Driver for Logimat HLL

Introduction

The Logimat HLL Control module is a collection of several individual drivers, used for different versions of the Logimat controlled by the Omrom PLC. During the years, there have been a number of different versions with different PLC firmware. 

Shark Control Type	Logimat Version	Notes
LogimatOmron	Year: 1999-2004.	First Handler A/S version with the Omron PLC (1999-2004). Interface: Serial or Ethernet by Moxabox.
LogimatOmronSimple	Year: 1999-2004.	Special version of with the first Logimat version with a simplicifed interface with a minimum interaction with the PLC. Used for PLC firmware/versions with "strange behavioir".
LogimatOmron2	Year: 2004-2013.	Interface: Serial or Ethernet by Moxabox.
LogimatOmron3	Year: 2012-2013.	Special version with support for IHO  Interface: Serial or Ethernet by Moxabox.
LogimatOmron4	Year: 2013-2014.	Special version supporting multiple openings.  Interface: Serial or Ethernet by Moxabox.
LogimatOmron5	From year 2012Q2 and later with firmware 55.2	The LogimatOmron5 Shark Control Module is designed for the controlling the Logimat from year 2012Q2 and later with firmware 55.2 or newer with the Omron PLC. This is the version after SSI took over the Logimat. It supports advanced features like: IHO with variable position spacing. Functions for optimization support. The tray tilt function. Multiple openings.
LogimatOmron6	Update Logimats.	Used for older Logimats, with replaced Omron PLC because the original PLC now is obsolete. Interface: Ethernet UDP.

What features actually are available, depends on the licence key used to activate Shark.

Configuration

The configuration of the module is done in the Shark Registry under:

*devices.verticallifts.\<module name> Import parameters *

Registry Parameter	Values	Description
Type	LogimatOmron5 AutomatSimulateIHO	This defines the Logimat type. AutomatSimulateIHO can be used for simulation.
IHO_Supported	true|false	Set to true if the Logimat is equipped with IHO functionality.
Connection	MoxaGateway:ip:port / COM1 / COM2	Example: use a Moxabox: MoxaGateway:10.1.1.1:4001
IHO_Locked	true|false	IHO is supported, but all tray positions are locked.
PositionSpacing	25	Distance between each position. Default is 25mm.
AutoAcceptTrayHeightChanges	true|false	If set to true, changes in goods height will be accepted automatically. Default is false.
DefaultTrayHeight	100	Height of the empty tray. Default is 100 mm
TrayClearance	25	The is the minimum security distance between trays. It includes bending and measurement tolerances.
TrayConfigBackupFile	Filename	Shark makes a backup file containing the current PLC tray configuration. This is the name of the file. Default is trayconfig-backup.txt
SuppressErrorEvents	true|false	If true most error events will be suppressed. This will prevent error menus to be displayed in Shark. Indented to be used in setups where Shark is controlled by an external Host via the Web Service. Default is false.
AdjustLiftToTrayHeightLimit	0.3	This is a function that can be used if the variable lift is available. If the tray height is heigher that this parameter, the lift will be lowered to compensate for the height. It will slow down the operation speed because the Logimat will stop while the lift is adjusted.
StartUpDelayMS	0	This value will force a wait before accessing the PLC. The delay is in ms.
CacheLifeTimeMS	100	To optimize PLC communication speed, data is read in blocks and cached in PC memory. This is the maximum allowed age of data in ms before they are refreshed.
CheckPLCAutomaticMode	true|false	Check if the PLC is in remote-control mode.
Debug	true|false	Enables extended logging to the database.
DefaultStatusPollDelayMS	15000	Time in ms between status is read when the Logimat is idle.
DemoModeDelay	10	Time the tray will stay at the opening when in demo mode.
DemoModeEnabled	true|false	Mode for automatic run-mode.
IgnoreErrors	true|false	Special mode to ignore errors from the PLC. Used to force the Logimat to operate, in case of a none important sustained error.
LogTrayMoveToDB	true|false	Logs to the database when the tray is requested, arrives at opening, returned and at returned position. Also calculate and updates ETA for the tray, used to optimize the picking sequence.
MaxIdlePolls	5	If NoIdlePoll=True this is the maximum number of polls.
NoIdlePoll	true|false	If true polling of Logimat status will stop when the machine is idle. Minimizes bus load (shared PLC bus) or avoid unnecessary network trafic.
PackMode	Manually	Packing strategi for IHO. Only Manually is supported.
ResetOrderStack	true|false	If true the PLC order stack will be reset for every tray request.

