notice. While every precaution has been taken in the preparation of this document, neither AutoStore Technologies AS nor any other company within the AutoStore Group (affiliates, subsidiaries or parent companies of AutoStore Technology AS) assume any responsibility or liability for errors or omissions, or for any personal injury, loss or damages resulting from the use of or reliance on the information contained in this document or from the use of programs and source code that may accompany it.

AutoStore is a certified product. Modules and parts of the AutoStore system must not be modified, altered, or installed, operated or used in a way not explicitly endorsed by the official documentation. To the fullest extent permissible under applicable law, in no event shall AutoStore Technologies AS or any other company within the AutoStore Group be liable for any claim, loss of profit or any other economic or physical damage caused or alleged to have been caused directly or indirectly by this document.

All specifications provided in this manual follow European standards and may not reflect applicable local standards. If applicable local standards deviate from the ones stated in this manual, then the strictest specifications should be followed.

It is the responsibility of the distributor to ensure that local requirements are followed.

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Copyright, Intellectual Property, and Disclaimer

Contents

Imprint. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Copyright, Intellectual Property, and Disclaimer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1. Read this first. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.1 About this manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.2 Conventions and Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.3 Contacting us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.4 Signs and Notices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.5 Changes to the Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.6 General Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.7 General Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2. Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.1 Task Interface and Bin Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.1.1 Task Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.1.2 Bin Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.1.3 Comparison. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.2 Technical Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.2.1 XML Message Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.2.2 Using the AutoStore Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.3 Feature Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.3.1 Features that require AS Router. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2.3.2 Software Release October 2022. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 2.3.3 Software Release April 2023. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 2.3.4 Software Release October 2023. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3. Basic Concepts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 3.1 Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 3.1.1 Bin Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 3.1.2 State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 3.1.3 Bin Content Code. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3.1.4 Automatic Preparation of Empty Bins. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 3.2 Port. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 3.2.1 Port Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 3.2.2 Port Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 3.3 Grid. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4. Task Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 4.1 Basic Concepts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 4.1.1 Task Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 4.1.2 Task. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.1.3 Port Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.2 Balancing Categories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.3 Performance Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.4 Port Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.4.1 Open Port. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.4.2 Open Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 4.4.3 Close Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.4.4 Close Port. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.4.5 Insert Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 4.4.6 Remove Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 4.4.7 Update Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4.4.8 Get Port Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.5 Task Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4.5.1 Create Taskgroup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Contents

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4.5.2 Update Taskgroup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.5.3 Cancel Taskgroup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.5.4 Add Task. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.5.5 Cancel Task. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 4.6 Query Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4.6.1 Get Bin Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4.6.2 Get Bin Location. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 4.6.3 Get Bin State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 4.6.4 Get Task Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 4.6.5 Get Next Task Groups. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.7 Controlling the Sequence of Task Groups. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.7.1 Overriding the next Task Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.7.2 Implementing Cut-Off Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.7.3 Synchronizing with the Task Group Sequence. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.7.4 Specifying a Strict Sequence of Task Groups. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 5. Bin Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 5.1 Basic Concepts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 5.1.1 Bin Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 5.1.2 Port Queue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 5.2 Port Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 5.2.1 Open Port. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 5.2.2 Open Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 5.2.3 Close Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 5.2.4 Close Port. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 5.2.5 Insert Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 5.2.6 Remove Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 5.2.7 Update Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 5.3 Bin Preparation Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 5.3.1 Prepare Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 5.3.2 Insert Prepare Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 5.3.3 Cancel Prepare Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 5.3.4 Set Port Queue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 5.3.5 Append to Port Queue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 5.3.6 Begin Group in Port Queue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 5.3.7 End Group in Port Queue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 5.4 Query Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 5.4.1 Get Bin Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 5.4.2 Get Bin Location. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 5.4.3 Get Bin State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 5.4.4 Get Preparation Queue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 5.4.5 Get Port Queue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 6. Port Processes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 6.1 Standard Port Flows. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 6.1.1 Putaway Process. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 6.1.2 Picking Process with Task Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 6.1.3 Picking Process with Bin Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 6.2 PickUpPort. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 6.2.1 Get Drawer State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 6.3 Fusion Port. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 6.3.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 6.3.2 Pick-To-Light API. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 6.3.3 Show Pick-To-Light. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 6.3.4 Hide Pick-To-Light. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 6.3.5 Compartment Definition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 6.3.6 Pick-To-Light Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 6.4 MultiPort configuration of the Fusion Port. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 6.4.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 6.4.2 Enable MultiPort. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

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6.4.3 Disable MultiPort. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 6.5 Miscellaneous Port Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 6.5.1 Configure Port. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 6.5.2 Get Port Configuration. . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 6.5.3 Get Port Weight. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 6.5.4 Flush Port Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 7. Forecast Bin Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 7.1 Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 7.1.1 Bin Mode Forecast. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 7.2 Forecast Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 7.2.1 Forecast Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 7.2.2 Cancel Forecast Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 7.3 Guidelines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 8. Controlling Bin Locations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 8.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 8.1.1 Bin Content Code. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 8.1.2 Cell Content Code. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 8.1.3 Content Code Ranges. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 8.1.4 Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 8.2 Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 8.2.1 Main Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 8.2.2 Content Consumers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 8.3 Interface Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 8.3.1 Update Cell and Bin Content. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 8.4 Managing Frozen Zone. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 8.4.1 Defining the Zones. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 8.4.2 Controlling Bin time outside its Zone. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 9. Port Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 9.1 Port Process. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 9.1.1 Allocate Cell. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 9.1.2 Exchange Bins to and from Grid. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 9.2 Message Flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 9.2.1 Port Retrieve Bin from Grid. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 9.2.2 Port Deliver Bin to Grid. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 9.2.3 Port Exchange Bin with Grid. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 9.3 Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 9.3.1 Port with Outgoing Bins to Conveyor Belt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 9.3.2 Port with Outgoing Bins to Conveyor Belt (mode AUTO). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 9.3.3 Port with Incoming Bins from Conveyor Belt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 9.3.4 Port Exchange Bins to and from Grid. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 9.4 Error Handling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 9.4.1 Failure when Port Retrieves Bin from Grid. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 9.4.2 Failure when Port Deliver Bin To Grid. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 9.5 Port Interface Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 9.5.1 Port Cell Allocate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 9.5.2 Port Location Ready. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 9.5.3 Port Bin Ready. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 9.5.4 Port Bin mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 10. Connecting Grids with Bin Lift. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 10.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 10.2 Exchanging Bins between the Grids. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 10.3 Transfer Bins to the other Grid. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 11. Miscellaneous Interface Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 11.1 Bin Definition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 11.1.1 Create Bin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 11.1.2 Delete Bins. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 11.2 System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 11.2.1 Force Charge. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

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11.2.2 Set Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 11.3 Query Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 11.3.1 Get System State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 12. Log Publisher Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 12.1 Technical Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 12.2 Initial Download. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 12.3 Event Segments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 12.3.1 Download Start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 12.3.2 Download Complete. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 12.3.3 Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 12.3.4 Time Factor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 12.3.5 Bin Location. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 12.3.6 Bin Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 12.3.7 Port Location Failed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 12.3.8 Port Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 12.3.9 Port Definition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 12.3.10 Cell Lock. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 12.3.11 Lift Cell Lock. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 12.3.12 Port Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 12.3.13 Robot Charging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 12.3.14 Robot Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 12.3.15 Robot Unavailable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 12.3.16 Port Task Groups. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 12.3.17 Pick To Light. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 12.3.18 Drawer State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 12.3.19 System Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 12.3.20 Alert. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 12.4 Value Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 13. AutoStore Internals and Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 13.1 Port Carousel Behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 13.2 Port Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 13.3 Behavior when few available Tasks or Bins. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 14. Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 14.1 Error Code Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 14.2 Property Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 15. Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

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Contents

1. Read this first

This part of the manual explains the structure and use of this AutoStore manual. Reading the following sub- chapters in detail will help you to get the most out of your AutoStore system.

1.1 About this manual

This Operation Manual contains comprehensive information related to all aspects Interface operation.

The manual is intended for use by category 3 and 4 AutoStore service technicians, who are qualified service personnel approved by AutoStore AS.

NOTICE

For a description of the different user categories see the Safety Concepts manual.

1.2 Conventions and Standards

This section describes the typographical conventions that have been established for AutoStore manuals.

Data Input

Throughout this manual, the following conventions indicate data input and output via the computer:

▪ Messages displayed on the screen are represented by capitalizing the initial letter of each word and by

italicizing each word. For example, "Close The Robot Door".

▪ Statuses and modes are written in capital letters. For example, RUNNING. ▪ Input that is entered by keyboard is identified by quotation marks: single quotes for single characters,

double quotes for strings.

▪ For brevity, expressions such as “choose File -> Directories” are used rather than “pull down the File menu

and choose Directories.”

▪ Any command is enclosed in angle brackets < > represents a single keystroke. For example, “press ”

means press the key labeled F1.

▪ Any command that requires pressing two or more keys simultaneously is shown with a plus sign connecting the keys. For example, “press + ” means press and hold the key and then press the key.

▪ Any button that you click on the screen or on a physical panel is represented in bold face letters. For

example, “click Close” or "push Retry".

Measurements

Unless specified otherwise:

▪ All measurements are metric ▪ Diagrams are read from left to right ▪ All time references are in UTC

Read this first

page 9

1.3 Contacting us

There are several ways to contact AutoStore:

Assistance

For technical support and ordering information, visit us on the Web:

www.autostoresystem.com

support@autostoresystem.com

Telephone: +47 5276 3660

1.4 Signs and Notices

These WARNING signs were prepared to enhance your personal safety. You should carefully read and follow ALL procedures and recommendations provided through these WARNING, CAUTION, and NOTICE signs.

WARNING

A WARNING indicates a situation that could result in harm, serious bodily injury, or death if the warning is ignored.

CAUTION

A CAUTION indicates a situation that could result in damage to the module if the caution is ignored.

NOTICE

A NOTICE indicates that interesting or helpful information is being provided.

1.5 Changes to the Manual

In order to suggest changes to this manual, please forward comments (preferably in English) to:

Editors, Technical Documentation AutoStore AS Stokkastrandvegen 85 5578 Nedre Vats Norway

Alternatively, please send an e-mail message to the Technical Editors at:

documentation@autostoresystem.com

You are encouraged to report errors or omissions in the text or index.

1.6 General Safety Information

In accordance with our commitment to customer service and safety, this module complies with the EEA requirements governing the CE Mark including the Low Voltage Directive.

Designed, manufactured, and tested in an ISO9001 registered facility, this module has been shipped to you from our manufacturing facility in a safe condition.

This module must be used as described in this manual. Any use of this module in a manner other than that described here may result in damage and/or injury.

page 10

Read this first

General Notice on Lifting and Handling of AutoStore modules

CAUTION

Always follow local safety guidelines!

For your safety, and in compliance with international regulations, the physical handling of the modules requires an adequate lifting device for lifting and/or moving. Modules may be too heavy and/or bulky for one person alone to handle safely.

Personal Protective Equipment

▪ Always use personal protective equipment where applicable

Notice on the Proper Use of AutoStore modules

In compliance with international regulations: if this product is used in a manner not specified by AutoStore, the protection provided by the product could be impaired.

1.7 General Precautions

Observe the following safety precautions when you install, operate, or carry out work on an AutoStore module:

▪ The system shall be operated by trained personnel only. Read the manuals before starting the system and

make sure that you are familiar with the warnings and safety precautions!

▪ The module can only operate at full capacity if the system is in good condition and properly set up. ▪ Only use fuses specified by type and current rating. Do not use modified fuses and do not short-circuit the

fuse holder.

▪ For modules where a power cord is supplied, this must be inserted into a power outlet with a protective

earth contact (ground). When using an extension cord, make sure that the cord also has an earth contact.

▪ Do not change the external or internal grounding connections. Tampering with or disconnecting these

connections could endanger you and/or damage the system.

▪ The module is properly grounded in accordance with regulations when shipped. ▪ Never run the system without the covering mounted. Permanent damage can occur. When leaving the

system, make sure that all protective covers and doors are properly connected and closed, and that moving parts are covered or marked in order to provide protection for unqualified personnel!

▪ Do not turn the module on if you suspect that it has incurred any kind of electrical damage. Instead,

disconnect the power cord and contact your distributor for a product evaluation. Do not attempt to use the module until it has been evaluated (electrical damage may have occurred if the system shows visible signs of damage, or has been subjected to severe stress).

▪ Damage can also result if the module is stored for prolonged periods under adverse conditions (e.g.,

subjected to heat, water, etc.).

▪ Unless instructed otherwise, always disconnect the power cord before attempting any type of maintenance. ▪ Do not place any objects – especially containers with liquids – on the module. Leaking liquids can come into

contact with electronic components and cause a short circuit.

Read this first

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2. Introduction

WARNING

Users must have fulfilled the mandatory AutoStore Interface training course before implementing the AutoStore Interface.

AutoStore provides an Application Programming Interface (API). It enables the customer's warehouse management system (WMS) to integrate with AutoStore.

AutoStore supports two different levels of integration:

▪ Task Interface ▪ Bin Interface

The Task Interface operates at a picking list level and offers a higher level of abstraction than the Bin Interface.

