MATERIAL HANDLING WORKSTATION,

RECOMMENDED TECHNICAL SPECIFICATIONS

FOR PROCUREMENT OF SYSTEMS

A 11 ID

NBSIR 88-3786

NIST

PUBLICATIONS

Carl E. Wenger

mmm fep-ISgPdpJ 'Swoioxol^S

liiiliililllgill!
NATIONAL INSTITUTE OF STANDARDS &

TECHNOLOGY

Research Information Center

Gaithersburg, IVlD 20899
MATERIAL HANDLING WORKSTATION

RECOMMENDED TECHNICAL SPECIFICATIONS

FOR PROCUREMENT OF COMMERCIALLY AVAILABLE EQUIPMENT

- 37%

Carl E . Wenger

May 19, 1988

This publication was prepared by United States Government

employees as part of their official duties and is therefore a

work of the U.S. Government and not subject to copyright.

Certain commercial software and hardware systems are identified

in this paper to adequately describe the systems under

development. Such identification does not imply recommendation or

endorsement by the National Bureau of Standards, nor does it

imply that the systems identified are the best available for the

purpose

Table of Contents

I

INTRODUCTION 1

1. PURPOSE OF THIS DOCUMENT 1

2 . AUDIENCE 1

3. CONTENTS FLOW 1

II. ASRS SPECIFICATIONS 3

1 . BACKGROUND 3

2. FUNCTIONAL REQUIREMENTS 3

3. GENERAL DESCRIPTION 3

4. DETAILED REQUIREMENTS 5

III. AGV SPECIFICATIONS 9

1. SIZE AND CONSTRUCTION 9

2. LOAD-CARRYING CAPABILITIES 10

3. GUIDANCE 10

4. VEHICLE OPERATION 11

5. VEHICLE CONTROL 12

6. COMMUNICATIONS WITH AN EXTERNAL COMPUTER 13

7. SAFETY DEVICES AND FEATURES 13

8. MISCELLANEOUS FEATURES AND AUXILIARY EQUIPMENT 14

9. INSPECTION AND ACCEPTANCE 15

APPENDIX A: MESSAGE FORMATS 16

l
List of Figures

Figure 1. AMRF Shop Floor Layout

Figure 2. Material Handling Equipment
I. INTRODUCTION

1. PURPOSE OF THIS DOCUMENT

The purpose of this document is to provide specifications

applicable in the procurement of material handling equipment to

be used in an automated facility. The shop floor layout of the

automated facility at NBS is shown in figure 1. The equipment

includes Automatic Guided Vehicles (AGV) and an Automatic

Storage and Retrieval System (ASRS)

.

2 . AUDIENCE

The intended audience for this document are technical persons

involved in procurement of material handling equipment for an

automated facility.

3 . CONTENTS FLOW

This document includes technical specifications used in the

procurement of material handling equipment. Other related

documents are "Material Handling Workstation Operator Manual,

NBSIR 88-3785" and "Material Handling Workstation Implementation,

NBSIR 88-3784". The first specification is an updated version of

the specification used to procure an ASRS for the AMRF , and the

second is a modified specification used to procure two AGVs for

the AMRF.

1
Material

L°

ad,n 9

TURNING

VERTICAL

HORIZONTAL

WORKSTATION

WORKSTATION

WORKSTATlOf 3 E8

tr u

e

d)E

Q.3

cr UJ n

$ E8

cc U

coO h

M

tr v

« 3

& cu a a

o o o o

E8

cc

c

oG h

E8

cc

L i

l

1

1

> J

• •

r-J 'l H H

\8

r<-U>

noiivjls^hom ONiHuneaa

QNV 0NINV310

£ O) 2 E <u 1 31

8

TO L>

a> to U"

u

N0I1V1SXH0AA

NOIlOBdSNI

Figure

1

.

AMRF

Floor

Layout
MHS Specifications

II. ASRS SPECIFICATIONS

1 . BACKGROUND

The Automatic Storage and Retrieval System (ASRS) will be used in

an integrated material handling system which includes Automatic

Guided Vehicles (AGVs) . The ASRS will store manufacturing

materials in trays and transfer the trays to and from the AGVs.