Connection the PC to the Logimat

Moxa Box

For interfacing to serial devices (RS232/RS422/RS485), it is preferred to use an Ethernet gateway to enable the device to be connected directly to the network. Compared to a direct connection, it has a number of advantages:

• No PC/Server with serial ports is required.
• No physical limits of cable length.
• No electrical problems with earthing, etc. of sensitive signals.

SHARK uses typical a Moxa NPort gateway. The NPort module is running in "TCP Server Mode". Other gateways can be used as well, for example Lantronix, but is not directly supported by Shark.

There is no software driver installed on the PC. SHARK communicates directly to the Moxa box by Ethernet.

The automats must be connected together in a PLC network.

• The bus must be terminated at each end of the cable, this is done by setting the Omrom "CIF" module to "on" at the first and the last automat in the "chain". Only CIF modules must be set to "on".

• The signal ground wire must be connected as well.

The Logimat PLC must be configured for the correct communication speed, "switch 4" on the PLC must be set to "on", else the communication will not work. (see picture below).

The PLC switch that must be set to make the communication work

Connecting a NPort Moxa bus to the PLC Bus

There a different PLC versions. This picture shows one possible configuration, where the PLC is located below the opening on the floor

The connections from the PLC bus to the Moxa box are:

Logimat Wire	Moxa NPort
White	RS422 - T+
Green	RS422 - T-
Brown	RS422 - R+
Yellow	RS422 - R-
SG	GND

The Moxa box gets power from the PLC 24V supply.

Configuration of the Moxa Box

Before installation decide if the module should use a fixed IP address or a dynamic. In case a fixed IP address is preferred, one must be given by a network administrator.

The module has a fixed IP address when delivered that is 192.168.127.254. To setup the module configure a computer to work in the 192.168.127.XXX segment (for example by setting the computer to a fixed IP address in that range).

When the module is connected to the network and the computer used for configuration is ready open from the computer the web configuration tool in the module (http://192.168.127.254).

In basic settings, set a name for the module, for example MOXA1, this name must be unique if more than one module exists in the same network. Press "Submit" (this will restart the module).

Open the web configurator again at http://192.168.127.254. Now select "Network Settings" .

For dynamic IP address:

• Set the "IP Configuration to "DHCP". Press Submit to save and restart the module.

For a fixed IP address:

• Set the "IP Configuration" to "Static" and set the IP address/Netmask to the one given.
• Now is the network access configured.
• Try to find the module by "ping MOXA1" or what ever the module is called.
• The serial settings can now be set using the web configuration by for example http://moxa_1.
• The automats are connected to the Moxa Port 2, only this port supports RS422.

General setup for Port 2

Operating Settings
Operation Mode	TCP Server Mode
TCP Alive check time	3 minuts
Max Connections	4
Local TCP port	4002
Force transmit	50ms

Serial Settings
Baudrate	9600
Data bits	7
Stop bits	2
Parity	Even
Flow control	None
FIFO	Enabled

Configuration of the Omron PC (obsolete)

Some Logimats has a built-in PC where Shark is installed. To install software on the PC, follow the procedure:

1. From a command prompt run: ewfmgr c: -disable
2. Restart the PC
3. Install the software
4. From a command prompt run: ewfmgr c: -enable
5. Restart the PC

IHO

Intelligent Height Optimization. This is a mode where Shark maintain trays with variable heights.

Tray Heights

This chapter describes the logical model used for the automat. Some general rules:

• Tray numbers are all logical, this means that the tray number used, does not define the physical position of the tray.
• The automat has a number of positions, where the trays are placed. These positions have numbers that are directly related to the physical position.
• On each position a logical tray can be placed.
• A position group is a sequence of positions, with a starting offset (physical distance), a fixed spacing between each position and a top space.
• The trays are grouped in front/back.

*Model of the Logimat, with positions collected in sections and sections separated by beams or other obstacles. *

*Definition of óne tray group. *

Location Light

The module supports the built-in pointer in the Logimat (LogiPoint).

The LogiPoint pointer for the Logimat does not require any software calibration, besides that the basic parameters must be set correctly. Although it should not be needed, it is still possible to set some basic calibration parameters.

