Delayed Stop

⚠️
Requires AS Router software.

When a robot experiences a delayed stop, the xHandler marks an area around the robot as long-term locked—ideally just the robot’s current position.

Depending on the interface used, different error-handling approaches can be applied:

Interface Handling

Task Interface

Interface	Handling
Task Interface	This lock prevents the AS Router from selecting task groups that include bins located in locked cells, effectively removing them from port queues and the preparation queue. Task groups that have been notified via the look-ahead feature are NOT removed. Any task or task group that has already been selected by a port remains active until it is completed, deleted, or the port is closed. To handle this situation, it is recommended that the WMS temporarily suspends task groups containing affected bins. Once the lock is cleared and normal operation resumes, these task groups can be reactivated by removing the `suspended` flag with the `update_taskgroup` method. If port mode `SEQUENCE` is used, affected bins can be removed from the port queue.
Bin Interface	Update preparation queue and port queues, by removing affected bins.

This lock prevents the AS Router from selecting task groups that include bins located in locked cells, effectively removing them from port queues and the preparation queue. Task groups that have been notified via the look-ahead feature are NOT removed.

Any task or task group that has already been selected by a port remains active until it is completed, deleted, or the port is closed.

To handle this situation, it is recommended that the WMS temporarily suspends task groups containing affected bins. Once the lock is cleared and normal operation resumes, these task groups can be reactivated by removing the suspended flag with the update_taskgroup method.

If port mode SEQUENCE is used, affected bins can be removed from the port queue.

Bin Interface Update preparation queue and port queues, by removing affected bins.

Log Publisher

The xHandler reports cell locking events through the CL and LCL segments, which provide the affected cell coordinates. As these events do not reference specific bins, the WMS must determine which inventory is impacted.

It is recommended that the WMS continuously monitors these segments and responds accordingly—for example, by temporarily blocking affected inventory or selecting alternative bins—to maintain uninterrupted system operation.