Introduction

To reduce oscillation, a further drive can be used at the top of the tower of the storage/retrieval system. This drive is referred to as the top drive. Top drives are often used in lightweight storage/retrieval systems, particularly high storage/retrieval systems and retrofits.

Structure

[1]	Top drive
[2]	Strain gauge
[3]	Lower travel drive

Operating principle

To determine the deflection of the tower, the measured value of a strain gauge is scanned in via the analog value card of the top drive. The inverter on the top drive scales the analog value. The scaled analog value is converted into a compensation value in the MOVI-C^® CONTROLLER of the MOVIKIT^® StackerCrane MultiAxisController to reduce the oscillation. Based on this, corresponding setpoint values are then generated for the axes. This procedure enables even very high and narrow storage/retrieval systems to be positioned precisely and quickly.