Before the pointer can be used it must be mechanical calibrated. After initialization of the light, either by restarting Shark Control or from the Logimat it self, the red spot should point at the lower, right corner of the tray.  If that is not the case, the Logimat needs maintenance.

It is also important that the light points perpendicular to the tray (90 degrees).

Registry Setup for the LogiPoint.

The calibration parameters for the light pointer is set from the Shark Registry:

devices.verticallifts.\<module name>.LocationLight ..

Registry Entry	Data type	Value	Description
AutoResetMinuts	Integer	5	The location light will go to the reset position and thereby auto calibrate, when the pointer has been idle for the specified number of minuts.
CalibratedLiftHeight	Float	1.0	Height of lift in meter in the calibrated position.
CalibratedLightDistance	Float	1.0	Distance of light in meter from mirror to the bottom of the tray.
CalibratedLightDistanceTilt	Float	1.2	Distance of light in meter from mirror to the bottom of the tray when the tray is tilted.
LiftAngleZero	Float	50	Angle of the light in degrees between light and the bottom of the tray (see figure).
LiftAngleZeroTiltTop	Float	60.0	Angle when the lift is a top position (degrees)
LiftAngleZeroTiltBottom	Float	60.0	Not used
MaxRegXValue	Integer	4000	Maximum number written to the x position register. This can be used to limit the range of the pointer.
MaxRegYValue	Integer	400	Maximum number written to the y position register. This can be used to limit the range of the pointer.
StepsPrM_X	Integer	1020	Defines how many steps the PLC needs to step 1 meter in the X direction. Default is 1020.
StepsPrM_Y	Integer	4100	Defines how many steps the PLC needs to step 1 meter in the Y direction. Default is 4100.
TrayDepth	Float	0.82	Depth of tray in meter. For example if the tray dimension is 3000mmx820mm, this value is 0.82.
TrayWidth	Float	3.0	Width of tray in meter.
TrayHeightCalibrationFactor	Float	0.0	Value between 0 and 1. Deactivated with 0, if 1.0 the pointer will be adjusted to point to the top of the box location.
XOffset_M	Float	0.0	Use this value to adjust where the pointer points, when it is a zero position. Normally the light should point to the lower right corner when at zero position, but this can be modified using this parameter. Distance from tray right wall to the spot, measured in meter.
YOffset_M	Float	0.0	Use this value to adjust where the pointer points, when it is a zero position. Normally the light should point to the lower right corner when at zero position, but this can be modified using this parameter. Distance from tray front wall to the spot, measured in meter.

Parameters used when tilt is not enabled:

Parameters used when tilt is enabled:

Top View

Seen from side

Calibration Procedure

Follow this procedure to calibrate the light pointer.

Step 1
First the pointer must be calibrated mechanical, so zero points at the lower, right corner in the tray.

Shark Control command to reset the pointer: LIGHT:BLANK

If it is not possible to make the mechanical adjustment, use the XOffset_M and YOffset_M parameters to specifiy an offset.

Shark Control commands for online (telnet) changes of the parameters (changes will be lost after restart) :

LIGHT:ConfigStepX StepsPrM_X
LIGHT:ConfigStepY StepsPrM_Y
LIGHT:ConfigZero X,Y

Step 2
If Tilt is supported: Move the lift to the bottom position.
If Lift is supported place the tray at the lowest possible position.

Step 3

If the pointer does not point to the lower right corner of the tray when the pointer is at zero position. Measure the offset from the tray corner to the pointer in mm.

Step 4
Move the pointer to the upper left corner.

Shark Control command: LIGHT:GO 0,1

Measure the distance in mm. and enter the X,Y values as MaxRegXValue and MaxRegYValue.

Step 5
Measure the distance from the pointer to bottom of the tray, enter this value as CalibratedLightDistance (meter).

Step 6
Measure the dimensions of the tray and enter as TrayWidth (meter) and TrayDepth (meter).

Step 7
If Lift is supported: measure the height of the bottom of the tray from the ground and enter as CalibratedLiftHeight (meter).
If Lift is not supported: Set CalibratedLiftHeight to 0.

Step 8
If Tilt is supported: Tilt the tray and measure the height of the tilt at the back and enter the value in TiltHeightMax (meter).
If Tilt is not supported: Set TiltHeightMax to 0.