The operation of the ASRS will be controllable by an external

computer. The material handling equipment configuration is shown

in figure 2.

The contractor shall deliver and install the system at the

designated site. The system must be configured to perform the

operations outlined above. The storage system shall be a vertical

storage system.

2. FUNCTIONAL REQUIREMENTS

The ASRS shall be designed and engineered to meet the following

requirements:

a. The system shall consist of identical modules for storing

trays on shelves. Each module shall be capable of storing a

minimum of 30 trays. The outer dimensions of each tray shall be

21 x 21 inches, and the average shelf spacing shall be 8 inches.

The trays shall accommodate objects of up to 16 inches in height

and 200 pounds weight.

b. The system shall automatically transfer the trays to and from

a roller conveyor of an AGV. The system shall respond to storage

and retrieval instructions for transferring trays between the AGV

and the ASRS by manually entered keyboard commands or by an external

control computer as described in section 4.2.

3.

GENERAL DESCRIPTION

The ASRS shall be new and essentially one of the manufacturer's

current standard models. The system shall consist of the

necessary components and other supporting/auxiliary systems

necessary to operate manually and automatically as an integral

unit. Each module shall be capable of storing 30 trays, and

inserting and removing the trays to and from an AGV. It shall

perform all these operations under computer control and without

an operator.

3
Equipment

of

the

AMRF

Material

Handling

Workstation

4

Control

Computer

Figure

2

.

Material

Handling

Equipment
MHS Specifications

All parts of the system that are subject to wear, breakage, or

distortion shall be accessible for adjustment, replacement, or

repair.

4 . DETAILED REQUIREMENTS

4.1.

Construction Features

The storage system shall be so constructed that when installed

and connected to power, it will be ready for operation. The

system shall be constructed of parts which are without defects

and free of repair. The structure shall be capable of

withstanding all forces encountered during operation of the

storage systems to its maximum rating, including a minimum tray

loading of at least 200 pounds on each tray. During maximum

loading, it must operate without permanent distortion.

4.1.1.

Size

Each system module shall occupy a maximum floor space area of

6.75 feet in depth and 2.5 feet in width. The maximum height

shall be 16 feet for a 30-tray module. If the modules are

specified to hold less than 30 trays, the maximum height shall be

reduced 4 inches for each tray less than 30. The conveyor of each

module shall protrude a maximum of 6 inches from the front of the

unit.

4.1.2. Positioning Repeatability

The ASRS shall have stopping repeatability within 1/8 inches

aligned with respect to a fixed point for presenting trays to the

AGV.

4.1.3. Conveyor Height

The system shall present trays to the AGV at a height of 32

inches. The height shall be adjustable from 28 to 34 inches.

4.1.4. Acceleration And Deceleration

The entire system shall have controlled acceleration and

decelaration such that a solid, loosely positioned alumimum block

2 inches cube will not change position by more than 0.050 inches

by any and all motion of the system.

4.1.5. Tray Holder Position Height

The tray shelves shall be manually adjustable between 4 (or 6) to

16 inches in 2 inch intervals by use of ordinary hand tools.

5
MHS Specifications

Height sensors shall prevent attempts to place trays containing

oversize objects on the shelves.

4.1.6. Supporting System

Trays shall be provided for all storage locations in the system.

The outside dimensions of each tray shall be 21 inches square and

2.5 inches in height. The trays shall be constructed such that

when the tray is supported at the perimeter, a 200 pound steel

block placed in the center of the tray will not cause permanent

distortion. The trays shall have handle cutouts in the front and

back only and shall not have cutouts in the sides.

4.2.

Computer Control System

The ASRS shall include a local control computer capable of

controlling the system and responding to commands from and

providing status to an external control computer. The system

shall store the tray in the location specified by the external

computer.

4.2.1. Interface With The External Computer

It shall be possible for an external computer to control the

actions and maintain status communications with the storage

system control by RS-232 interface.

4.2.2. Command Execution

The system shall respond to external computer commands to: 1)

transfer trays between selected shelfs and the conveyor, and 2)

transfer a tray between the conveyor and the AGV. Sensors shall

detect the presence of the AGV and disable tray transfer off the

conveyor if the AGV is not present.

