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GSEE-TECH absolute multi-turn PROFIBUS-DP encoder - applied to stacker high-rise warehouse

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Automated high-rise warehouse, as the core of logistics system, occupies a very important position in manufacturing automation systems, advanced logistics system could rise the standard of production management. Because of its multi-rows and multi-layers structure, coupled with automatic access stacker, high-rise warehouse greatly improve the flexibility and automation standard. The application of automated high-rise warehouse made of rail laneway stacker is more and more popular, but there is a main issue is how to ensure stacker addressing accurate and reliable while accessing materials. SO GSEE-TECH provide you with PROFIBUS-DP absolute multiturn encoders to improve recognition accuracy and ensure that stacker operate stably and reliably in practical application. 

Stacker composition and position measure

Stacker is made up of operation unit,lifting unit,loading platform equipped with accessing material unit, frame (body) and electric equipment. Stacker in three-dimensions motion needs precise positioning and fast delivery of goods to the designated location.


Stacker major units:

Stacker includes the following main components:

Photoelectric sensor: detect goods and addressing slice;

Proximity sensor: detect fork midpoint;

Limit switch: detect moving parts limit;

Laser Ranging: detect horizontal position of stacker;

Encoder: detect the position of stacker forks;

Motor: drive stacker;


Lift position & Lift velocity 

Stacker lifting velocity is based on the positon that lifter position encoder feedback. Target postion value has been stored within each layer PLC system while debugging, then compare encoder feedback value with it while positioning for controlling stacker lifting direction. When the difference between the encoder feedback value and target value is less than postioning range, stacker would reach the setpoint and park;

Lifting velocity is determined by the difference between the encoder feedback value and target value.The bigger the difference, the higher the vertical velocity, then the difference is close to zero, the speed is correspondingly close to zero. The output speed of the frequency converter is given by DP bus through PLC difference calculation. Thrgouh feedback comes from moter encoder, rotating speed should be equal to the given speed by PLC.


Fork postition & Fork velocity


Fork stacker is positioned according to the position of the fork position encoder feedback. The fork target position value or so has been deposited into PLC system while debugging, then compare encoder feedback value with it while positioning for controlling the movement direction of stacker forks.When the difference between the encoder feedback value and target value is less than postioning range, stacker would reach the setpoint and park; fork velocity is determined by difference between encoder feedback value and target value, which is given by DP bus through PLC difference calculation.

 

GSEE-TECH solution — PLC system hadware configuration


Input and output of encoder each occupy two double words

PROFIBUS-DP absolute multi-turn encoder paramenter settings

· Code sequence - select direction of rotation

   Could be changed by the hardware configuration

· Steps per revolution - single turn resolution setting

   single turn resolution setting up to 8192

· Total measuring rang - overall resolution setting

   Total resolution setting up to 33554432


The encoder has the following features:

· PROFIBUS-DP interface use the latest fieldbus protocol

· Photoelectric sensor technology, single-turn resolution up to 16Bits

· Multi-turn mechanical gear system, the number of turns up to 14Bits

· Connection mode optional - wiring, M12 and other modes

· Wide operating temperature range -40 ° C ~ + 85 ° C



GSEE-TECH absolute encoders ensure accurate positioning of roadway stacker


Automated high-rise warehouse has application in tobacco, medical care, food, information and communications, furniture manufacturing, machinery manufacturing and other industries. The encoder positioning technology in the stacker control system has achieved the absolute recognition site stacker, improved positioning accuracy and the reliability of the stacker. The system operate stably and efficiently could meet the user's requirements. GSEE-TECH could provide customers with a complete solution in automated three-dimensional library.