Lift

The two lift systems, used by the Logimat, are both supported:

1. The first solution are 2 or more fixed bearings. Shark will choose the nearest bearing, according to the user requested height.

2. The second solution is where the height is controlled by a variable motor controlled system.

Configuration:

Registry Parameters	Value	Description
LiftType	0|1|2	0: No Lift supported. 1: Lift with fixed height. 2: Variable lift height
AdjustLiftToTrayHeightLimit	Height of tray in meter.	If the tray height is heigher that this parameter, the lift will be lowered to compensate for the height. It will slow down the operation speed because the Logimat will stop while the lift is adjusted.

To enable the Shark Client set the "Feature" bit 7 to 1 (value 64 if empty).
To set the lift height for each user.

Tilt

Enable Tilt in Shark pre-2012Q1

To enable the Shark Client set the "Feature" bit 4 to 1 (value 8 if empty). The features are set in System Configuration → System Parameters → Features.

To be used in the the "Floating Batch Pick" window, it must also be enabled for this panel in the registry parameter.

• To be used in Manual Transactions, the registry parameter Registry..forms.Manual Transactions.LiftAndTiltSupported must be true.
• In the registry Devices.VerticalLifts.\<automat name>.Tilt must be true.

Enable Tilt in Version 2012Q1 and later

Tilt must first be enabled in:

1. In the registry Shark Applications → Forms → FloatingBatchPick, set “LiftAndTiltSupported” true.
2. For each Logimat in the registry Devices → VerticalLifts → \<name>, set “Tilt” true.

Setting Trays to Tilt

When Tilt is enabled and the client is restarted, a new column is available for the tray configuration. Here Tilt can be enabled/disable for each tray individually.

LogiStub

The LogiStub is supported. To enable the buttons in the Logimat screen, the function must be enabled in the Registry.

It must be enabled for each Logimat (workstation) supporting this functionality:

Set Shark Application à Forms à Logimat à \<workstation> à ShowStub=true

Multiple Openings

Support for Multiple openings or gates is used when the Logimat is equipped with more picking openings.

There is no special configuration of the Shark Control module, but the client must send the right gate number.

• Each opening must have one PC with Shark installed.
• One of the PC is a master and is connected to the PLC.

Master PC Configuration

Check list to configure the master PC (SHARK registry entries) :

1. SharkControl.Port=8089
   Other port numbers can be used, but 8089 is default. This is the port number that an external PC can access Shark Control.
   
2. Shark.Application.Config.\<MasterPCName>.AutomatGate=1
   Tell which opening the Master PC will control.
   
3. Shark.Application.Config.\<MasterPCName>.AutomatGateFrontView=true
   Orientation of the opening, true for normal front opening, false if in the back side of the machine.
   
4. Shark.Application.Config.\<MasterPCName>.ControlModules=ModuleID
   This is the moduleID from the Module database table for the module (Logimat) that has to be controlled by this PC.
   
5. Shark.Application.Config.\<MasterPCName>.LocationPattern=pattern_to_display
   
6. Shark.Application.Config.\<MasterPCName>.LogimatModuleName=name_of_logimat
   
7. Shark.Application.Config.\<MasterPCName>.SharkControl=Embedded
   Tell Shark that this PC should host Shark Control.
   
8. Shark.Application.Config.\<MasterPCName>.SharkControlPort=8089
   The port that is used for Shark Control Communication.

Slave PC Configuration

Check list to configure the slave PC(s) (SHARK registry entries) :

1. SharkControl.Port=8089
   Other port numbers can be used, but 8089 is default. This is the port number that an external PC can access Shark Control.
   
2. Shark.Application.Config.\<SlavePCName>.AutomatGate=2
   Tell which opening the Master PC will control.
   
3. Shark.Application.Config.\<SlavePCName>.AutomatGateFrontView=true
   Orientation of the opening, true for normal front opening, false if in the back side of the machine.
   
4. Shark.Application.Config.\<SlavePCName>.ControlModules=ModuleID
   This is the moduleID from the Module database table for the module (Logimat) that has to be controlled by this PC.
   
5. Shark.Application.Config.\<SlavePCName>.LocationPattern=name_of_logimat
   
6. Shark.Application.Config.\<SlavePCName>.LogimatModuleName=name_of_logimat
   
7. Shark.Application.Config.\<SlavePCName>.SharkControl=MasterPCName
   Tell Shark that this PC must communicate to the MasterPC, to control the Logimat.
   