The Bin Interface operates at a lower level and gives the WMS more control of the process. It places more responsibility for grouping, preparation, and optimization logic on the WMS.

Each installation must choose to use either the Task Interface or the Bin Interface. The two alternatives are further compared in the next section (see Task Interface and Bin Interface on page 12).

NOTICE

Task Interface and Bin Interface cannot be combined!

The AutoStore Interface includes a Port Interface API that enables the integration of custom port implementation. The Port Interface API is a set of methods that are available via the Task Interface as well as the Bin Interface.

When standard AutoStore Port hardware is used, the Bin exchange process in the Ports is handled by AutoStore and the Port Interface is not needed.

When an installation uses customized Port solutions, such as conveyor belts into the ports or special Port hardware, the Port Interface is required. In these cases, the Port Interface synchronizes the insertion and removal of Bins between the Grid and the Ports.

The Port Interface is described in the Port Interface (on page 117) chapter and applies to both the Task Interface and the Bin Interface.

The AutoStore Log Publisher is a separate module that provides feedback from AutoStore to the WMS. It sends an event stream that includes information about the physical Bin locations and preparation status. This information is required for WMS implementations that use the Bin Interface. WMS implementations that use the Task Interface may use this information for certain optimizations, but this is not required. The Log Publisher Interface is further described in Log Publisher Interface (on page 140) chapter.

2.1 Task Interface and Bin Interface

The Task Interface offers integration at a higher level of abstraction than the Bin Interface. The Task Interface uses concepts like tasks, categories, and shipment.

When you use the Task Interface:

▪ the WMS maintains a queue of picking lists (task groups) ▪ AutoStore handles the Bin preparation ▪ AutoStore plans the jobs for each Port ▪ the WMS sets the properties of the task groups and Ports to specify priorities and requirements

The Bin Interface offers integration at a lower level and gives the WMS more control of the process.

page 12

Introduction

When you use the Bin Interface:

▪ the WMS specifies the exact Bin sequence at all Ports ▪ the WMS handles the Bin grouping ▪ the WMS plans the jobs for each port

With the Bin Interface, the WMS takes a bigger responsibility for the performance. Many optimizations that are usually provided by the Task Interface must now be handled by the WMS.

2.1.1 Task Interface

The WMS maintains a queue of picking lists (task groups). A task group specifies a collection of Bins (tasks) that should be picked together. A task specifies the delivery of one specific Bin. Tasks are always grouped into a task group structure.

A task group has a set of properties that specify its priority and requirements. It is possible to restrict which Ports may handle the task group (by its category), and multiple task groups can be grouped together (by the shipment property). The sequence and grouping within a task group may be specified by properties on the tasks. The properties of task group and task are further explained in the chapter Basic Concepts (on page 23).

AutoStore decides the task group sequence at the Ports. AutoStore will usually follow the priorities of the task groups. AutoStore will always aim to optimize the total throughput, and may therefore occasionally choose lower priority jobs. If Bins with a high priority are busy or blocked by other jobs, AutoStore will select other task groups in order to avoid waiting time in the Ports.

2.1.2 Bin Interface

The WMS specifies a preparation queue with Bins that should be prepared for use (i.e. placed in a position where they are readily accessible).

Introduction

page 13

For each Port, the WMS specifies a Port queue that defines the Bins that should be delivered to the Port. Therefore, the WMS must handle the grouping of Bins and resolve conflicts when the same Bin is needed at several Ports. The WMS must consider the physical positions and preparation status of the Bins in order to achieve optimum performance.

2.1.3 Comparison

Task Interface:

▪ Easier to implement. Simple interface (picking list model) ▪ Covers most standard requirements ▪ Some advanced/specific requirements can be difficult to implement efficiently ▪ AutoStore decides the picking sequence

Bin Interface:

▪ The WMS has full control of the Bin sequence ▪ Possible to implement advanced requirements/scenarios that are difficult to express with the Task Interface ▪ More complex to implement ▪ Requires good understanding of AutoStore behavior, such as preparation/digging/transportation costs ▪ WMS must plan Bin preparations and Port queues ▪ More responsibility for the WMS: the WMS implementation and strategies will have big impact on

performance/throughput

The Task Interface covers the most usual requirements. Many warehouse processes follow the picking list model, and the properties of the task groups support many common requirements. However, there are scenarios that do not fit the model supported by the Task Interface. Some examples can be production processes or batch picking processes where the Ports combine multiple picking lists.

The Bin Interface is more flexible and gives the WMS full control of the Bin sequence.

NOTICE

Batch picking processes may still use the Task Interface when the picking lists can be combined into task groups in advance. However, the Bin Interface allows a more dynamic approach since the grouping can be decided later.

2.2 Technical Interface

This document does not describe the installation and configuration of the AutoStore software modules.

page 14

Introduction

The software architecture and the software modules are described in AS-50127 - Operation Manual - Software.

The AutoStore Interface consists of:

▪ An XML interface via HTTP where the WMS makes method calls to AutoStore.

The Bin Interface and Task Interface have different specifications of the XML messages.

▪ A stream interface via TCP where AutoStore sends information to the WMS.

This stream of information is provided by the Log Publisher interface.

2.2.1 XML Message Format

Each message must:

▪ be well-formed XML ▪ begin with an XML declaration that specifies

▪ the XML version (1.0) ▪ the encoding (optional, iso-8859-1 and utf-8 are supported)

The message format is loosely based on XML-RPC. It supports named parameters with types that are not defined globally but rather on a per method basis. Naming conventions also differ from XML-PRC.

2.2.1.1 Request

The root element of the method request is , and the name of the method is given as a string in the first level child element . The method parameters are given in the first level child element . The method parameters are specific to each method.

XML request example:

<?xml version="1.0"?>

add_task

<taskgroup_id>123004</taskgroup_id>

<task_id>420233</task_id> <bin_id>23255</bin_id>

2.2.1.2 Response

The root element of the returned XML document is always .

If the method call is successful, a child element named will be created. It contains the returned data. If no data is returned, will be empty.

XML response example:

<?xml version="1.0"?>

Introduction

page 15

If the method call is not successful a child element named will be created . It will contain another child element named that contains the numeric error code.

XML fault response example:

<?xml version="1.0"?>

1009

2.2.2 Using the AutoStore Interface

Messages are sent as HTTP POST requests to one of the following URLs:

Interface

URL

Task Interface

http:///AsInterfaceHttp/AutoStoreHttpInterface.aspx

Bin Interface

http:///AsInterfaceHttp/BinInterface.aspx

If the default virtual directory (AsInterfaceHttp) was overridden during installation, then that part of the URL will change as well.

WARNING

Do not use the WSDL file. We do not support the SOAP interface. It will be removed in future releases. You shall only use HTTP POST method enclosing the XML messages that are specified in the Interface Specification.

WARNING

Never use Task Interface and Bin Interface in the same implementation!

2.3 Feature Compatibility

The functionality and API specifications in this manual applies to the October 2022 software release.

This manual also describes some features and functionality that is planned for future software releases.

Integration and simulation of future features and functionality are supported by release candidates of the corresponding software releases and WMS SDKs.

2.3.1 Features that require AS Router

The following features and modules are not supported by AS Planner:

▪ Strict sequence of task groups (port mode = SEQUENCE) ▪ Fusion Port ▪ PickUpPort ▪ Configurable look-ahead visibility (getnexttaskgroups) ▪ Frozen Zone and Multi Temperature Grid installations ▪ AutoFlush in port

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Introduction

2.3.2 Software Release October 2022

The following features was changed in the October 2022 software release:

▪ Controlling Bin Location supported by AS Router.

▪ The features that are marked as deprecated are not supported by AS Router. ▪ AS Router only supports one code per cell. Use ranges when multiple codes are needed.

▪ The method flushportbin can also be used in open ports.

2.3.3 Software Release April 2023

The following features will be changed in the April 2023 software release:

▪ Add support for PickUpPort ▪ Add support for controlling strict sequence of task groups (port mode = SEQUENCE) ▪ The method getportweight ▪ Support Bin ID up to 4.000.000

2.3.4 Software Release October 2023

The following features will be changed in the October 2023 software release:

▪ Add support for Fusion Port ▪ Add support for MultiPort configuration

Introduction

page 17

3. Basic Concepts

This section describes basic concepts that are common to both interfaces (Task Interface and Bin Interface).

3.1 Bin

The Bins are the storage locations inside the AutoStore system.

Every Bin has a unique identifier that is assigned by the AutoStore system. The WMS should use this identifier to identify storage locations.

The WMS must keep track of the inventory of each Bin. AutoStore does not maintain detailed information about the Bin content, such as products and quantities.

Every Bin has an actual state that includes its physical location, preparation state, and mode in port. The WMS may receive the current state through the Log Publisher Interface.

3.1.1 Bin Properties

bin_id:

The bin_id is the unique identifier of each Bin.

content:

The content code assigned to the bin. The content code is updated by the WMS.

bin_type:

The type of the Bin as specified by the following codes:

bin_type

Description

1

2

5

Standard Bin. Height 330 mm

Standard Bin. Height 220 mm

Standard Bin. Height 425 mm

3.1.2 State

Physical Location:

The current physical location of a bin includes xpos, ypos, depth, and grid_id. If the bin is being moved by a robot, then only the grid_id is set.

Bin Mode:

The current bin_mode reflects both the preparation status and if the bin is open in a port. The bin mode can be one of the following:

Mode

Description

page 18

Basic Concepts

GRID

Bin is in a Grid.

FORECAST

Bin is in a Grid and is forecast.

PREPARED

Bin is prepared in a Grid.

PORT

TOGRID

OPEN

CLOSED

OUTSIDE

Bin is in a Port, ready to be opened.

Same as PORT, but the bin is requested back to Grid because it is needed elsewhere.

Bin is open in a Port.

Bin is in a Port, ready to be returned to Grid.

Bin is removed (temporary) from the system.

Normally, a bin changes mode from GRID to PREPARED to PORT to OPEN to CLOSED and back to GRID.

3.1.3 Bin Content Code

Every bin is assigned a content code. This property, an integer between 1 and 32767, is assigned and maintained by the WMS.

The WMS may define its own set of content codes. A standard convention is to build the content code of the number of compartments in the bin together with the number of used compartments. If the installation uses different bin types (e.g. ESD and non ESD), then the content code would normally also reflect the bin type.

The content code may be used to let AutoStore select an actual bin. This is intended to be used in situations where many bins are equal from the WMS's point of view and where many of these bins also are normally available without preparation. Typically, this is used during the putaway process when the WMS just wants an empty bin.

3.1.3.1 Content Code Example

The content code can be used to indicate whether a Bin is empty or not. Conventionally, the code represents the number of compartments inside the Bin as well as the number of compartments with goods inside.

See the table below for examples:

Content Code

10

11

20

21

22

40

41

42

43

Bin Division

Undivided Bin

Undivided Bin

Bin Usage

Empty Bin

Goods in Bin

Divided into 2 compartments

Both compartments are empty

Divided into 2 compartments

Goods in one compartments

Divided into 2 compartments

Goods in both compartments

Divided into 4 compartments

All compartments are empty

Divided into 4 compartments

Goods in one compartments

Divided into 4 compartments

Goods in two compartments

Divided into 4 compartments

Goods in three compartments

Basic Concepts

page 19

44

Divided into 4 compartments

Goods in all compartments

NOTICE

The WMS can define its own set of content codes and semantics.

3.1.4 Automatic Preparation of Empty Bins

AutoStore provides automatic preparation of empty Bins. This background process operates with both the Task Interface and the Bin Interface.

The purpose of this preparation process is to ensure that a number of empty Bins are available (prepared) for the putaway process. When the WMS uses content codes to control the putaway process, then the WMS does not explicitly request preparation of these Bins in advance.

AutoStore will by default prepare Bins with content code 0. If the WMS wants to use a different content code, or multiple content codes, this can be configured by using the AutoStore Console. In the case of multiple content codes it is possible to configure the relative distribution between them.

It is possible for the WMS to control the putaway process without using content codes. The WMS can handle the putaway process in a similar way to the picking process. In such cases, the WMS will use the standard preparation queue to ensure that there are empty Bins available (or if the Task Interface is used, the WMS will create task groups for the putaway process). In cases where the WMS controls the putaway process without using content codes, the automatic preparation of empty Bins should be disabled.

During the initial ramp-up phase (initial inventory insertion phase) more empty bins are consumed. Therefore, it is recommended to configure a higher value for empty bins preparation during this phase, and restore to normal value after this phase.

3.1.4.1 Configurations

Empty Bin Content

This configuration allows a list of content codes to be set that AutoStore should consider empty and prepare for the putaway process.

Empty Bins Factor

This configuration sets the ratio between the content codes used for empty Bins. A factor is specified for each content code.

Planner Prepare Empty Bins

This configuration sets how many of the storage cells in the grid should be used for empty bin preparation. Changing this value could impact the putaway performance versus the picking performance.

3.2 Port

A Port is the operator workstation where Bins are delivered, removed, or inserted.

One or more grid cells belong to the Port and are used when Robots delivers Bins to and gets Bins from the Port.

