Anti-sway control

Without evaluating a sensor, the ­MOVIKIT^® ­Motion ­addon ­AntiSway software module generates additive correction signals on the conventional travel profile that prevent vibration from occurring on the parameterized mechanical system. Vibrations in the drive train that have a dominant resonant frequency are thus suppressed. Even a variable resonant frequency can be suppressed in certain operating modes of the software module.

Tower sway (TowerSway)

The tower of a storage/retrieval system can be caused to oscillate in the direction of travel due to the accelerations during travel along the rail (X-direction). Anti-sway control prevents this swaying and thus enables immediate storage and retrieval when the target is reached.

Pendulum sway (PendulumSway)

Due to the pendulum motion of the load on a rope, oscillation can occur when accelerating and braking the trolley (Y-direction) or the crane bridge (X-direction). Anti-sway control suppresses this oscillation even when the trolley and the crane bridge are moved simultaneously (X- and Y-direction), thereby preventing collisions in the surrounding area and ensuring that the pendulum is stationary at the end of the travel order.

Belly sway (BellySway)

The tower of a storage/retrieval system can be caused to oscillate due to the accelerations when the load handling device is moved for storage and retrieval (Z-direction). Anti-sway control suppresses this oscillation, thereby preventing collisions with the rack during storage and retrieval.