Curve travel
The MOVIKIT® MultiAxisController addon CurveLimitation enables curve travel without triggering the SLS safety function (safely limited speed) and without exceeding the configured maximum speed. Depending on the direction of movement, the speed of the axis group members is limited so that they do not exceed the setpoint speed. The speed ratios between the drive wheels are determined by the curve geometry and are maintained by the MOVIKIT® StackerCrane MultiAxisController software module. This results in a speed reduction of an axis group member. When switching between different encoder sections (e.g. curves), the external encoder is deactivated in PO 10 (control word MultiAxisController – bit 9 Position controller). When it is activated, the position controller automatically resumes control.
The function is activated in the configuration of the MOVIKIT® MultiAxisController in the "Module configuration" > "Control functions" configuration menu in the "Balance controller" section via the parameter "Curve travel".
When using barcode scanners, note that certain types of safety barcode scanners only allow an active reading beam within the permitted reading range for fault-free operation. Outside of this range, plausibility errors may occur in the barcode scanner, resulting in an internal error. This can only be reset by restarting the device. With the appropriate configuration in the barcode scanner, a digital input for disabling the reading beam can be set up. If this input is supplied with a 24V signal, the reading beam is switched off.