3.2.1 Port Properties

The following properties are common for both Task Interface and Bin Interface. (Properties that are interface dependant are described in the respective chapters.)

port_id:

page 20

Basic Concepts

The port_id is a unique identifier that identifies a port.

port_mode:

The current mode of operation.

The port_mode is set by the openport method.

The port_mode is set to CLOSED by the closeport method.

selected_bin:

The selected_bin is the next Bin to be handled in the Port. It can be the current open bin in the Port or on the way to be delivered in the Port.

The selected_bin property is set to the bin_id returned by the openbin method.

The selected_bin property is cleared by the closebin, removebin, and c t will not signal or trigger error on overload)

6.5.2.3 Message Format

Compact syntax (Request):

element methodcall {

Port Processes

page 101

element name { "getportconfig" }, element params {

element port_id { xsd:int { minInclusive = "1" } }

}

}

Compact syntax (Response):

element response {

element params {

element weight_equipment { xsd:int }, element weight_config { xsd:int }

}

}

Request example:

<?xml version="1.0"?>

getportconfig

<port_id>4</port_id>

Response example:

<?xml version="1.0"?>

<weight_equipment>2</weight_equipment> <weight_config>1</weight_config>

6.5.2.4 Error Codes

Error Code

Description

1003

1004

Mandatory parameter port_id is missing.

Parameter port_id is not valid (invalid format or out of range).

6.5.3 Get Port Weight

The getportweight method retrieves weight information from the specified Port.

NOTICE

This description applies to the April 2023 software release.

6.5.3.1 Parameters

port_id (mandatory):

Identifies the Port.

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timeout_mode:

Determines if one should wait for precision. Can be set to "L" (for Low/unstable precision), "H" (for High/stable precision) or not set at all if one should not wait for precision.

timeout_value:

Specifies the timeout in milliseconds. If not defined, the default value for timeout_value is 0 milliseconds.

6.5.3.2 Response

weight_status:

Determines if the weight is set with "L" (Low precision), "H" (High precision), "W" (Waiting for precision), or “NA” (Not available: weight_value is locked to 0 gram).

weight_value:

The weight in grams.

weight_overload:

Determines if the Bin is overloaded (1) or if the Bin is not overloaded (0).

6.5.3.3 Message Format

Compact syntax (Request):

element methodcall {

element name { "getportweight" }, element params {

element port_id { xsd:int { minInclusive = "1" } }, element timeout_mode { "L" | "H" } ?, element timeout_value { xsd:int } ?

}

}

Compact syntax (Response):

element response {

element params {

element portweight {

element weight_status { "L" | "H" | "W" | "NA }, element weight_value { xsd:int }, element weight_overload { 1 | 0 }

}

}

}

Request example:

<?xml version="1.0"?>

getportweight

<port_id>4</port_id> <timeout_mode>L</timeout_mode> <timeout_value>10</timeout_value>

Response example:

<?xml version="1.0"?>

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<weight_status>L</weight_status> <weight_value>370</weight_value> <weight_overload>0</weight_overload>

6.5.3.4 Error Codes

Error Code

Description

1003

1004

1092

1093

Mandatory parameter port_id is missing.

Parameter port_id is not valid (invalid format or out of range).

Invalid parameter timeout_mode.

Invalid parameter timeout_value.

6.5.4 Flush Port Bin

The flushportbin method requests AutoStore to move the specified Bin from a closed position of the port into the grid.

6.5.4.1 Parameters

port_id: (mandatory)

Identifies the Port where the bin is.

bin_id: (mandatory)

Identifies the Bin that should be moved.

6.5.4.2 Message Format

Compact syntax:

element methodcall {

element name { "flushportbin" }, element params {

element port_id { xsd:short { minInclusive = "1" } }, element bin_id { xsd:int { minInclusive = "1" } }

}

}

Request example:

<?xml version="1.0"?>

flushportbin

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<port_id>5</port_id> <bin_id>14861</bin_id>

6.5.4.3 Error Codes

Error Code Description

1000

1002

1003

1004

1010

1011

1024

1072

1079

1087

The specified Port is not available.

The specified Port is already open.

Mandatory parameter port_id is missing.

Parameter port_id is not valid (invalid format or out of range).

Parameter bin_id is not valid (invalid format or out of range).

The specified Bin does not exist.

Mandatory parameter bin_id is missing.

The specified position does not belong to the specified Port.

Illegal Bin mode.

Illegal Port type.

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7. Forecast Bin Preparation

The forecast concept enables the WMS to request low priority Bin preparation. The concept is supported by both the Bin Interface and the Task Interface.

7.1 Description

The forecasting concept comes in addition to existing functionality. Existing concepts (such as preparation queue and task groups) are not changed.

Forecasting adds the possibility of low priority preparation of Bins. Forecast Bins will be prepared when there is free capacity. Forecast Bins will not occupy available Transit/Prepare positions. Typically, forecast Bins will float to a higher level (not necessarily the top level).

7.1.1 Bin Mode Forecast

The Bin mode FORECAST behaves like bin mode GRID, except that the Bin will be moved towards the upper levels based on available digging capacity.

A Bin will leave the FORECAST mode if it changes to another mode, for example if the Bin is put into a Port, or if the Bin has been prepared (due to the preparation queue), or if the forecast mode is canceled (using the cancelforecastbin method).

A Bin is never defined as 'finished forecast prepared'. The current position of the Bin (and its Bin mode) is continuously available from the Log Publisher module.

7.2 Forecast Methods

7.2.1 Forecast Bin

The forecastbin method requests one or multiple Bins to be changed to bin mode forecast.

Even though it is possible to forecast as many Bins as one would like, no more than 1000 bins can be forecast in a single forecastbin message.

7.2.1.1 Parameters

bin_id: (optional)

If the parameter bin_id is provided, only that specific Bin will be requested to be changed to mode forecast.

It is possible to provide multiple bin_id elements, in order to request an array of Bins to be changed to mode forecast. The maximum number of Bins to forecast in one array is 1000.

min_bin_id: (optional)

If the parameter min_bin_id is provided, only Bins with bin_id greater than or equal to min_bin_id, and bin_id less than or equal to max_bin_id, are requested to be changed to mode forecast.

The maximum number of Bins to be forecast in one message is 1000, meaning that the difference between min_bin_id and max_bin_id can be no more than 1000.

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max_bin_id: (optional)

If the parameter max_bin_id is provided, only Bins with bin_id less than or equal to max_bin_id, and bin_id greater than or equal to min_bin_id, are requested to be changed to mode forecast.

The maximum number of Bins to be forecast in one message is 1000, meaning that the difference between max_bin_id and min_bin_id can be no more than 1000.

7.2.1.2 Message Format

Compact syntax (Request):

element methodcall {

element name { "forecastbin" }, element params {

( element bin_id { xsd:int { minInclusive = "1" } } ?,

| ( element min_bin_id { xsd:int { minInclusive = "1" } } ?, element max_bin_id { xsd:int { minInclusive = "1" } } ? )

)

}

}

Request example (Single bin):

<?xml version="1.0"?>

forecastbin

<bin_id>14861</bin_id>

Request example (Array of bins):

<?xml version="1.0"?>

forecastbin

<bin_id>14861</bin_id> <bin_id>14863</bin_id> <bin_id>14864</bin_id>

Request example (Range of bins):

<?xml version="1.0"?>

forecastbin

<min_bin_id>14861</min_bin_id> <max_bin_id>14864</max_bin_id>

7.2.1.3 Error Codes

Error Code Description

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1010

1011

1024

1049

1078

1079

1080

Parameter bin_id is not valid (invalid format or out of range).

The specified Bin does not exist.

Mandatory parameter bin_id is missing.

Response overflow.

Bin is in Port.

Illegal Bin mode.

Method not supported.

7.2.2 Cancel Forecast Bin

The cancelforecastbin method requests one or multiple Bins to leave bin mode forecast.

Even though the number of Bins with bin mode forecast can be as high as one would like, it is not possible to cancel the forecast of more than 1000 Bins in a single cancelforecastbin message.

7.2.2.1 Parameters

bin_id: (optional)

If the parameter bin_id is provided, only that specific Bin will be requested to leave mode forecast.

It is possible to provide multiple bin_id elements, in order to request an array of Bins to leave mode forecast. The maximum number of Bins that can be requested to leave mode forecast in one array is 1000.

min_bin_id: (optional)

If the parameter min_bin_id is provided, only Bins with bin_id greater than or equal to min_bin_id, and bin_id less than or equal to max_bin_id, are requested to leave mode forecast.

The maximum number of Bins that can be requested to leave mode forecast is 1000, meaning that the difference between min_bin_id and max_bin_id can be no more than 1000.

max_bin_id: (optional)

If the parameter max_bin_id is provided, only Bins with bin_id less than or equal to max_bin_id, and bin_id greater than or equal to min_bin_id, are requested to leave mode forecast.

The maximum number of Bins that can be requested to leave mode forecast is 1000, meaning that the difference between max_bin_id and min_bin_id can be no more than 1000.

7.2.2.2 Message Format

Compact syntax:

element methodcall {

element name { "cancelforecastbin" }, element params {

( element bin_id { xsd:int { minInclusive = "1" } } ?,

| ( element min_bin_id { xsd:int { minInclusive = "1" } } ?, element max_bin_id { xsd:int { minInclusive = "1" } } ? )

)

}

}

Request example (Single bin):

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Forecast Bin Preparation

<?xml version="1.0"?>

cancelforecastbin

<bin_id>14861</bin_id>

Request example (Array of bins):

<?xml version="1.0"?>

cancelforecastbin

<bin_id>14861</bin_id> <bin_id>14863</bin_id> <bin_id>14864</bin_id>

Request example (Range of bins):

<?xml version="1.0"?>

cancelforecastbin

<min_bin_id>14861</min_bin_id> <max_bin_id>14864</max_bin_id>

7.2.2.3 Error Codes

Error Code Description

1010

1011

1024

1049

1078

1079

1080

Parameter bin_id is not valid (invalid format or out of range).

The specified Bin does not exist.

Mandatory parameter bin_id is missing.

Response overflow.

Bin is in Port.

Illegal Bin mode.

Method not supported.

7.3 Guidelines

The recommended maximum number of Bins to forecast is 25% of the total number of Bins in the system. This maximum number (unique Bins) should include all kinds of preparation requests (forecasting, task groups, preparation queue, Port queues).

In a scenario with nightly forecast preparation, it is recommended to only forecast the Bins that are needed next day. If they are needed on a later date, then the forecast should be delayed until the night before they are needed.

It is possible to forecast at any time. Forecasting will mainly use spare Robot capacity.

Forecast Bin Preparation

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Pay attention to the precision of the forecast. Forecast Bins that are not needed will have a negative impact (Bins floating up displace other Bins).

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8. Controlling Bin Locations

This chapter describes the concepts and features for controlling the physical Bin locations.

NOTICE

Avoid using the features marked as Deprecated. Features marked as deprecated are not supported by AS Router.

NOTICE

AS Router only supports one code per cell. Use ranges when multiple codes are needed.

8.1 Introduction

The features and concepts described in this chapter make it possible to assign specific grid areas to store specific bins or SKUs. One use case is to assign one area of the grid for ESD bins and another area for non- ESD bins.

These features also enable installations to operate without bin preparation or digging for the normal processes. This is supported by not mixing different SKUs in the same stack, so that outgoing bins can always be taken from the top. Please note that such use cases will typically cause a lower fill rate in the grid as many stacks will be partially filled.

8.1.1 Bin Content Code

Every AutoStore Bin is assigned a content code. Previously, the content codes specified whether a Bin is empty or not (and possibly also compartment information). They were used for the put-away process. The WMS may request bins (in the port queue) by specifying content codes instead of specific Bin IDs.

The same Bin content code is central in Controlling the Location of Bins, but depending on the use case, the Bin content code may also reflect the inventory of the Bin (SKU or batch).

The Bin content code is controlled by the WMS, and is updated via the interface. The mapping between SKU/ batch and content codes is defined by the WMS. The Bin content code may identify a SKU or a group of SKUs. The WMS may also use multiple content codes per SKU to control the bin flow.

8.1.2 Cell Content Code

Each cell (stack) in the grid can be associated with one or multiple cell content codes.

In cells that have cell content code(s), AutoStore will only store bins that have Bin content code equal to one of the cell's cell content codes.

When assigning cell content codes to a cell, the following applies:

▪ Cell content code is the same datatype as the Bin content code (integer, range [1-32767]). ▪ Content code ranges may be used in cases where multiple content codes per cell is needed. ▪ AS Router supports a single value per cell. A content code or a content range. ▪ AS Planner supports up to 8 cell content codes in a cell.

Empty cells without content code are available for bins with any Bin content code (except the case when this is restricted by the OverflowToFreeCell configuration).

Controlling Bin Locations

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The cell content code is controlled by the WMS and can be updated via the interface during operation. The cell content code can also be configured by using the AutoStore Console.

8.1.3 Content Code Ranges

A Content Code Range defines a group that incudes a specified range of content codes.

This group can be used as a cell's cell content code and addresses the limitation that a cell only can have up to 8 cell content codes.

Content code ranges cannot be used instead of content codes in port queues or in openport parameters.