8. Shark.Application.Config.\<SlavePCName>.SharkControlPort=8089
   The port that is used for Shark Control Communication.

Test Commands

To test the multple opening function, the following commands are usefull (used from the Telnet interface):

DEFAULTGATE \<gate number>

DEFAULTGATE?

For example to retrieve trays to opening 2, use the commands:

>DEFAULTGATE 2

>GETTRAY 5

>GETTRAY 7

...

External Control of the Logimat

There is an optional possibility to perform low level control of the Logimat by using the Web Service interface to Shark Control. The Web Service is a RESTful implementation.

Where Sharks works at a high level with article numbers, location address, etc. the low level interface support control at tray level with basic features like:

• Retrieve a tray.
• Return a tray.
• Get status.
• Controlling tray height changes.
  

The Web Service interface must be enabled to make it available. It is done in the Shark Registry under Registry->Shark Control->Web Server.

The default port number is 8095, but this can be changed in the configuration.

Communication between an external system and Shark/Logimat for low level control.

Configuration of the Web Service Port in Shark.

Most of the commands, requires a module name to identify the Logimat. This is due to the fact, that one PC may control more than one Logimats.

The Web Interface can be easily testet by using a standard Web Browser. If it is not possible to access Shark from an external PC, please check the Windows Firewall that might block for external access.

The interface is case sensite, all commands must be lower case.

The response can be seen in the browser window.

The response is XML formattet and relative simple to interprete.

Supported Commands

 

The following commands are supported.

/command/logimat/\<module>/gettray

Move a tray to the gate. If there already is a tray at the gate, this will be returned first.

The call will return immediately, to get status and information about when the tray will be ready, use the «statusxml» command to poll for current status.

Command	http://<host>:<port>/command/logimat/<Module>/gettray
Parameters	traynumber=<tray> tilt = true|false  (optional, default false) gate=1|2|3|4 (Opening number)
Response	<SharkControl>    <Status>OK|Error</Status>    <ErrorCode>error code</ErrorCode>    <Message>error message</Message> </SharkControl>
Example	To get tray 3: http://localhost:8095/command/logimat/a1/gettray?traynumber=3 To get tray 3 with tilt: http://localhost:8095/command/logimat/a1/gettray?traynumber=3&Tilt=1   To get tray 3 from opening 2: http://localhost:8095/command/logimat/a1/gettray?traynumber=3&Gate=2

Procedure to get a tray with support for changed height:

• Use: "/command/logimat/\<module>/gettray" to get the tray.

• Use: "/query/logimat/\<module>/statusxml" to read the status from the Logimat. While the Logimat is working, it is busy and will return state=Busy. Poll the status until state is "OK" og "ERROR".

 

/command/logimat/\<module>/returntray

Return the current tray at gate.

If the height is changed, the tray will not be returned, but will generate an error. To automatically accept a changed height, add the "accept=true" parameter to the command.

Command	http://<host>:<port>/command/logimat/<module>/returntray
Parameters	gate=1|2|3|4 (Opening number)
Response	<SharkControl>    <Status>OK|Error</Status>    <ErrorCode>error code</ErrorCode>    <Message>error message</Message> </SharkControl>
Example	Return the current tray in the opening: http://localhost:8095/command/logimat/a1/returntray   Return the current tray from opening 2: http://localhost:8095/command/logimat/a1/returntray?Gate=2

 

/command/logimat/\<module>/returntrayacceptheight

Return the current tray at gate. If the height is changed it will be accepted immediately.

Command	http://<host>:<port>/command/logimat/<module>/returntrayacceptheight
Response	<SharkControl>    <Status>OK|Error</Status>    <ErrorCode>error code</ErrorCode>    <Message>error message</Message> </SharkControl>
Example	Return the current tray at gate: http://localhost:8095/command/logimat/a1/returntray Returns the current tray and accept any height changes automatically: http://localhost:8095/command/logimat/a1/returntrayacceptheight

 

/query/logimat/\<module>/statusxml

Returns the current automat status formatted as XML.

It Can be used to detect if the Logimat is busy working, ready for the next operation or in an error state.