4.2.3. Status Feedback

The system shall provide status feedback to the external

computer. The status data shall indicate whether the system is

busy with a current operation or whether it is ready for another

command. Error conditions shall be reported in the status data.

4.3. Manual Operation

Activation of all specified functions shall be possible by manual

operation from a keyboard.

6
MHS Specifications

4.4. Electrical Power

The system shall be powered by 120 volt single phase.

4.5. Fastening Devices

All screws, pins, bolts, and similar parts shall be installed in

such a manner as to prevent change of tightness. Those subject to

removal or adjustment shall not be swaged, peened, staked, or

otherwise permanently deformed.

4.6. Surfaces

All surfaces of parts shall be clean and free of sand, dirt, and

extraneous materials. The appearance of the unit shall be in

conformance with industry standards.

4.7. Safety Devices

Covers, guards, or other safety devices shall be provided for all

parts of the system that present safety hazards.

4.8. Documentation

At least three copies of documentation for the complete system

shall be supplied. This shall include operating and service

manuals as well as mechanical drawings, and complete electronic

and electrical schematics.

4.9. Contractor 1 s Responsibility

The contractor shall provide and maintain an effective inspection

plan which will assure that all components of the system conform

to contract requirements whether manufactured or processed by the

contractor, or procured from subcontractors or suppliers. The

Government reserves the right to perform any inspections or tests

necessary to assure that hardware and software conform to

prescribed requirements.

4.10. Preshipment Examination

The Government reserves the right to examine the completed system

before it is packaged for shipment to confirm that it meets the

specified requirement contained herein.

4.11. Installation

The contractor shall install the complete system at the specified

location. After installation, contractor shall conduct tests to

7
MHS Specifications

prove that the system operates in accordance with the

specifications

8
MHS Specifications

III. AGV SPECIFICATIONS

1. SIZE AND CONSTRUCTION

1.1. Vehicle Size

Overall dimensions (including the load-carrying and transfer

mechanism) shall be approximately 2.5 feet wide by 5 feet long.

The width of the vehicle shall be less than 3 feet.

1.2. Vehicle Weight

Overall weight is not critical. It should be approximately 1,000

pounds including the load-carrying and transfer mechanism.

1.3. Vehicle Construction

The construction shall be industrial quality, suitable for

continuous use at full-load in a shop environment with a smooth

concrete floor.

1.4. Propulsion System

The vehicle shall be self-propelled by a battery-powered electric

motor. The vehicle, which may be either four- or three-wheeled

(provided the vehicle can maintain stability under a reasonable

nonsymmetrical load distribution) , may be driven by either the

front or rear wheels (or all wheels)

.

1.5. Battery and Charging System

The battery shall be an industrial type capable of supplying

sufficient power to operate the vehicle continuously for at least

eight hours, after no more than twelve hours of charging. The

vehicle shall have an on-board battery charger. The charging

system shall have capability to initiate charging automatically

under software control or manually. At least two charging

stations shall be included. The charging system shall be

automatically regulated to prevent over-charging and shall have

an over-current cutoff system. The battery shall be easily

accessible for the purposes of checking fluid levels. A battery

meter shall be installed on the vehicle to indicate the charge

status of the battery.

9
MHS Specifications

2. LOAD-CARRYING CAPABILITIES

2.1. Mechanism

The vehicle shall be equipped with two independently powered

roller beds which, when actuated, can move the trays from or onto

the vehicle. The roller bed mechanism shall be capable of loading

or unloading trays from both sides of the vehicle.

2.2. Size

Each roller bed shall be capable of carrying and transferring

trays measuring 21 inches square by 2.5 inches high.

2 o 3 . Height

The height of the roller bed shall be either fixed to 28 + or - 1/2 inch or adjustable from 26 to 32 inches.

2.4. Roller Speed

The speed of the roller or tray shall be between 25 and 30 feet

per minute.

2.5. Load Capacity

The vehicle, equipped with the roller bed mechanism, shall be

capable of carrying 500 pounds on the 21 x 21 inch load carrying

tray. The load may be unevenly distributed.

3. GUIDANCE

3.1. Technique

The vehicle shall be capable of following a wire, taped to or

buried in the floor, over which a guidance signal is transmitted.

