Skew offset member 2

The skew offset of the MOVIKIT® StackerCrane MultiAxisController allows a position offset to be configured between the actual position of member 1 and the position of member 2. The offset is used in particular for fine positioning at the hoist.

The function is characterized by the following features:

  • Configuring a constant height compensation between the members of the MultiAxisController
  • Changing the offset during operation via fieldbus or preconfigured
  • Travel of the offset by member 2 of the MultiAxisController
  • Effective in all operating modes (except in referencing mode) when "Enable Skewing" is activated.
  • No influence on the actual position of the MultiAxisController
  • Skew offset visible only in the actual position of member 2
  • Formation of the actual position of the MultiAxisController purely on the basis of member 1
  • InSkew = "TRUE" indicates the end of the offset travel.

The skew offset is configured in the following configuration menus of the MOVIKIT® StackerCrane MultiAxisController:

  • "Module configuration" > "Priority of compensation": Skew
  • Dynamics of the higher-level compensation movement
    • Maximum compensation acceleration/deceleration
    • Maximum compensation speed
  • "MultiAxisController" > "Monitoring functions" > "Control functions"
    • Skew window: Maximum offset
    • Skew window: Specifies in which position range "InSkew" is reported and thus reports the end of compensation travel.

The skew offset is activated in the following configuration menus:

  • One-sided skew offset – via optional process data
    • In the "MOVIKIT® StackerCrane" > "Module configuration" > "Fieldbus interface" > "Optional process data" > "MultiAxisController – X direction and Y direction" configuration menu, activate "Skew offset member 2".
    • INFORMATION: If the dynamic offset is configured in the optional process data in the higher-level "MOVIKIT® StackerCrane effiDRIVE", this overwrites the configured offset and makes it ineffective.
  • One-sided skew offset – parameterized
    • In the "MOVIKIT® StackerCrane MultiAxisController" > "Module configuration" > "Control function" "Skew offset" configuration menu, configure a fixed offset for the 2nd member using the "Offset" and "Offset mode" parameters.