| 摘要 |
A control system for a storage and retrieval machine is disclosed in which a supervisory control means is responsive to operating commands from a remote source to provide operating instructions for the control of the base, carriage and shuttle of the storage and retrieval machine. Separate control means for the base, the carriage and the shuttle respectively contain base, carriage and shuttle operating parameters. The base, carriage and shuttle control means are responsive to operating instructions from the supervisory control means to respectively control movement of the base, carriage and shuttle in accord with the associated base, carriage and shuttle operating instructions and parameters. Base drive means, carriage drive means and shuttle drive means are also provided and each include a drive control means which produces drive control instructions. The base, carriage and shuttle drive means are respectively responsive to control instructions from the base, carriage and shuttle control means and their associated drive control instructions to move the associated base, carriage and shuttle.
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