The wire sensor shall not require contact with the floor and the

tracking tolerance shall be + or - 1/2 inch or better.

3.2. Turning Radius

The vehicle shall be capable of following a quide path turn with

a radius as small as 24 inches.

3.3. Stopping at Load/Unload Stations

The vehicle shall be capable of stopping at locations to load or

unload materials. These locations shall be defined by data input

to the control computer. Changing of the station locations shall

10
MHS Specifications

not require modifications to the control software but only to

input data. The vehicle shall be capable of stopping at these

locations within a tolerance of + or - 1/4 inch or better. The

vehicle shall also be capable of passing by these locations

without stopping if no load transfer is required there.

3.4. Loss of Guidance Signal

Unless specifically commanded to do otherwise, the vehicle shall

stop as soon as the guidance signal is lost or stopped. If the

vehicle wanders off the guidance path more than 2 inches, the

vehicle shall also stop.

3.5. Alternate Guide Paths

The vehicle shall be capable of switching to alternate guide

paths when commanded to do so.

3.6. Multiple Vehicle Operation

The vehicle shall be capable of operating on the same guide path,

at the same time, with other identical vehicles. The vehicle

shall be capable of sensing that another vehicle is on a

particular section of the guide path that it is about to enter

and shall be capable of stopping before it enters that section.

4. VEHICLE OPERATION

4.1. Modes of Operation

The vehicle shall be capable of operating in both manual and

automatic modes. In the manual mode, an operator shall be able to

guide the vehicle to any desired location through the use of a

hand-held control box. The operator shall also be able to control

the speed of the vehicle and the auxiliary functions including

the load transfer and battery charging mechanisms. In the

automatic mode, the vehicle shall follow the guide path wire and

perform the functions it is commanded to do without human

intervention. The vehicle shall be capable of operating in a

multi-vehicle system environment.

4.2. Vehicle Direction

The vehicle shall be capable of operating in both forward and

reverse directions in both manual and automatic modes. The

vehicle shall be capable of reversing direction at any point on

the guide path.

11
MHS Specifications

4.3. Vehicle Speed

The vehicle shall be capable of traveling at any speed between 20

feet per minute (or less) and 200 feet per minute. The actual

speed shall be variable and capable of being set manually by an

operator or automatically by an external computer communicating

with the vehicle control system. In operation, the vehicle shall

smoothly accelerate or decelerate to the commanded speed. The

exception to this is when an immediate stop is required.

5. VEHICLE CONTROL

5.1. Control Computer

The vehicle shall be equipped with an on-board microcomputer

system capable of controlling the actions of the vehicle and

communicating with an external computer c This microcomputer

system shall be PC AT compatable and shall consist of an 80286 or

80386 type microprocessor. The computer hardware shall include a

minimum of 640K of random access memory and a 360K floppy disk

drive

„

5 o 2 . Card Enclosure

The control computer shall reside in a PC bus enclosure which

shall be of such size to include all boards supplied by the

manufacturer and at least one extra slot for a user supplied

board. This enclosure shall be located on the vehicle in such

manner that it is easy to access any board which is mounted

inside it.

5.3. Vehicle Functions

The vehicle shall be capable of performing various functions

which can be commanded by remote computer control. Below is a

minimum list of functions which the vehicle must be able to

perform without any modifications to the control software.

Start vehicle moving forward or reverse.

Stop vehicle immediately.

Stop vehicle after measured distance, or after sensing of

specified number of optic sensors.

Extend or retract battery charging mechanism.

Read the station identification code of stations along the AGV

path

12
MHS Specifications

Perform specified pattern turns off the guide wire in forward and

reverse directions.

Load and unload trays from both sides of the vehicle.

5.4. Remote Control of Vehicle Operations

The vehicle shall be capable of being remotely controlled by

another computer. The vehicle shall be controlled by sending

command messages to the vehicle through a wire on the floor or

buried in the floor. The vehicle shall respond to all the

commands as shown in Appendix A included in this specification.

The vehicle shall be capable of operating in a multi-vehicle

system and shall be capable of decoding the remote commands to

determine which commands it is to execute and which commands are

intended for other vehicles.

