| 摘要 |
According to one embodiment of the present invention, a wire flying system is constituted as follows: an object is hung on a wire such that said object is moved in a three dimensional space, wherein the length of the wire is adjusted by a winch; the three dimensional space includes a first range, a second range in which the length of the wire is within a preset safe length, and a third range in which the length of the wire is within a preset permissible length; a local safe device delivers information on a deviation from the first range to a control unit, if a local safe logic determines that an operating range of the wire is deviated from only the first range; the control unit controls a motor unit by delivering a software limit signal to a servo system unit, so that the operating range of the wire is set to be within the first range again; the local safe device delivers information on a deviation from the second range to the control unit, if the local safe logic determines that the length of the wire is deviated from the second range; the control unit stops the operation of the motor unit by delivering the software limit signal to the servo system unit; and a limit switch senses a hardware limit state and stops rotation of a drum unit by mechanically stopping the operation of the motor unit such that hardware safe control is performed, if the local safe logic determines that the length of the wire is deviated from the third range. |
