Collision of shuttles in front of barrier

[Norman_Urs_Baier]

We have an ACOPOStrak with two connected ovals. At startup I send all shuttles to the smaller oval with MC_BR_RoutedMoveVel_AcpTrak. Then I MC_BR_BarrierCommand_AcpTrak to line up all the shuttles in front of a barrier. With one shuttle everything works as I expected. When I add more than one shuttle, the simulation with scene viewer works smoothly as well, but on the real system, the shuttles collide at the barrier.

According to my understanding MC_BR_RoutedMoveVel_AcpTrak generate elastic movements and I should not experience collisions. What do I need to do, to avoid collisions?

[job.franken]

At every movement type the collision avoidance should do its work. With elastic you avoid errors when a shuttle is stopped by the barrier or other shuttle

• Did you configure the correct shuttle type ?

  

• Did you configure the shuttle size ?

  
  

• What controller parameters are used ?

[Norman_Urs_Baier]

Thank you very much for the heads up. After increasing the length the collisions do not occur anymore. The shuttle type was correct, however.