6. COMMUNICATIONS WITH AN EXTERNAL COMPUTER

6.1. Communications Data Link

The vehicle shall contain a modem transmitter/receiver using

standard RS-232 communications. The link shall be made through a

wire buried in the floor. The data transmission rate shall be a

minimum of 300 baud. The communications link shall be capable of

supporting communications to more than one vehicle and shall be

capable of communicating new commands and vehicle status

information at least once every second.

6.2. Status Feedback

The vehicle shall be capable of communicating information

regarding its status over the link to the external computer. The

information shall be updated at such a rate to permit status

feedback to the external computer to be transmitted at least once

every second in the form of the status message format as shown in

Appendix A.

7. SAFETY DEVICES AND FEATURES

7.1. Safety Devices

The vehicle shall be equipped with safety devices to avoid

collisions with obstacles or other vehicles. The safety devices

shall operate with the vehicle moving in both the forward and

reverse directions. The vehicle shall also be equipped with a

warning light and alarm to signal that the vehicle is approaching

or that it has stopped because of an obstacle. Vehicle shall have

13
MHS Specifications

push button switches which can pause and resume operation of the

vehicle. 7.2.

Other Safety Features

A warning light or alarm shall be activated in case of vehicle

malfunctions, low battery charge, or passing emergency exits. The

vehicle shall be equipped with a manual clutch or drive mechanism

that can be manually disengaged in order to move the vehicle

manually. Emergency stop buttons shall be installed on the

vehicle at clearly visible locations and shall shut off all power

to the vehicle at any time and apply the brake.

8. MISCELLANEOUS FEATURES AND AUXILIARY EQUIPMENT

8.1. Guide Path Equipment

The manufacturer shall provide the modems, line drivers, and wire

necessary to construct the guide path wire system. The

manufacturer shall provide all equipment necessary to mark

defined points such as load/unload station, or guide path branch

points. This equipment shall be installed by the purchaser using

specified installation instructions and procedures supplied in

writing by the manufacturer.

8.2. Operating Manuals

The manufacturer shall provide five copies of the operating and

maintenance manuals for the vehicles. The manufacturer shall also

provide any corrections or updates to the manuals in a timely

fashion.

8.3. Drawings

The manufacturer shall provide two (2) sets of all mechanical and

electrical drawings pertaining to the vehicle. Any drawing which

is proprietary shall be so labeled by the manufacturer.

8.4. Parts and Spare Parts

A listing of all components and parts by part number, description

and manufacturer shall be furnished. A complete recommended spare

parts package and a list of its contents shall be provided

including modular components of the control systems as well as

mechanical parts subject to failure and wear.

A package of spare parts and wear parts for at least one year

shall be provided with each vehicle.

14
MHS Specifications

9. INSPECTION AND ACCEPTANCE

The manufacturer shall inspect and test the vehicle at their

facility to prove that the equipment conforms to the requirements

of this specification. Final acceptance shall be contingent upon

the vehicle meeting this specification and performances after

testing at the purchaser's facility.

15
MHS Specifications

Appendix A: AGV Command and Status Message Formats

Note: For all messages, Byte 1 contains the value EE hex, and

byte 7 is the checksum of bytes 2 through 6.

Type 0 Command Format

Byte 2 : 8

agv id

message number

Byte 316

unused

0 more messages

1 last message

message type

Byte 4

_j | | # of PCI's to sense

(unused)

