Storage and retrieval machines
Purely software-based control technology
Lenze has an automation solution for next-generation storage and retrieval machines (SRMs) that consists of intelligent hardware and software.
A motion controller acts as the central point for controlling the travel and lifting drive as well as the axes of the load handling device. The machine module for stacker cranes from the 'Lenze Fast Application Software Toolbox', which controls all the functions of the stacker crane, is integrated. Intuitive user guidance via GUI (Graphical User Interface) and a pre-prepared visualization of the stacker crane make engineering easier. In addition, the integrated online identification of payloads allows the pre-control of the servo controllers to be automatically and dynamically adapted to the constantly changing loads during operation of the SRM. The purely software-based control technology reduces the remaining mast vibrations after feedforward control by means of counter pulses, which enables high acceleration of the travel drive without time-consuming S-grinding. With a special power failure control system for the drives, the drives are stopped in a controlled manner without the mechanical brake being applied immediately. A power failure is detected in less than 5 ms, possible energy consumers are switched off and the travel drive is switched to regenerative operation. This makes it possible to utilize the kinetic energy of the stacker crane and store it in the intermediate circuit of the servo inverter until the stacker crane has dissipated its kinetic energy. Only then do the brakes apply.
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