Content code ranges are defined by using AutoStore Console.

8.1.4 Interface

The functionality for Controlling the Location of Bins is available in both Bin Interface and Task Interface.

Much of the behavior is controlled by static configurations.

The Bin content code is set by using the interface methods: closebin, insertbin, and updatebin.

A new method is introduced: updatecellandbincontent. This method updates the content code of a specified cell and all the Bins that are stored in that cell. (This method is often not required; it is only needed for some specific use cases.) Using the AutoStore Console, it will be possible to update the cell content code without changing the content code of the Bins that are stored in the cell.

NOTICE

See section Feature Compability about feature support in ASPlanner and ASRouter.

8.2 Configurations

8.2.1 Main Configurations

AutoStore includes the following main configurations to control the behavior:

Configuration

Value

Description

OverflowToFreeCells

True or False

A Bin cannot be placed in a cell without content code when there exist cells that have a cell content code equal to the given Bin's content code, unless this setting is enabled.

In other words: A Bin can be placed in an empty stack without cell content code if, and only if, either: (a) There are no cells with cell content code equal to the Bin's content code. (b) Configuration OverflowToFreeCells==True.

UniqueContentInStack

True or False

UniqueContentInStack feature is deprecated.

When this setting is enabled, different Bin content codes cannot be mixed in the same stack.

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StackFifoTimeStamp

True or False

StackFifoTimeStamp feature is deprecated.

When this setting is enabled, incoming Bins will be placed in locations according to the timestamp of the cell (newest cell timestamp), and outgoing Bins are selected based on the timestamp of each cell (oldest cell timestamp).

This configuration can only be True if UniqueContentInStack is also enabled.

ContentRandomTarget

True or False

ContentRandomTarget feature is deprecated.

This setting affects the location where inserted Bins are placed. If several options remain after searching for the target with lowest consumer distance, the selection can be random or by shortest driving distance. Random will spread the content throughout the Grid, beneficial if it is inserted at one location, but used at multiple. Shortest driving distance will make it greedy, choosing the option that is most effective at the actual moment in time.

8.2.1.1 Terms

The features UniqueContentInStack and StackFifoTimeStamp that support these terms are deprecated.

STACKFIFO means that UniqueContentInStack=True and StackFifoTimeStamp=True.

In this mode, Bins with different content code cannot be stored in the same stack.

Each cell includes a time stamp that is set when the first Bin is stored (in an empty stack), and cleared when the stack becomes empty. When Bins are inserted, they will be stored in the newest stack that is used by that content code. Hence, the stacks are filled one by one. When a new empty stack is needed, AutoStore will dynamically select one (according to cell content restrictions and content consumer configurations). When Bins are taken out, they will be taken from the oldest stack that is used by the content code. Stacks are emptied one by one – by FIFO based on the cells' time stamp.

Empty Bins are treated specially by AutoStore. A specific content code must be reserved for empty Bins. Empty Bins do not follow FIFO.

BATCHFIFO means that UniqueContentInStack=True and StackFifoTimeStamp=False.

This mode is similar to STACKFIFO, but does not use the cell time stamp. Typically, the WMS assigns a content code to each batch (instead of each SKU), and in the picking process the WMS requests a specific batch to be used. This gives AutoStore more flexibility, because there is no FIFO requirements between the stacks that belong to the same batch.

8.2.2 Content Consumers

The Content Consumers feature is deprecated.

The Content Consumers configuration specifies where (which ports) the different Bin content codes are expected to be used (consumed).

Content code ranges can be used in the configuration. A content code range can be associated with a list of Ports (consumers) where the Bins are expected to be delivered. The configuration may contain many such associations. The same content code may only be included in one association (no overlapping ranges).

AutoStore will use the Content Consumers configuration when it selects among legal storage location in the Grid for a Bin.

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The Content Consumer configuration does not control which Ports the Bins are delivered to. The Content Consumer configuration only tells AutoStore where the recommended storage locations in the Grid are. The WMS can request the Bins in any Port independent of the Content Consumer configurations. For best performance, they should be requested in Ports close to their current position.

A Bin is considered being placed in the Proximity of its configured consumers if it is placed among the 50 nearest cells of any of its consumers. Nearest means shortest Manhattan traveling distance (L-shape route).

8.3 Interface Methods

8.3.1 Update Cell and Bin Content

The updatecellandbincontent method updates the content code of a specified cell and the Bins that are stored in that cell.

Normally, this method is not required.

The purpose of this method is to support scenarios where the WMS provides the "StackFifo" logic. The WMS can use three content codes (incoming, storage, outgoing) per SKU. Bins are inserted with the content code for incoming, and selected to the Port with the content code for outgoing. The WMS then uses this method to change the mode of each stack.

8.3.1.1 Parameters

x: (mandatory)

Specifies the X position.

y: (mandatory)

Specifies the Y position.

content: (mandatory)

Specifies new content code.

8.3.1.2 Message Format

Compact syntax:

element methodcall {

element name { "updatecellandbincontent" }, element params {

element x { xsd:short { minInclusive = "1" } }, element y { xsd:short { minInclusive = "1" } }, element content { xsd:short { minInclusive = "1" } }

}

}

Request example:

<?xml version="1.0"?>

updatecellandbincontent

41 17 535

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8.3.1.3 Error Codes

Error Code Description

1006

1066

1067

1068

1069

Parameter content is not valid (invalid format or out of range).

Mandatory parameter x is missing.

Parameter x is not valid (invalid format or out of range).

Mandatory parameter y is missing.

Parameter y is not valid (invalid format or out of range).

8.4 Managing Frozen Zone

In a solution that supports frozen and chilled temperature storage areas in the same grid, it is critical that the bins are stored in the correct area. This is controlled by using content codes.

NOTICE

Installations with different temperature zones in the same Grid require AS Router. Although AS Planner supports cell content codes, AS Planner will to a greater extent allow bins to temporarlily be in another zone.

8.4.1 Defining the Zones

Normally, different content codes are used to reflect if the bins are empty or not, and the number of available compartments in the bins. In a multi-temperature environment, the content code must also reflect which zone the bin belongs. Each temperature zone shall be assigned a range of content codes. The Content Ranges shall not overlap.

▪ Each temperature zone shall have it's specific Content Code Range. ▪ Each grid storage cell shall be defined with Cell Content = its zone's Content Code Range. ▪ Every bin shall belong to one and only one zone and use content codes that belongs to its zone's Content

Code Range.

It is the responsibility of the WMS to maintain a correct bin content code. Assigning wrong content code to a bin may cause the bin to be stored in the wrong temperature zone and may damage the bin's content.

8.4.2 Controlling Bin time outside its Zone

In order to preserve the quality of the stored inventory, the WMS must control the time a bin spends outside its storage zone. The WMS should monitor that the handling time in the port is compatible with the inventory of the bin, and also consider total time outside the zone within a time interval if the bin is used several times.

To avoid that a bin is stuck in a port because the operator has left the port, the WMS should implement some kind of timeout and automatical log out. If the port is not being used, it is important to close the bin and close the port so that the bin can be returned to its storage zone.

To avoid that bins stay too long in the port, AutoStore has introduced a port configuration: AutoFlush. When AutoFlush is enabled, the system will, after a certain period with idle time (time since the port had a selected bin), automatically flush the bins in the port so that they are returned to their storage zone. The feature does not flush the bins with bin mode OPEN. Bins that are open are controlled by the WMS and should be handled by some timeout functionality in the WMS.

Controlling Bin Locations

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AutoFlush can be configured for each port, and can have a different timeout value for each port. AutoFlush can be configured via AS Console, and should normally be set in the initial setup. It is important that AutoFlush is enabled in multi-temperature solutions.

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9. Port Interface

The Port Interface controls the physical exchange of Bins between AutoStore and external Port implementations. The Port Interface can be used with the Bin Interface as well as with the Task Interface. The current version of the Port Interface only supports single cell Ports.

The Ports that are controlled by the Port Interface must be configured as port type CUSTOM.

9.1 Port Process

9.1.1 Allocate Cell

In order to get Bins delivered to the Port, the Port must allocate cells for Bin reception. The purpose of the cell allocation is to let AutoStore plan the flow of Bins to the Port. Cells are normally allocated before the Port is ready to physically receive the Bin.

One cell can only have one pending allocation. A new allocation request will override the previous one. The WMS normally sends the next allocation request immediately after AutoStore has confirmed the Bin operation (bintoport/binfromport).

(If a Port includes multiple port cells, the Port must allocate the cells in the same sequence as that in which it wants the Bins delivered. However, the Port Interface does not support Ports with multiple port cells.)

Normally, when a Bin is delivered to a Port another Bin is returned from the Port. However, if the Port uses separate cells for returning the Bins to the Grid, the Port needs to allocate these cells as well. The purpose of such announcements is to let AutoStore plan the flow of empty Robots to the Port. The two allocation sequences (delivery and fetching) are independent of each other.

The Port allocates cells for interaction with AutoStore by sending the portcellallocate message.

9.1.2 Exchange Bins to and from Grid

Cell allocation alone does not permit AutoStore to physically use a cell.

The Port allows AutoStore to physically deliver a Bin to a cell by sending the portlocationready message. The Port allows AutoStore to physically retrieve a Bin from a cell by sending the portbinready message.

The portlocationready message indicates whether AutoStore should just deliver a Bin, or if it should also retrieve a returned Bin (Bin exchange).

AutoStore confirms the physical operations in a cell via the Log Publisher Interface.

The logical message bintoport is sent as an ordinary BL segment (new Bin location) in the Port's position. It confirms that a Bin has been delivered to a cell, and AutoStore relinquishes control of that cell.

The logical message binfromport is sent as an ordinary BL segment (Bin on Robot or in another position) of the Bin specified by portbinready. It confirms that a Bin has been retrieved from a cell, and AutoStore relinquishes control of the cell.

Please note that the BL segment that reflects the binfromport may specify a Grid position that is different from the Port. The BL segment may confirm the Bin on a robot (no position), but it may also directly specify the next position without first sending a BL without position. Both these cases should be interpreted as binfromport.

Port Interface

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9.2 Message Flow

9.2.1 Port Retrieve Bin from Grid

9.2.2 Port Deliver Bin to Grid

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9.2.3 Port Exchange Bin with Grid

9.3 Examples

9.3.1 Port with Outgoing Bins to Conveyor Belt

We assume that a process of preparing Bins and planning Bins for the Ports is active. This process may cause the following communication:

WMS: preparebin ( 15001, 15002, 15221, 15227, 15238, 15287, 16802 ) LPI: BM,15002,T LPI: BM,15238,T LPI: BM,15001,T WMS: appendportqueue( port_id=3, bin_id=15001, 15002, 15238 )

The process should continuously add new Bins to the "prepare" queue and the port queues during operation. If the Task Interface is used, the process should continuously add task groups instead. The rest of this example applies to both Task Interface and Bin Interface.

A Port, (Port number 3) located at position (15,12), handling incoming Bins going out to an external belt system can cause the following communication:

WMS: openport( port_id=3 )

The Port is activated. Default mode is OPEN.

WMS: portcellallocate( port_id=3, x=15, y=12 )

The WMS requests a Robot to the Port.

WMS: openbin( port_id=3 ) WMS: portlocationready( port_id=3, x=15, y=12 )

The WMS confirms that the position (15,12) is ready , and relinquishes control of the cell.

LPI: BL,15001,1,15,12,1,P

AutoStore confirms via the Log Publisher Interface that Bin 15001 is put in the cell, and relinquishes control of the cell. Note that the depth should be ignored in the Port cell.

WMS: removebin( port_id=3, bin_id=15001 )

The WMS confirms that the Bin is removed from the Port.

WMS: portcellallocate( port_id=3, x=15, y=12 )

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The WMS requests a Robot to the Port.

WMS: openbin( port_id=3 ) WMS: portlocationready( port_id=3, x=15, y=12 )

The WMS confirms that the position (15,12) is ready, and relinquishes control of the cell.

LPI: BL,15002,1,15,12,1,P

AutoStore confirms via the Log Publisher Interface that Bin 15002 is put in the cell, and relinquishes control of the cell.

WMS: removebin( port_id=3, bin_id=15002 )

The WMS confirms that the Bin is removed from the Port.

The process is repeated as long as the Port is active.

WMS: closeport( port_id=3 )

When the Port is no longer in use, the WMS should use closeport to release the resources that AutoStore plans for the open Ports.

9.3.2 Port with Outgoing Bins to Conveyor Belt (mode AUTO)

This example illustrates the use of Port mode AUTO. If this mode is used, the WMS should be especially aware of the fact that Bins are automatically set to OUTSIDE mode after they are delivered to the Port. The WMS must be able to allow for the fact that bins may be delivered and enter OUTSIDE mode while the Log Publisher connection is closed. (It is recommended to use mode OPEN instead of mode AUTO.) Port mode AUTO cannot be used with the Task Interface.

We assume that a process of preparing Bins and planning Bins for the ports is active. This process may cause the following communication:

WMS: preparebin ( 15001, 15002, 15221, 15227, 15238, 15287, 16802 ) LPI: BM,15002,T LPI: BM,15238,T LPI: BM,15001,T WMS: appendportqueue( port_id=3, bin_id=15001, 15002, 15238 )

The process should continuously add new Bins to the "prepare" queue and the Port queues during operation.