speed * 10 ft/min

16
MHS Specifications

Byte 5: 32

unused

I I

| | 0 wire guide

1 virtual guide

I

| 0 ignore optics

1 look for optics

0 turn left

1 turn right

0 direction A

1 direction B

0 reverse

1 forward

0 stop

1 go

Byte 6: 40

unused

0 noop

1 initialize AGV

0 transfer left

1 transfer right

0 rear deck

1 front deck

0 unload

1 load

0 disable conveyor

1 enable conveyor

*** Command terminator

17
MHS Specifications

Type 1 Command Format

Byte 2 : 8

i i i i i

i i i i i

1 1 1 1

i i i

| | | message number

1 1 1 1

i i i i agv id

Byte 3 : 16

i i i i i

i i i i i

i i i i i

1 1 1 1 1

i

| 0 turn left

1 turn right

1 i

i i i i i

i i i i i

i i i i i

i i i i i

i i

| | 0 reverse

1 forward iiii i

i i i i i

i i i i i

i i i i i

1

| 0 wire guide

1 virtual guide

I l l l I IIII! IIII IIII

0 more messages

1 last message IIII

message type

Byte 4: 24

1 1 1 1 1

1 Z1 Z1 Z1

1 1 1

1 1 l l l

i i i i i

i i i i i

1 1 1

j | | distance 2

1 distance 1

Byte 532

i i i i IIII i i

i i

i i

i i

i i IIII

angle

i i i_i i i distance 2

Byte 6

40 | 1. i distance 3

***

angle

18
MHS Specifications

Type 2 Command Format

Byte 2

Byte 3: 16

agv id

message number

| 0 turn left

j j 1 turn right

I I

| | unused

0 more messages

1 last message

message type

Byte 4: 24

| seek angle argument

seek distance argument

Byte 5: 32

i i i i i i i i

| | | | | | [ | seek speed argument

I I I I

| | | | seek angle argument

Byte 6: 40 |

I

| 0 do not seek wire

1 seek wire ***

0 stop w/ delay ***

1 go

unused

19
MHS Specifications

Type 3 Command Format

Byte 2 : 8

i i i i i

i i i i i

1 1 1 1

i i i

| | | message number

agv id

Byte 3 : 16

l l 1 l l

i i i

| | | unused

1

1 1 1 1 1

i i i i i

i i i i i

i i i i i

1

| | 0 reverse

1 forward

i

i i i i i 1

| 0 wire guide

1 virtual guide

iii

I |

0 more messages

1 last message

l l l l

i i i i message type

Byte 424

i i i i i

i i i i i

i i i

I | | distance before

i i i i

i i i i slow

i i 1 i

i i i i speed * 10 ft/min

Byte 5: 32

_ | | no. of optics to

sense ***

AGV speed after slow

0 stop

1 go

20
MHS Specifications

Byte 6: 40 | | | |

i i i i i i i i

I 0 noop

| | | | | | | 1 charge battery

I I I I I I I

I I I I I I I 0 noop

| | | | | | 1 retract probe ***

I I I I I I unused

** End command sequence

*** Command terminator

Type 4 Command Format

Byte 2 : 8 I I I I I I I I

i i i i i i i i

| | | | | | | | message number

I I I I

I I I I agv id

Byte 3

unused

0 more messages

1 last message

message type

Byte 4: 24

i i i i i i i i

I I I I I I I I unused

I I I I I I

j 0 Optics off

1 Optics on

i i i i i

I I I I I 0 stop

I I I I i go

I I I l

j | | | speed * 10 ft/min

* *

21
MHS Specifications

Byte 5: 32

distance 1 ***

in ft.

Byte 6: 40

time 1 ***

in sec.

*** Command terminator

Type 5 Command Format

Byte 2 : 8 | | | | | |

i i i i i i i i

| | | | | | | | message number

I I I I

I i I I agv id

Byte 3: 16 | | |

I I I I I I I I unused

0 more messages

1 last message

message type

Byte 4

Byte 5

Byte 6

24

32

40

PROM message set

(unused)

(unused)

* * *

22
MHS Specifications

Type 6 Command Format

Byte 2 : 8

Byte 3 : 16 | | |

Byte 4: 24

Byte 5: 32

Byte 6: 40

1

1 1 1 I

1 1 1 1

1 1 1 1

1 1 1 1

| | | | message number

1 1 1 1

1 I 1 1 agv id

1 1

1 1 1 1

1 1 1 1

1 1 1 1

i i i

1 1 1 1

| | | | unused

i i

1 1 1 1

1 1 1 1

1 || 0 no select

1 1 1 1

1 1 1 1 1 select FI ***

i

1 1 1 1

1 1 1 1 || 0 no select

1 1 1 1

1 1 1 1 1 select F2 ***

1 1 1 1

1 1 1 1

| 0 more messages

1 1 1 1

1 1 1 1 1 last message

1 1 1 1

1 1 1 1 message type

1111 1 1 1 1

1 1 1 1

i r i i

| | | | unused

1 1 1 1

1 1 1 1

| 0 stop

1 1 1 1 till 1 go

1 1 1 1

1 1 1 1 speed * 10 ft/min

1 1 1 1

i 1 1 1.

