| 摘要 |
A control system for a storage and retrieval machine is disclosed in which a supervisory control 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. Control for the base contains base operating parameters and is responsive to base operating instructions from the supervisory control to control movement of the base in accord with the base operating instructions and the base parameters. Control for the carriage, which is movably mounted on a vertical mast of the storage and retrieval machine, contains carriage operating parameters and is responsive to the operating instructions to control movement of the carriage in accord with carriage operating instructions and the carriage operating parameters. Control for the shuttle which is mounted on the carriage, contains shuttle operating parameters and is responsive to the operating instructions to control movement of the shuttle in accord with the operating instructions and the shuttle operating parameters. The control method includes transmitting operating commands from a remote source to the supervisory control, transmitting operating information to the supervisory control from the base, carriage and shuttle control, and transmitting condition information relating to the operation of the storage and retrieval machine from sensing on the machine through the supervisory control. In response, the supervisory control produces operating instructions to the base, carriage and shuttle control and, in turn, the base, carriage and shuttle control produce control instructions to base, carriage and shuttle drives.
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