A Port, (Port number 3) located at position (15,12), handling incoming Bins going out to an external belt system can cause the following communication:

WMS: openport( port_id=3 )

The Port is activated. The AUTO mode tells AutoStore to provide a stream of Bins to the Port, according to the Port's queue.

WMS: portcellallocate( port_id=3, x=15, y=12 )

The WMS requests a Robot to the Port.

WMS: portlocationready( port_id=3, x=15, y=12 )

The WMS confirms that position (15,12) is ready , and relinquishes control of the cell.

LPI: BL,15001,1,15,12,1,P

AutoStore confirms via the Log Publisher Interface that Bin 15001 is put in the cell, and relinquishes control of the cell. Note that the depth should be ignored in the Port cell.

WMS: portcellallocate( port_id=3, x=15, y=12 )

The WMS requests a Robot to the Port.

WMS: portlocationready( port_id=3, x=15, y=12 )

The WMS confirms that position (15,12) is ready, and relinquishes control of the cell.

LPI: BL,15002,1,15,12,1,P

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Port Interface

AutoStore confirms via the Log Publisher Interface that Bin 15002 is put in the cell, and relinquishes control of the cell.

The process is repeated as long as the Port is active.

WMS: closeport( port_id=3 )

When the Port is no longer in use, the WMS should use closeport to release the resources that AutoStore plans for open Ports.

9.3.3 Port with Incoming Bins from Conveyor Belt

A Port (Port number 4) located at position (15,16), handling incoming Bins from an external belt system can be involved in the following communication:

WMS: openport( port_id=4, mode=INSERT )

The Port is activated. The mode parameter tells AutoStore that the Port is used to insert bins.

WMS: portcellallocate( port_id=4, x=15, y=16, getbin=1 )

The WMS requests an empty Robot to the Port.

WMS: portbinready( port_id=4, x=15, y=16, bin_id=12345 )

The WMS confirms that Bin 12345 is ready at position (15 ,16), and relinquishes control of the cell.

LPI: BL,12345,1

AutoStore confirms via the Log Publisher Interface that the Bin is fetched by a Robot, and relinquishes control of the cell.

WMS: portcellallocate( port_id=4, x=15, y=16, getbin=1 )

The WMS requests an empty Robot to the Port.

WMS: portbinready( port_id=4, x=15, y=16, bin_id=22456 )

The WMS confirms that Bin 22456 is ready at the position (15,16), and relinquishes control of the cell.

LPI: BL,22456,1

AutoStore confirms via the Log Publisher Interface that the Bin is fetched by a Robot, and relinquishes control of the cell.

The process is repeated as long as the Port is active.

WMS: closeport( port_id=4 )

When the Port is no longer in use, the WMS should use closeport to release the resources that AutoStore plans for the open Ports.

9.3.4 Port Exchange Bins to and from Grid

This example illustrates Bin exchange in a conveyor belt Port where the bin is delivered to the middle position.

We assume that a process of preparing Bins and planning Bins for the Ports is active. Alternatively tasks can be added via Task Interface.

This process may cause in the following communication:

WMS: create_taskgroup( taskgroup_id=1, ... , task_id=11, bin_id=1218, task_id=12, bin_id=1200, task_id=13, bin_id=1136 )

The process should continuously add new tasks during operation.

Alternatively, the process could continuously add new Bins to the preparation queue and the Port queues during operation.

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9.3.4.1 Normal Process

We start with an empty Port:

Port number 1 located at position (31,6) can cause the following communication:

WMS: openport( port_id=1 )

The Port is activated. Default mode is OPEN.

WMS: portcellallocate( port_id=1, x=31, y=6 )

The WMS requests a Robot to the Port.

WMS: openbin( port_id=1 ) WMS: portlocationready( port_id=1, x=31, y=6 )

The WMS confirms that position (31,6) is ready and relinquishes control of the cell.

LPI: BL,1218,1,31,6,1,P

AutoStore confirms via the Log Publisher Interface that Bin 1218 is in Port.

Physical: Port moves bin Middle -> Open

The belt moves Bin 1218 from Middle to Open.

WMS/PI: portbinmode( port_id=1, bin_id=1218, bin_mode=OPEN ) LPI: BM,1218,O

The Port declares that Bin 1218 is OPEN, and AutoStore forwards the confirmation via the Log Publisher Interface.

WMS: portcellallocate( port_id=1, x=31, y=6 )

The WMS requests the next Robot to the Port.

Then the bin is exchanged with a new bin:

WMS: closebin( port_id=1, bin_id=1218, task_id=11, taskcomplete=1 )

Physical: Port moves Bin Open -> Closed

The belt moves Bin 1218 from Open to Closed.

WMS/PI: portbinmode( port_id=1, bin_id=1218, bin_mode=CLOSED, content=1 ) LPI: BM,1218,C

The Port declares that Bin 1218 is CLOSED, and AutoStore forwards the confirmation via the Log Publisher Interface.

WMS: openbin( port_id=1 ) WMS: portlocationready( port_id=1, x=31, y=6, getbin=1 )

The WMS confirms that the position (31,6) is ready , and relinquishes control of the cell.

LPI: BL,1136,1,31,6,1,P

AutoStore confirms via the Log Publisher Interface that Bin 1136 is in Port.

Physical: Port moves next Bin Middle -> Open, and previous Bin Closed -> Middle

The belt moves Bin 1136 from Middle to Open and Bin 1218 from Closed to Middle.

WMS/PI: portbinmode( port_id=1, bin_id=1136, bin_mode=OPEN ) LPI: BM,1136,O

The Port declares that Bin 1136 is OPEN, and AutoStore forwards the confirmation via the Log Publisher Interface.

WMS/PI: portbinready( port_id=1, x=31, y=6, bin_id=1218 )

The WMS confirms that the previous Bin is ready to be fetched by Robot.

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LPI: BL,1218,1,29,21,471,G

AutoStore confirms via Log Publisher Interface that Bin 1218 is moved to Robot or a position different than the Port's position.

WMS: portcellallocate( port_id=1, x=31, y=6 )

The WMS requests a Robot to the Port.

Then the Bin is exchanged with a new Bin:

WMS: closebin( port_id=1, bin_id=1136, task_id=13, taskcomplete=1 )

Physical: Port moves bin Open -> Closed

The belt moves Bin 1136 from Open to Closed.

WMS/PI: portbinmode( port_id=1, bin_id=1136, bin_mode=CLOSED, content=1 ) LPI: BM,1136,C

The Port declares that Bin 1136 is CLOSED, and AutoStore forwards the confirmation via the Log Publisher Interface.

WMS: openbin( port_id=1 ) WMS: portlocationready( port_id=1, x=31, y=6, getbin=1 )

The WMS confirms that the position (31 ,6) is ready , and relinquishes control of the cell.

LPI: BL,1200,1,31,6,1,P

AutoStore confirms via the Log Publisher Interface that Bin 1200 is in Port.

Physical: Port moves next Bin Middle -> Open, and previous Bin Closed -> Middle

The belt moves Bin 1200 from Middle to Open and Bin 1136 from Closed to Middle.

WMS/PI: portbinmode( port_id=1, bin_id=1200, bin_mode=OPEN ) LPI: BM,1200,O

AutoStore confirms via the Log Publisher Interface that Bin 1200 is OPEN.

WMS/PI: portbinready( port_id=1, x=31, y=6, bin_id=1136 )

The WMS confirms that the previous Bin ready to be fetched by Robot.

LPI: BL,1136,1,31,1,141,G

AutoStore confirms via Log Publisher Interface that Bin 1136 is moved to Robot or a position different than the Port's position.

WMS: portcellallocate( port_id=1, x=31, y=6 )

The WMS requests a Robot to the Port.

The process of exchanging Bins is repeated.

The last Bin in the process is closed.

WMS: closebin( port_id=1, bin_id=1200, task_id=12, taskcomplete=1 )

Physical: Port moves bin Open -> Closed

The belt moves Bin 1200 from Open to Closed.

WMS/PI: portbinmode( port_id=1, bin_id=1200, bin_mode=CLOSED, content=1 ) LPI: BM,1200,C

AutoStore confirms via the Log Publisher Interface that Bin 1200 is CLOSED.

WMS: closeport( port_id=1 )

When the Port is no longer in use, the WMS should use closeport to release the resources that AutoStore plans for the open Ports.

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9.3.4.2 Repeated Bin

If the next openbin is the same as previous closebin, the Port will move the closed Bin instead of relinquishing control of the Port cell.

WMS: openbin( port_id=1 )

Physical: Port moves Bin Closed -> Open

The belt moves Bin 1200 from Closed to Open.

WMS/PI: portbinmode( port_id=1, bin_id=1200, bin_mode=OPEN ) LPI: BM,1200,O

AutoStore confirms via the Log Publisher Interface that Bin 1200 is OPEN.

WMS: closebin( port_id=1, bin_id=1200, task_id=21, taskcomplete=1 )

Physical: Port moves Bin Open -> Closed

The belt moves bin 1200 from Open to Closed.

WMS/PI: portbinmode( port_id=1, bin_id=1200, bin_mode=CLOSED, content=1 ) LPI: BM,1200,C

AutoStore confirms via the Log Publisher Interface that Bin 1200 is CLOSED.

9.3.4.3 Starting with Bin in Port

We start the process with a port that has a Bin. We assume that Bin 1200 is in Port number 1.

WMS: openport( port_id=1, mode=OPEN )

The Port is activated. Default mode is OPEN.

WMS: portcellallocate( port_id=1, x=31, y=6 )

The WMS requests a Robot to the Port.

WMS: openbin( port_id=1 ) WMS: portlocationready( port_id=1, x=31, y=6, getbin=1 )

The WMS confirms that the position (31,6) is ready, and relinquishes control of the cell.

LPI: BL,1152,1,31,6,1,P

AutoStore confirms via the Log Publisher Interface that bin 1152 is in Port.

Physical: Port moves Bin Middle -> Open, and the Bin that was already in the Port Closed -> Middle

The belt moves Bin 1152 from Middle to Open and bin 1200 from Closed to Middle.

WMS/PI: portbinmode( port_id=1, bin_id=1152, bin_mode=OPEN ) LPI: BM,1152,O

AutoStore confirms via the Log Publisher Interface that bin 1152 is OPEN.

WMS/PI: portbinready( port_id=1, x=31, y=6, bin_id=1200 )

The Port confirms that the previous bin is ready to be fetched by robot.

LPI: BL,1200,1,31,1,1,G

AutoStore confirms via Log Publisher Interface that Bin 1200 is moved to Robot or a position different than the Port's position.

WMS: portcellallocate( port_id=1, x=31, y=6 )

The WMS requests a Robot to the Port.

The process of exchanging Bins is repeated.

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9.4 Error Handling

The WMS will be notified via the Log Publisher Interface when a Port operation fails which requires the Port to ensure that the location or Bin is available and properly aligned.

Instead of issuing a confirmation of the operation, the WMS will be notified by a different segment and AutoStore will relinquish control of the cell.

Not all Port failures will result in these notifications being issued. However, one will be issued should the Port should retry an operation (such for instance as realigning the Bin). Other failures can be handled by Super Users via the CONSOLE and the WMS can receive confirmation after the problem is solved.

9.4.1 Failure when Port Retrieves Bin from Grid

When the Port retrieves a Bin from the Grid, it waits for confirmation by a BL segment:

WMS: portcellallocate( port_id=3, x=15, y=12 ) WMS: portlocationready( port_id=3, x=15, y=12 ) LPI: BL,15001,1,15,12,1,P

If the operation fails, AutoStore will respond with a Port Location Failed segment instead of confirming the operation:

WMS: portcellallocate( port_id=3, x=15, y=12 ) WMS: portlocationready( port_id=3, x=15, y=12 ) LPI: LF,1,15,12

When AutoStore reports Port Location Failed, the WMS should check and ensure that the location is ok (no other Bins blocking the physical position), and retry the operation.

The following communication reflects one failure before a successful retrieval:

WMS: portcellallocate( port_id=3, x=15, y=12 ) WMS: portlocationready( port_id=3, x=15, y=12 ) LPI: LF,1,15,12 WMS: portlocationready( port_id=3, x=15, y=12 ) LPI: BL,15001,1,15,12,1,P

9.4.2 Failure when Port Deliver Bin To Grid

When the Port delivers a Bin to the Grid, it waits for confirmation by a BL segment:

WMS: portcellallocate( port_id=4, x=15, y=16, getbin=1 ) WMS: portbinready( port_id=4, x=15, y=16, bin_id=12345 ) LPI: BL,12345,1

If the operation fails, AutoStore will respond with a Bin mode TOGRID segment instead of confirming the operation:

WMS: portcellallocate( port_id=4, x=15, y=16, getbin=1 ) WMS: portbinready( port_id=4, x=15, y=16, bin_id=12345 ) LPI: BM,12345,R

When AutoStore reports this failure, the WMS should check and ensure that the Bin is available and properly aligned, and retry the operation.