i i i i

| | | | distance inch/3

unused

k -k •k

23
MHS Specifications

Type 14 Status Format

Byte 28

1

1 1

1

1

l

1

l IIII iii IIII i j i i message number

1 —1 —1 — agv id

Byte 3 : 16

1

1

1

1

1

1

1

1 till

i i i i IIII iiii error code

i i i i 0 no error

i i i i 1 unload failure

i i i i 2 load failure

i i i i 3 bumper stop

i i i i 4 optic stop

i i i i 9 unrecoverable unld

i i i i 10 unrecoverable load

i i i i

1 1 i 1 15 lost wire iiii

i_i_i_i message type

Byte 424 till IIII iiii

1iiii ! 1 IIII iiii last stop

1 1 1 l_l_l_ speed * 10 ft/min

Byte 5: 32

1

1

1

1

1

1 iiii

i i i IIII iiii distance past stop

toggle on first

optic at each station

24
MHS Specifications

Byte 6: 40

0 busy

1 idle

| 0 battery low

1 battery OK

0 transfering left

1 transfering right

0 rear deck

1 front deck

_0 unloading

1 loading

0 conveyor stopped

1 conveyor moving

0 reverse

1 forward

0 AGV stopped

1 AGV moving

25
,

.
READER COMMENT FORM

Document Title Material Handling System - Specifications

This document is one in a series of publications which document

research done at the National Bureau of Standards' Automated

Manufacturing Research Facility from 1981 through March, 1987.

You may use this form to comment on the technical content or

organization of this document or to contribute suggested

editorial changes.

Comments

If you wish a reply, give your name, company, and complete mailing

address

What is your occupation?

NOTE: This form may not be used to order additional copies of

this document or other documents in the series. Copies of AMRF

documents are available from NTIS.

Please mail your comments to: AMRF Program Manager

National Bureau of Standards

Building 220, Room Bill

Gaithersburg, MD 20899
'

-
NBS»1 14A (REV. 2-80

U.s. DEPT. OF COMM.

BIBLIOGRAPHIC DATA

SHEET (See instructions)

1. PUBLICATION OR

REPORT NO.

NBSIH 88-3786

2. Performing Organ. Report No. 3. Publication Date

MAY 1988

4. TITLE AND SUBTITLE

Material Handling Workstation, Recommended Technical Specifications for Procurement

of Commercially Available Systems

5. AUTHOR(S)

Carl E. Wenger

6. PERFORMING ORGANIZATION (If joint or other than NBS, see in struction s)

national bureau of standards

DEPARTMENT OF COMMERCE

WASHINGTON, D.C. 20234

7. Contract/Grant No.

8. Type of Report & Period Covered

9. SPONSORING ORGANIZATION NAME AND COMPLETE ADDRESS ( Street. City. State. ZIP)

10. SUPPLEMENTARY NOTES

J Document describes a computer program; SF-185, FIPS Software Summary, is attached.

11. ABSTRACT (A 200-word or less factual summary of most significant information. If document includes a significant

bibliography or literature survey, mention it here)

The purpose of this document is to provide specifications to be used in the

procurement of material handling equipment to be used in an automated facility,

equipment specified includes Automatic Guided Vehicles (AGV) and an Automatic

Storage and Retrieval System (ASRS).

The

12. KEY WORDS (Six to twelve entries ; alphabetical order; capitalize only proper names; and separate key words by semicolon s) AMRF; manufacturing; Material Handling Workstation, specifications

13. AVAILABILITY

|X 1 Uni imited

I

! For Official Distribution. Do Not Release to NTIS

1 Order From Superintendent of Documents, U.S. Government Printing Office, Washington, D.C.

20402.

gj Order From National Technical Information Service (NTIS), Springfield, VA. 22161

14. NO. OF

PRINTED PAGES

31

15. Price

$11.95

USCOMM-DC 6043-P80
I .