Cell Lock [CL]

If a robot reports an error, all cells that might be occupied by that robot are locked for other robots. Specific cells can also be locked manually; these are reported via the CL segment. Once the cells become available again, a new CL segment is sent with the clear flag.

Manual cell locks are performed using the Cell Lock wizard in the Console. Note that cell mode BLOCKED is not reflected by the CL segment.

The lock state of unlocked cells is not transmitted in the initial download. Therefore, all cell locks must be cleared upon receiving a DS segment. Cells that are still locked will be transmitted during the initial download.

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Cells locked due to a Delayed Stop are automatically unlocked when the system is stopped or restarted and the error has been resolved. XHandler sends a notification via the Log Publisher when these cells have been cleared.

Segment Example

CL,grid_id,lock_mode,xpos,ypos
CL,1,L,xpos,ypos // cell (long term) locked by Delayed Stop 
CL,1,P,xpos,ypos // cell locked manually by user 
CL,1,C,xpos,ypos // clear cell lock

Modes

Software Version Requirement

Log Publisher v1.7.4 or Later