The following communication reflects one failure before a successful delivery:

WMS: portcellallocate( port_id=4, x=15, y=16, getbin=1 ) WMS: portbinready( port_id=4, x=15, y=16, bin_id=12345 ) LPI: BM,12345,R WMS: portbinready( port_id=4, x=15, y=16, bin_id=12345 ) LPI: BL,12345,1

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9.5 Port Interface Methods

9.5.1 Port Cell Allocate

The portcellallocate message requests delivery of a Bin to, or retrieval of a bin from, a specific port cell. It announces the next cell where a Bin should be delivered to or fetched from. These messages define the sequence of the Port cells to where AutoStore should deliver or fetch bins from.

9.5.1.1 Parameters

port_id: (mandatory)

Specifies the Port.

x: (mandatory)

Specifies the X position of the announced cell.

y: (mandatory)

Specifies the Y position of the announced cell.

getbin: (optional)

Specifies if a Bin should be fetched from the cell. Default false.

9.5.1.2 Message Format

Compact syntax:

element methodcall {

element name { "portcellallocate" }, element params {

element port_id { xsd:short { minInclusive = "1" } }, element x { xsd:short { minInclusive = "1" } }, element y { xsd:short { minInclusive = "1" } }, element getbin { xsd:boolean } } ?

}

}

Request example:

<?xml version="1.0"?>

portcellallocate

<port_id>1</port_id> 26 18 1

9.5.1.3 Error Codes

Error Code Description

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Port Interface

1000

1001

1003

1004

1009

1048

1066

1067

1068

1069

1070

1071

1072

1074

The specified Port is not available.

The specified Port is closing.

Mandatory parameter port_id is missing.

Parameter port_id is not valid (invalid format or out of range).

The specified Port is not open.

System is not available.

Mandatory parameter x is missing.

Parameter x is not valid (invalid format or out of range).

Mandatory parameter y is missing.

Parameter y is not valid (invalid format or out of range).

Mandatory parameter getbin is missing.

Parameter getbin is not valid (invalid format or out of range).

The specified position does not belong to the specified Port.

Location is ready.

9.5.2 Port Location Ready

The portlocationready message declares that AutoStore can deliver a Bin to the specified position. The Port relinquishes control of the cell.

The message includes a flag that indicates whether or not AutoStore should retrieve another Bin from the cell immediately after the Bin has been delivered.

9.5.2.1 Parameters

port_id: (mandatory)

Specifies the Port.

x: (mandatory)

Specifies the X position of the ready location.

y: (mandatory)

Specifies the Y position of the ready location.

getbin: (optional)

Specifies if another Bin should be fetched from the cell after the Bin has been put. Default false.

9.5.2.2 Message Format

Compact syntax:

element methodcall {

element name { "portlocationready" }, element params {

element port_id { xsd:short { minInclusive = "1" } }, element x { xsd:short { minInclusive = "1" } }, element y { xsd:short { minInclusive = "1" } },

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element getbin { xsd:boolean } } ?

}

}

Request example:

<?xml version="1.0"?>

portlocationready

<port_id>1</port_id> 26 18 1

9.5.2.3 Error Codes

Error Code Description

1000

1001

1003

1004

1009

1048

1066

1067

1068

1069

1070

1071

1072

The specified Port is not available.

The specified Port is closing.

Mandatory parameter port_id is missing.

Parameter port_id is not valid (invalid format or out of range).

The specified Port is not open.

System is not available.

Mandatory parameter x is missing.

Parameter x is not valid (invalid format or out of range).

Mandatory parameter y is missing.

Parameter y is not valid (invalid format or out of range).

Mandatory parameter getbin is missing.

Parameter getbin is not valid (invalid format or out of range).

The specified position does not belong to the specified Port.

9.5.3 Port Bin Ready

The portbinready message confirms that the Bin is ready in the cell, and can be fetched by AutoStore.

The Port relinquishes control of the cell.

9.5.3.1 Parameters

port_id: (mandatory)

Specifies the Port.

x: (mandatory)

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Specifies the X position of the cell.

y: (mandatory)

Specifies the Y position of the cell.

bin_id: (mandatory)

Identifies the Bin that is ready in the cell.

content: (optional, but mandatory when bin_type is set)

Sets the Bin's content. If this parameter is omitted, the bin will keep its previous content.

bin_type: (optional, but mandatory if the bin is not defined yet)

Specifies the Bin's type.

This parameter is mandatory if the Bin is not defined (the first time the Bin is inserted). In installations where Bins are removed and inserted, the bin_type parameter is not required in subsequent inserts.

9.5.3.2 Message Format

Compact syntax:

element methodcall {

element name { "portbinready" }, element params {

element port_id { xsd:short { minInclusive = "1" } }, element x { xsd:short { minInclusive = "1" } }, element y { xsd:short { minInclusive = "1" } }, element bin_id { xsd:int { minInclusive = "1" } }, element content { xsd:short { minInclusive = "1" } } ?, element bin_type { xsd:short { minInclusive = "1" } } ?

}

}

Request example:

<?xml version="1.0"?>

portbinready

<port_id>1</port_id> 26 18 <bin_id>25738</bin_id>

9.5.3.3 Error Codes

Error Code Description

1000

1001

1003

1004

1006

The specified Port is not available.

The specified Port is closing.

Mandatory parameter port_id is missing.

Parameter port_id is not valid (invalid format or out of range).

Parameter content is not valid (invalid format or out of range).

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1009

1010

1024

1029

1048

1058

1066

1067

1068

1069

1072

The specified Port is not open.

Parameter bin_id is not valid (invalid format or out of range).

Mandatory parameter bin_id is missing.

The specified Bin is already inserted.

System is not available.

Bin is still outside.

Mandatory parameter x is missing.

Parameter x is not valid (invalid format or out of range).

Mandatory parameter y is missing.

Parameter y is not valid (invalid format or out of range).

The specified position does not belong to the specified Port.

9.5.4 Port Bin mode

The portbinmode message sets the Bin mode to either OPEN, CLOSED, or OUTSIDE.

9.5.4.1 Parameters

port_id: (mandatory)

Identifies the Port.

bin_id: (mandatory)

Identifies the Bin.

bin_mode: (mandatory)

Sets the Bin mode. Can be OPEN, CLOSED, or OUTSIDE.

Setting the Bin mode to OUTSIDE is only allowed if the current Bin mode is TOGRID.

content: (optional)

Sets the Bin content.

If this parameter is not provided then the Bin's content is not changed.

9.5.4.2 Message Format

Compact syntax:

element methodcall {

element name { "portbinmode" }, element params {

element port_id { xsd:short { minInclusive = "1" } }, element bin_id { xsd:int { minInclusive = "1" } }, element bin_mode { "OPEN" | "CLOSED" | "OUTSIDE" }, element content { xsd:short { minInclusive = "1" } } ?

}

}

Request example:

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Port Interface

<?xml version="1.0"?>

portbinmode

<port_id>1</port_id> <bin_id>22344</bin_id> <bin_mode>CLOSED</bin_mode> 1

9.5.4.3 Error Codes

Error Code Description

1000

1001

1003

1004

1006

1009

1010

1024

1048

1075

The specified Port is not available.

The specified Port is closing.

Mandatory parameter port_id is missing.

Parameter port_id is not valid (invalid format or out of range).

Parameter content is not valid (invalid format or out of range).

The specified Port is not open.

Parameter bin_id is not valid (invalid format or out of range).

Mandatory parameter bin_id is missing.

System is not available.

Parameter bin_mode is not valid (invalid format or out of range).

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10. Connecting Grids with Bin

Lift

AutoStore supports connecting two grids together with Bin Lifts, and exchange bins between the grids.

This chapter describes the integration of two systems that are connected with Bin Lifts.

Both Task Interface and Bin Interface support this functionality.

10.1 Introduction

The two Grids are two separate AutoStore systems with their own Control System and application servers (API endpoints). The WMS must integrate with both systems separately.

In the two separate grids, the transfer positions that are connected with a Bin Lift are handled like Ports, and two Ports connected with a Bin Lift must have the same port_id. Opening, inserting and removing bins to/from grids is done automatically by the system, but the WMS must define jobs (taskgroups or port queues) for these G2G transfer ports.

It is WMS responsibility to ensure that the balance of bins between the grids is maintained correctly.

The WMS must use Log Publisher in both systems to be able to be able to confirm and complete tasks fulfilled.

10.2 Exchanging Bins between the Grids

To activate the bin exchange between two grids, both ports must be opened in mode SWAP.

Using Bin Interface: Both ports must have a Port Queue that specifies which bins to move to the other grid.

Using Task Interface: Both ports must be opened with categories having task groups that specify which bins to move to the other grid.

Using port mode SWAP will ensure that the bin balance between grids are kept stable. Please note that at a complete restart, the balance could become 1 off, so the WMS should monitor the bin balance between the grids. To make the process run, both ports must be activated and both ports must have a work queue (taskgroups or port queue). If one of the ports runs out of work, then the exchange process will stop and wait.

10.3 Transfer Bins to the other Grid

To transfer bins from one grid to the other grid (stream of bins in one direction), the port in the source grid must be opened in mode OPEN, and the port in the destination grid must be opened in mode INSERT.

Using Bin Interface: The port in the source grid must have a port queue that specifies which bins to move to the other grid.

Using Task Interface: The port in the source grid must be opened with categories having task groups that specify which bins to move to the other grid.

To make the process run, both ports must be activated and the port in the source grid must have a work queue (taskgroups or port queue).

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11. Miscellaneous Interface

Methods

This chapter describes miscellaneous interface methods that are normally not required by the WMS.

These methods are available for both the Bin Interface and the Task Interface.

11.1 Bin Definition

11.1.1 Create Bin

The createbin method defines a new Bin. The new Bin is defined with Bin mode OUTSIDE.

The specified Bin must not already exist.

Normally, new Bins are defined when the Bins are first inserted by using the insertbin method (or portbinready for custom Ports).

In rare cases (typically during development), it is desirable that the Bin is defined before it is first inserted. It is not possible to use an undefined Bin in a Port queue or task group. If the bin is added to a Port queue before it is inserted it is more likely that the Bin is transferred directly to that Port instead of first being put temporarily in the Grid.

11.1.1.1 Parameters

bin_id: (mandatory)

Identifies the Bin that should be defined.

bin_type: (mandatory)

Specifies the Bin type of the new Bin.

11.1.1.2 Message Format

Compact syntax:

element methodcall {

element name { "createbin" }, element params {

element bin_id { xsd:int { minInclusive = "1" } }, element bin_type { xsd:short { minInclusive = "1" } }

}

}

Request example:

<?xml version="1.0"?>

createbin

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<bin_id>14861</bin_id> <bin_type>2</bin_type>

11.1.1.3 Error Code

Error Code Description

1010

1024

1029

1073

1086

Parameter bin_id is not valid (invalid format or out of range).

Mandatory parameter bin_id is missing.

The specified Bin is already inserted.

Parameter bin_type is not valid (invalid format or out of range).

Mandatory parameter bin_type is missing.

11.1.2 Delete Bins

The deletebin method deletes the definition of a Bin.

The specified Bin must have Bin mode OUTSIDE.

11.1.2.1 Parameters

bin_id: (mandatory)

Identifies the Bin that should be deleted.

11.1.2.2 Message Format

Compact syntax:

element methodcall {

element name { "deletebin" }, element params {

element bin_id { xsd:int { minInclusive = "1" } }

}

}

Request example:

<?xml version="1.0"?>

deletebin

<bin_id>14861</bin_id>

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11.1.2.3 Error Codes

Error Code Description

1010

1011

1024

1076

Parameter bin_id is not valid (invalid format or out of range).

The specified Bin does not exist.

Mandatory parameter bin_id is missing.

Bin is not outside.

11.2 System Configuration

11.2.1 Force Charge

The forcecharge method sets the percentage of robots that should be forced to charge batteries.

The only allowed percentages are 0% (default), 50% and 100%.

This configuration only applies to the R5 robots. If the installation has a mix of robot types, the number of R5 robots is calculated as 100%.

11.2.1.1 Parameters

charge_percent: (optional)

If the parameter charge_percent is provided, the percentage of Robots that should be forced to charge is set to the specified percentage.

If the parameter charge_percent is not provided, the percentage of Robots that should be forced to charge is set to the default value ( 0% ).

11.2.1.2 Message Format

Compact syntax (Request):

element methodcall {

element name { "forcecharge" }, element params {

element charge_percent { xsd:int { minInclusive = "0" } } ?,

}

}

Compact syntax (Response):

element response {

element params { }

}

Request example:

<?xml version="1.0"?>

forcecharge

<charge_percent>50</charge_percent>

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Response example:

<?xml version="1.0"?>

11.2.1.3 Error Codes

Error Code Description

1088

Parameter charge_percent is not valid (invalid format or out of range).

11.2.2 Set Configuration

The setconfiguration method updates the configurations of the Planner module.

The following settings can be updated:

Configuration Name

Configuration Value

preparationspan

prepareemptybin

emptybincontent

emptybinfactor

Integer value that specifies the maximum amount of Bins prepared, calculated as a percentage of the defined grid storage cells.

