Identifying speeds and accelerations for the systems within a didactic stand operated by means of stepper motors

Abstract

The present paper aims to highlight the way in which the speeds and accelerations for the numerical control (NC) axes of the systems specific to a didactic stand with Automated Storage & Retrieval System (AS-RS) and guided transport system can be determined experimentally. The stand consists of an AS-RS system where the storage of pallets with products is achieved using 3 storage structures arranged circularly around the transport-transfer system. The pallets reach the entryexit station by means of a two-station guided transport system. Its role is to supply the AS-RS with pallets for storage and to evacuate the pallets from it. Stepper motors were used to drive the NC axes specific to the mentioned systems, and the control was realized by means of programmable logical controllers (PLC). The control programs were made in applications according to these PLC. A Supervisory control and data acquisition (SCADA) type interface was created and thus it was possible to determine experimentally the speeds and accelerations specific to the NC axes of the mentioned systems.