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A traverse system typically contains three linear axes. Optionally a number of rotation units are mounted at the joint point.
To move each axis, a servo controlled actuator is used.
The actuator is equipped with a resolver or encoder feedback.
Furthermore a holding brake is mounted.
The linear axes are typically equipped with an absolute encoder, to avoid a time consuming home search procedure at power-on.
A Motion Control unit, a PC with a real-time control system, is the master for all axes.
It also handles all I/O connections that is part of the control functionality, including the Manual Control Box.
EtherCat, a fast real-time communication protocol, is used to obtain a fast and synchronized system.
A Windows based pc (TI) is the front end to the Motion Control unit, and the two devices are connected through an Ethernet connection.
The TI is running the application software with a GUI that is the operator interface.
As part of the system a dedicated safety plc runs continuously, taking care of the emergency circuits.
The application software includes functionality like moving to a single position, moving through a grid, setting configuration, speed and range, teach-in with the Manual Control Box and display the status of the system, axes and safety.
Optionally the functionality can be extended with topics like Laser based monitoring and correction of the Z-arm deflection with wind on, or Collision avoidance for fixed and custom defined objects.
Parts of the functionality is also accessible from a separate computer system (Host) through an Ethernet connection.
The traverse can be controlled from three sources, one at a time:
The Host computer, the TI PC or the Manual Control Box.
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