Integer value that specifies the amount of empty bins (content=0) prepared, calculated as a percentage of the defined grid storage cells.

Integer value that specifies the content code used for specifying an empty bin. Multiple content codes can be specified by separating these with a comma (,).

String value used to override the default emptybin distribution. The value consists of the content code and the factor for this content code. These values are separated by a comma (,).

11.2.2.1 Parameters

configname: (mandatory)

The name of the configuration that should be updated.

configvalue: (mandatory)

The new value of the specified configuration.

11.2.2.2 Message Format

Compact syntax:

element methodcall {

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Miscellaneous Interface Methods

element name { "setconfiguration" }, element params {

element configname { xsd:string }, element configvalue { xsd:string }

}

}

Request example (preparationspan configuration):

<?xml version="1.0"?>

setconfiguration

preparationspan 10

Request example (prepareemptybin configuration):

<?xml version="1.0"?>

configureport

prepareemptybin 10

Request example (emptybincontent configuration):

<?xml version="1.0"?>

configureport

emptybincontent 99

Request example (emptybinfactor configuration):

<?xml version="1.0"?>

configureport

emptybinfactor 99,10

11.2.2.3 Error Codes

Error Code Description

1084

1085

Invalid parameter configname.

Invalid parameter configvalue.

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page 137

11.3 Query Methods

11.3.1 Get System State

The getsystemstate method retrieves information about the current mode of the system, and the currently set forcecharge setting.

11.3.1.1 Parameters

No parameters are required for this method.

11.3.1.2 Response

mode:

The current mode of the system.

Mode

Description

Running

Service

Alert

Stopped

20

30

35

70

stopcode:

A stop code that could provide information about why the system stopped.

chargepercent:

The currently set percentage of robots that should be forced to charge batteries.

11.3.1.3 Message Format

Compact syntax (Request):

element methodcall {

element name { "getsystemstate" }

}

Compact syntax (Response):

element response {

element params {

element mode { xsd:int }, element stopcode { xsd:int }, element chargepercent { xsd:int }

}

}

Request example:

<?xml version="1.0"?>

page 138

Miscellaneous Interface Methods

getsystemstate

Response example:

<?xml version="1.0"?>

20 0 50

Miscellaneous Interface Methods

page 139

12. Log Publisher Interface

Every event in the AutoStore system is reflected in the AutoStore Log.

The Log Publisher Interface provides an event stream that is a selected subset of AutoStore Log. External modules such as the WMS may listen to this event stream.

12.1 Technical Interface

The Log Publisher Interface provides a TCP/IP server that sends the event stream to its clients.

A client that connects to this server on a specified port will receive a stream of data that reflects the AutoStore Log.

This data stream contains readable characters, so it is possible to connect with a standard telnet client in order to view it.

Each event (event segment) consists of:

▪ a tag that identifies an event ▪ optional parameters separated by commas and terminated by a newline (CRLF)

12.2 Initial Download

When a client connects to the system, the Log Publisher Interface will send a set of event segments that reflects the current state of the AutoStore system. This enables the client to have a complete copy of the current state.

12.3 Event Segments

Overview of Supported segments

Event Segment

Download Start

Download Complete

Time

Time Factor

Bin Location

Bin Mode

Port Location Failed

Port Mode

Cell Lock

Lift Cell Lock

Robot Error

Tag

DS

DC

T

F

BL

BM

LF

PM

CL

LCL

RE

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Log Publisher Interface

Robot Charging

Robot Unavailable

Port Mode

Port Error

Port Definition

Port Task Groups

Pick To Light

Drawer State

System Mode

Alert

RC

R

PM

PE

PD

PTG

PTL

PDS

SM

AL

12.3.1 Download Start

The Download Start segment indicates that a new initial download has started.

DS

12.3.2 Download Complete

The Download Complete segment indicates that the initial download has completed (segments for all Bins are sent).

DC

12.3.3 Time

The Time segment is published every second. The Time segment that is published every minute will also include the current unixtime.

Time factor speed-up during simulation will be reflected by this segment (will appear more often).

T // one second increment T,unixtime

// sets current time

12.3.4 Time Factor

The Time Factor segments reflects the speed of simulation. (100 = normal).

F,timefactor

The Time Factor segment is always included in the initial download.

12.3.5 Bin Location

The Bin Location segment reflects changes in the physical location of the Bin.

When the Bin is on a Robot, then the position (xpos,ypos) is omitted or zero (0,0).

BL,bin_id,grid_id

// bin on robot

Log Publisher Interface

page 141

BL,bin_id,grid_id,xpos,ypos,depth BL,bin_id,grid_id,xpos,ypos,depth,mode BL,bin_id,grid_id,xpos,ypos,depth,mode,content,height

// new bin location

The depth for a given Bin is measured in mm from the top of the Grid framework to the top of the Bin. Specifically, the top of the Grid track is at height 0. If a Bin is temporarily placed on top of the Grid, for instance while Bins are being reshuffled during a digging operation, then the Bin has a negative depth value.

The Bins at the same level will have approximately the same depth, but this will vary due to the bins and the floor. The bins at the upper normal level (not on top of the Grid) will normally have a depth between 105 mm and 145 mm.

In a Port cell, the depth parameter will not reflect the actual depth and should be ignored.

The height corresponds with the bin_type.

12.3.6 Bin Mode

The Bin Mode segment reflects changes in the Bin Mode only.

BM,bin_id,mode

Bin Mode PREPARED is normally only used for Bin Interface, but it is possible to activate this mode for Task Interface in order to monitor the preparation process.

12.3.7 Port Location Failed

The Port Location Failed segment indicates that AutoStore was unable to deliver a Bin to the specified location.

LF,grid_id,xpos,ypos

12.3.8 Port Mode

The Port Mode segment reflects changes in the port mode.

PM,port_id,mode

12.3.9 Port Definition

The Port Definition segment contains the location and type of the ports.

PD,port_id,port_type,xpos,ypos PD,port_id,port_type,xpos,ypos,xpos,ypos PD,port_id,port_type,xpos,ypos,...,xpos,ypos // Port with multiple cells

// Port with two cells

// Port with one cell

12.3.10 Cell Lock

The Cell Lock segment reflects changes in the accessibility of grid cells. If a robot displays an error, all cells that might be occupied by this robot are locked for other robots. It is also possible to lock specific cells manually. These cells are reported via the Cell Lock segment. Once these cells are available again, another Cell Lock segment will be sent out with a "clear" flag.

CL,1,L,xpos,ypos // Cell temporarily locked by Delayed Stop CL,1,P,xpos,ypos // Cell manually locked by user CL,1,C,xpos,ypos // Clear cell lock

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Log Publisher Interface

Cells are manually locked by the Cell Lock wizard in the Console. Cell mode "Blocked" (Grid Definition) is not reflected by the CL segment.

The cell lock state for unlocked cells is not transmitted on the initial download. Therefore all cell locks must be cleared when receiving a DS segment. The cells which are still locked will be transmitted during the initial download.

12.3.11 Lift Cell Lock

The Lift Cell Lock segment reflects changes in the lifting accessibility of grid cells. When a lifting operation fails, for instance because of an overfilled bin, the system can suspend the cell for lifting until the problem is resolved.

LCL,xpos,ypos,BOTH // Cell is locked for lifting operations LCL,xpos,ypos,CLEAR // Cell is no longer locked for lifting operations

The lift cell lock state for unlocked cells is not transmitted on the initial download. Therefore all lift cell locks must be cleared when receiving a DS segment. The cells which are still locked for lifting will be transmitted during the initial download.

12.3.12 Port Error

The Port Error segment reflects the error status of a port.

PE,port_id,1 // Port has an error PE,port_id,0 // Error solved; Port has no error

12.3.13 Robot Charging

The Robot Charging segment reflects the charge status of a robot.

RC,robot_id,1 // Robot charging RC,robot_id,0 // Robot not charging

12.3.14 Robot Error

The Robot Error segment reflects the error status of a robot.

RE,robot_id,1 // Robot has an error RE,robot_id,0 // Error solved; Robot has no error

12.3.15 Robot Unavailable

The Robot Unavailable segment reflects the status of a robot. A robot is designated as unavailable if the robotmode is SERVICE, PARKED, or CONSOLE

R,robot_id,1 R,robot_id,0

// Robot unavailable // Robot available

12.3.16 Port Task Groups

The Port Task Groups segments list the next Task Groups of the corresponding port.

PTG,port_id,taskgroup_1,taskgroup_2,........,taskgroup_x

Log Publisher Interface

page 143

12.3.17 Pick To Light

The Pick To Light segments reflects changes to the Pick-To-Light visualization requests.

PTL,source_port_id,target_port_id,source_bin_id,target_bin_id, source_compartment,target_compartment,quantity,status PTL,source_port_id,target_port_id // delete PTL

The status is one of: 'R' (Registered), 'A' (Active), 'C' (Confirmed).

Implicit deletion of PTL caused by the methods closebin and closeport is not reflected by Log Publisher.

12.3.18 Drawer State

The Drawer State segments reflect changes in the Port's physical drawer state.

PDS,port_id,drawer_position,snap_lock PDS,1,O,E // port 1, drawer open, lock enabled PDS,1,C,D // port 1, drawer closed, lock disabled PDS,1,U,U // port 1, unknown position and lock state

12.3.19 System Mode

The System Mode segment reflects changes in the System Mode.

SM,systemmode

12.3.20 Alert

The Alert segment is sent if the connection to the AutoStore system or Backup module is lost (or delayed). When the connection to AutoStore is re-established the current system mode is published.

If the connection between AutoStore Log Publisher and AutoStore Driver is lost for more than 20 seconds, the event code NOC is published.

If the connection between AutoStore Driver and AutoStore Backup is either too slow or lost for more than 60 seconds, the event code BCK is published.

In some error situations, the AutoStore XHandler may postpone stopping the system. The event code DSTP is published in this case.

AL,code

12.4 Value Codes

Most of the parameters that belong to the event segments are integer values.

Some parameters that have a string representation in the XML interface are encoded as single characters in the Log Publisher Interface in order to have a compact format.

Bin Mode:

Mode

GRID

PREPARED

page 144

Code in Log Publisher Interface

G

T

Log Publisher Interface

P

R

O

C

X

F

PORT

TOGRID

OPEN

CLOSED

OUTSIDE

FORECAST

Port Mode:

Mode

OPEN

INSERT

AUTO

CLOSED

SEQUENCE

DISABLED

Code in Log Publisher Interface

O

I

A

C

S

D

MULTIPORT_PUPPET M

Port Type:

Type

Code in Log Publisher Interface

Conveyor Port

Carousel Port

Swing Port

Relay Port

Transfer Cell / Custom Port

Fusion Port

MultiPort

PickUpPort

System Mode:

CO

CA

SW

RE

TC

FU

MU

PI

System mode

Code in Log Publisher Interface

RUNNING

SERVICE

ALERT

STOPPING

STOPPED

Alert:

RUN

SVC

ALT

DSTP

STP

Code

Code in Log Publisher Interface

Log Publisher Interface

page 145

NO_CONNECTION NOC

BACKUP_SEQ

BCK

DELAYED_STOP

DSTP

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Log Publisher Interface

13. AutoStore Internals and

Configurations

This chapter contains miscellaneous topics about AutoStore functionality and configurations that WMS developers should be aware of.

13.1 Port Carousel Behavior

Due to the way the carousel arms work together, repeating the same Bin with only one other Bin in between is very inefficient.

It is strongly recommended to avoid the following Bin sequence on Port Carousels:

... Bin A - Bin B - Bin A ...

NOTICE

Even though the above sequence will work, and may sometimes be required by the WMS, it should be avoided whenever possible in order to obtain optimal performance.

13.2 Port Configurations

Robot Queue

This configuration specifies how many Bins that will be queued towards each Port. (This configuration was previously called Port Queue.)

For Planner, the default value is 2. For Router, the default is Automatic. Router will automatically adjust the muber of robots allocated to a port, but that can be overruled by this configuration.

The value has an upper limit that is equal to the number of Port cells and buffer cells at the Port.

Value

Description

0

1

2

This would cause no Robots to stand and wait. So when a new Bin is requested a Robot would pick it up and then deliver it. This will cause long delivery times and is only appropriate for very slow inspection or putaway Ports.

This allows one Robot to wait above the Port with the next bin. This is appropriate for most putaway operations which usually take longer on the user side.

This allows one Robot to wait above the Port and the second above the buffer position. This is the current default, and appropriate for medium performance Ports.

3 or more

This is for fast-picking Ports. (The value is often about the same as the number of picks per minute, but other considerations may also apply.)

Minimum Cycle Time

Theoretical minimum time a Bin spends in a Port (in seconds). Default value is 8.

AutoStore Internals and Configurations

page 147

13.3 Behavior when few available Tasks or Bins

AutoStore is optimized for a high throughput environment that has sufficient work for the open ports.

In situations where there are very few task groups in the system, or very few bins that corresponds with the requested content codes, AutoStore may assign the work to one of the ports, instead of balancing them on multiple open ports. In these situations some ports are not receiving bins, because the few bins or task groups are already internally assigned to another port.