Command	http://<host>:<port>/query/logimat/<module>/statusxml
Parameters
Response	<SharkControl>    <Status>OK|Error</Status>    <ErrorCode>error code</ErrorCode>    <Message>Error message</Message>   <Response>        <State>state</State>        <Text>status text</Text>    </Response> </SharkControl>
	Get status for automat A1: http://localhost:8095/query/logimat/a1/statusxml

Status: Is OK when the command is accepted.

State: Is the current state of the Logimat, it can be READY, BUSY, ERROR, NOT_READY or MANUAL. MANUAL means the Logimat is put into manual control by the operator and cannot be remotely controlled, NOT_READY means that the Logimat is not connected or it has not been possible to read the configuration from the Logimat.

Text: Is a textual description of the current state and optional an error message.

 

/command/logimat/\<module>/light/go

Set the location light to a specific position in the tray as a floating number between 0 and 1.

Some positions:

Tray Position	XPos	Ypos
Lower left corner	0.0	0.0
Upper left corner	0.0	1.0
Upper right corner	1.0	0.1
Center	0.5	0.5

Command	Opening 1: http://<host>:<port>/command/logimat/<module>/light/go   Opening 2: http://<host>:<port>/command/logimat/<module>/light2/go
Parameters	xpos=<0.0 .. 1.0> ypos=<0.0 .. 1.0> tilt=true|false
Response	<SharkControl>    <Status>OK|Error</Status>    <ErrorCode>error code</ErrorCode>    <Message>error message</Message> </SharkControl>
Examples	Set the light to the middle of the tray (0.5,0.5) : http://localhost:8095/command/logimat/a1/light/go?xpos=0.5&ypos=0.5   Set the light to the middle of the tray (0.5,0.5) with tilt activated: http://localhost:8095/command/logimat/a1/light/go?xpos=0.5&ypos=0.5&tilt=true

 

/command/logimat/\<module>/lift?Height=\<height>

Set the height of the optional lift.

The lift cannot work with a tray in the opening or when the Logimat is operating.

Command	http://<host>:<port>/command/logimat/<module>/light/go
Parameters	height=<0.8 .. 1.0> The height of the lift in meters
Response	<SharkControl>    <Status>OK|Error</Status>    <ErrorCode>error code</ErrorCode>    <Message>error message</Message> </SharkControl>
Example	Set the lift height to 0.9 meter: http://localhost:8095/command/logimat/a1/lift?height=0.9

/command/logimat/\<module>/reseterror

This will reset a PLC error.

Command	http://<host>:<port>/command/logimat/<module>/reseterror
Parameters	none
Response	<SharkControl>    <Status>OK|Error</Status>    <ErrorCode>error code</ErrorCode>    <Message>error message</Message> </SharkControl>
Example	Reset an error condition: http://localhost:8095/command/logimat/a1/reseterror

Error Codes

The following error codes may be returned.

Error Code	Description
1	OK
1000	Syntax error
1018	General error code. Will for example be returned due to an unknown REST command. This can happen during initialization, before the Logimat module is started.
1028	Not yet initialized.
1203	Automat is in manual mode.
1204	Goods height is exceeded.
1235	Goods height has changed. This means that the tray will not be returned until the change of height has been accepted.

Command Interface

The Telnet Interface to Shark Control supports low level control of the Logimat for debugging. Some convenient commands are (the examples is if the module is called A1):

Get a list of all trays: 

>LOGIMAT:A1:TRAY:LIST?

**Get information about a specific position: **

>LOGIMAT:A1:TRAY:POSITION? \<position number>

Returns: \<position>,\<tray>,\<height in mm>

Set a specific position:

>LOGIMAT:A1:TRAY:POSITION \<position>,\<tray>,\<height in mm>

Simulation Mode

A simulation mode is available where the physical Logimat is simulated. The purpose is not make a 100% simulation, but to test an installation before the physical automats are available. It can also be used with Shark installations used for testing.

To use the simulation mode, set the Shark Control device type to "AutomatSimulateIHO".

The simulator needs some knowledge about the possible configuration of the automat. Normally this information will be retrieved from the PLC in the machine, but when the machine is not available the information is needed somehow else. Shark Control allows the configution to be read from a file. Which file is specified in the Shark Registry.

The parameter is named "LoadTrayConfigFile". The file is a text file that can be generated from a real installation, using the Shark Control command: 

Logimat:A1:Tray:SaveTrayConfig \<filename>

(replace "A1" by the module name)