This behavior can typically be observed during simple tests with the WMS SDK.

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AutoStore Internals and Configurations

14. Appendix

14.1 Error Code Overview

Error Code Description

1000

1001

1002

1003

1004

1006

1007

1008

1009

1010

1011

1012

1013

1014

1015

1016

1017

1018

1019

1020

1021

1022

1023

1024

1025

1026

1027

1028

1029

The specified Port is not available.

The specified Port is closing.

The specified Port is already open.

Mandatory parameter port_id is missing.

Parameter port_id is not valid (invalid format or out of range).

Parameter content is not valid (invalid format or out of range).

Parameter category is not valid (invalid format or out of range).

Parameter req_time is not valid (invalid format or out of range).

The specified Port is not open.

Parameter bin_id is not valid (invalid format or out of range).

The specified Bin does not exist.

Parameter task_id is not valid (invalid format or out of range).

Parameter taskgroup_id is not valid (invalid format or out of range).

Parameter shipment is not valid (invalid format or out of range).

There are no tasks or Bins that fulfill the Port select requirements.

There are no Bins ready that fulfill the Port select requirements.

The specified task does not exist.

The specified task group does not exist.

The specified task group is selected by another Port.

The openbin conflicts with a previous openbin call that is not yet closed.

The openbin conflicts with the Port's selected shipment.

The openbin conflicts with the Port's selected task group.

Multiple selection parameters are not allowed.

Mandatory parameter bin_id is missing.

Parameter taskcomplete is not valid (invalid format or out of range).

The Port does not have a selected Bin.

The Bin is not yet ready in the Port.

The Bin and task parameters conflict with the open Bin and task.

The specified Bin is already inserted.

Appendix

page 149

1030

1031

1032

1033

1034

1035

1036

1037

1038

1039

1040

1041

1042

1043

1044

1045

1046

1047

1048

1049

1050

1051

1052

1053

1054

1055

1056

1057

1058

1059

1060

1061

1062

The Port has a selected Bin.

Mandatory parameter taskgroup_id is missing.

The task group already exists.

The task already exists.

Mandatory parameter category is missing.

Mandatory parameter req_time is missing.

Mandatory parameter priority is missing.

Parameter priority is not valid (invalid format or out of range).

Parameter start_time is not valid (invalid format or out of range).

Parameter suspended is not valid (invalid format or out of range).

Mandatory parameter task_id is missing.

Parameter item is not valid (invalid format or out of range).

Parameter order is not valid (invalid format or out of range).

The task group has no tasks.

The task group is selected by a Port.

The task is selected by a Port.

XML parsing error.

Unknown method.

System is not available.

Response overflow.

Too many categories or content codes.

Conflicting category and content.

Parameter suspendtaskgroup is not valid (invalid format or out of range).

Parameter mintaskgroupid is not valid (invalid format or out of range).

Parameter maxtaskgroupid is not valid (invalid format or out of range).

Parameter min_bin_id is not valid (invalid format or out of range).

Parameter max_bin_id is not valid (invalid format or out of range).

Parameter estpicktime is not valid (invalid format or out of range).

Bin is still outside.

Too many tasks included.

Parameter port_mode is not valid (invalid format or out of range).

Parameter target_grid is not valid (invalid format or out of range).

Port queue is full.

The maximum size of a port's port queue is 1000 bins.

1063

Bin preparation queue is full.

The maximum size of the bin preparation queue is 20000 bins.

1064

Mandatory parameter element Bins are missing.

page 150

Appendix

1065

1066

1067

1068

1069

1070

1071

1072

1073

1074

1075

1076

1077

1078

Parameter all is not valid (invalid format or out of range).

Mandatory parameter x is missing.

Parameter x is not valid (invalid format or out of range).

Mandatory parameter y is missing.

Parameter y is not valid (invalid format or out of range).

Mandatory parameter getbin is missing.

Parameter getbin is not valid (invalid format or out of range).

The specified position does not belong to the specified Port.

Parameter bin_type is not valid (invalid format or out of range).

Location is ready.

The message portlocationready has been sent. Before sending the next portcellallocate for the same cell, the Bin must be confirmed in the Port (confirmation from Log Publisher).

Parameter bin_mode is not valid (invalid format or out of range).

Bin is not outside.

Maximum number of Bins already inserted.

Bin is in Port.

The messages forecastbin and cancelforecastbin will be rejected if the Bin is in a Port.

1079

Illegal Bin mode.

The message forecastbin will be rejected if the current bin mode is not GRID. The message cancelforecastbin will be rejected if the current bin mode is not FORECAST.

1080

Method is not supported.

1081

1082

1083

1084

1085

1086

1087

1088

9997

9998

9999

The method is not supported by some of the other modules. For example, the method may requires a newer version of AutoStore Driver or AutoStore Planner.

Mandatory parameter index is missing.

Parameter index not valid (invalid format or out of range).

No room for given content.

Invalid parameter configname.

Invalid parameter configvalue.

Mandatory parameter bin_type is missing.

Illegal Port type.

Parameter charge_percent is not valid (invalid format or out of range).

Undefined error (internal server error).

Unknown reject code.

Driver timeout.

The method may or may not have been completed. The WMS must handle both situations.

The interface did not receive confirmation from the driver within the time limit (might be a network issue between application server and ASCS).

Appendix

page 151

In a simulation environment, this fault can be caused by a too high time factor or workload on the simulation server.

14.2 Property Overview

Name

bin_id

Data Type

Description

Integer between 1 and 1000000.

Identifies a bin.

category

Integer between 1 and 32767.

Category code.

content

Integer between 1 and 32767.

Content code.

item

order

port_id

priority

req_time

Integer between 1 and 2147483647.

Task grouping within a task group.

Integer between 1 and 2147483647.

Task order within a task group.

Integer between 1 and 1024.

Identifies a port.

Integer between 1 and 32767.

Task group priority.

Date and time. Between 1971.01.01 and 2038.01.18.

Requested time.

shipment

Integer between 1 and 2147483647.

Identifies a shipment.

start_time

Date and time. Between 1971.01.01 and 2038.01.18.

Earliest pick time.

suspended

Boolean.

Task group suspended.

task_id

Integer between 1 and 2147483647.

Identifies a task.

taskgroup_id

Integer between 1 and 2147483647.

Identifies a task group.

page 152

Appendix

15. Index

A About this manual 9

Add Task 43

Alert 144

Allocate Cell 117

Alternative flow 97

Append Port Sequence 58

Append to Port Queue 75

Appendix 149

Connecting Grids with Bin Lift 132

Contacting us 10

Content Code Example 19

Content Code Ranges 112

Content Consumers 113

Controlling Bin Locations 111

Controlling Bin time outside its Zone 115

Controlling the Sequence of Task Groups 55

Conventions and Standards 9

Automatic Preparation of Empty Bins 20

Copyright, Intellectual Property, and

AutoStore Internals and Configurations 147

B Balancing Categories 25

Basic Concepts 60, 18, 23

Begin Group in Port Queue 77

Behavior when few available Tasks or Bins

148

Bin 18

Bin Content Code 111, 19

Bin Definition 133

Bin Interface 60, 13

Bin Location 141

Bin Mode 142

Bin Mode Forecast 106

Bin Preparation 60

Bin Preparation Methods 70

Bin Properties 18

C Cancel Forecast Bin 108

Cancel Prepare Bin 72

Cancel Task 44

Cancel Taskgroup 42

Cell Content Code 111

Cell Lock 142

Changes to the Manual 10

Close Bin 64, 30

Close Port 65, 31

Comparison 14

Compartment Definition 95

Configurations 112, 20

Configure Port 99

Disclaimer 4

Create Bin 133

Create Taskgroup 38

D Defining the Zones 115

Delete Bins 134

Description 106

Disable MultiPort 98

Download Complete 141

Download Start 141

Drawer State 144

E Enable MultiPort 98

End Group in Port Queue 77

Error Code 67, 70, 134

Error Code Overview 149

Error Codes 42, 44, 45, 46, 48, 50, 53, 55, 58,

59, 62, 64, 65, 66, 69, 71, 72, 73, 75, 76, 77,

78, 80, 81, 84, 85, 86, 90, 93, 95, 98, 99, 101,

102, 104, 105, 107, 109, 115, 126, 128, 129,

131, 135, 136, 137, 27, 29, 31, 32, 33, 35, 36,

37, 39, 41

Error Handling 125

Event Segments 140

Examples 119

Exchange Bins to and from Grid 117

Exchanging Bins between the Grids 132

F Failure when Port Deliver Bin To Grid 125

Failure when Port Retrieves Bin from Grid 125

Index

page 153

Feature Compatibility 16

74, 76, 77, 78, 79, 81, 83, 84, 85, 89, 92, 94,

Features that require AS Router 16

98, 99, 100, 101, 103, 104, 107, 108, 114,

Flush Port Bin 104

Force Charge 135

Forecast Bin 106

126, 127, 129, 130, 133, 134, 135, 136, 138,

26, 28, 30, 32, 33, 34, 35, 37, 38, 41, 42

Miscellaneous Interface Methods 133

Forecast Bin Preparation 106

Miscellaneous Port Methods 99

Forecast Methods 106

Fusion Port 90

G General Precautions 11

General Safety Information 10

Get Bin Information 45, 78

Get Bin Location 47, 80

Get Bin State 49, 82

Get Drawer State 89

Get Next Task Groups 53

Get Port Configuration 101

Get Port Queue 85

Get Port Status 36

Get Port Weight 102

Get Preparation Queue 84

Get System State 138

Get Task Information 51

Grid 22

Guidelines 109

H Hide Pick-To-Light 94

I Implementing Cut-Off Time 55

Imprint 3

Initial Download 140

Insert Bin 66, 32

Insert Prepare Bin 71

Interface 112

Interface Methods 114

MultiPort configuration of the Fusion Port 97

N Normal Process 122

O Open Bin 62, 27

Open Port 61, 26

Overriding the next Task Group 55

P Parameters 43, 44, 45, 47, 49, 51, 54, 57, 58,

61, 63, 64, 66, 67, 68, 69, 70, 71, 73, 74, 75,

77, 77, 78, 80, 82, 84, 85, 89, 92, 94, 98, 98,

100, 101, 102, 104, 106, 108, 114, 126, 127,

128, 130, 133, 134, 135, 136, 138, 26, 28, 30,

31, 32, 34, 35, 36, 38, 40, 42

Performance Guidelines 26

Pick To Light 144

Picking Process with Bin Interface 88

Picking Process with Task Interface 88

Pick-To-Light API 91

Pick-To-Light Example 95

PickUpPort 89

Port 20

Port Bin mode 130

Port Bin Ready 128

Port Carousel Behavior 147

Port Cell Allocate 126

Port Configurations 147

Port Definition 142

Port Deliver Bin to Grid 118

Introduction 12, 91, 97, 111, 132

Port Error 143

L Lift Cell Lock 143

Log Publisher Interface 140

M Main Configurations 112

Managing Frozen Zone 115

Message flow 96

Message Flow 118

Message Format 43, 44, 45, 47, 49, 52, 54,

57, 59, 62, 63, 65, 66, 67, 68, 70, 71, 72, 73,

Port Exchange Bin with Grid 119

Port Exchange Bins to and from Grid 121

Port Interface 117

Port Interface Methods 126

Port Location Failed 142

Port Location Ready 127

Port Methods 61, 26

Port Mode 21, 142

Port Mode SEQUENCE 56

Port Process 117

Port Processes 87

page 154

Index

Port Properties 20, 24

Port Queue 60

Port Queue Group 61

Port Retrieve Bin from Grid 118

Port Task Groups 143

T Task 24

Task Group 23

Task Group Properties 23

Task Interface 13, 23

Port with Incoming Bins from Conveyor Belt

Task Interface and Bin Interface 12

121

Task Methods 38

Port with Outgoing Bins to Conveyor Belt 119

Technical Interface 14, 140

Terms 113

Time 141

Time Factor 141

Transfer Bins to the other Grid 132

U Update Bin 69, 35

Update Cell and Bin Content 114

Update Taskgroup 40

Using the AutoStore Interface 16

V Value Codes 144

X XML Message Format 15

Port with Outgoing Bins to Conveyor Belt

(mode AUTO) 120

Prepare Bin 70

Properties 24

Property Overview 152

Putaway Process 87

Q Query Methods 45, 78, 138

R Read this first 9

Remove Bin 68, 34

Repeated Bin 124

Request 15

Response 45, 47, 49, 51, 54, 63, 79, 80, 82,

15, 84, 85, 89, 101, 103, 138, 28, 36

Robot Charging 143

Robot Error 143

Robot Unavailable 143

S Select Requirements 24

Selected Bin 25

Set Configuration 136

Set Port Queue 74

Set Port Sequence 57

Show Pick-To-Light 92

Signs and Notices 10

Software Release April 2023 17

Software Release October 2022 17

Software Release October 2023 17

Specifying a Strict Sequence of Task Groups

56

Standard Port Flows 87

Starting with Bin in Port 124

State 18

Synchronizing with the Task Group Sequence

56

System Configuration 135

System Mode 144

Index

page 155

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Index

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