Model 9600/9700 Swing-Reach ® Lift Truck
Section 8. Theory of Operation System Architecture
Load Handler
•
The following components control the Load Handler system:
Steer Power Amplifier (SA) - amplifies the steering commands from the TM and controls the steer motor.
•
Guidance Manager (GM) - comprised of two physically and electrically connected printed circuit cards:
•
Carriage Manager - activates solenoids to control rate and direction of traverse, rotate, and reach/retract, based on operator request and feedback pots. It also communicates Load Handler position to the TM.
•
Tractor Manager - energizes the Load Handler Contactor (LHC) and updates the Operator Display.
•
Lift Power Amplifier - monitors and controls the LPC so that B+ is supplied to the LHC.
• Filter Card - conditions and amplifies the AC guidance voltages received from the Antenna Cards and converts them to DC voltages used by the Guidance Card. It also supplies digital signal conditioning inputs to the Antenna Cards as dictated by the frequency selection in Configure Mode and other program constraints. • Guidance Card - calculates truck position relative to the guide wire using the voltages received from the Filter Card. The Guidance Card informs the TM of the necessary steering corrections to keep the truck over the wire, guidance system error codes, DFW, and HA information.
Steering The following components control the Steering system: •
•
Tractor Manager - determines direction and rate request sent to the Steer Power Amplifier (SA), based on multiple inputs. Calculates position using the Home Steer Prox and Steer Motor Encoder.
•
Antenna Cards - there are two Antenna Card assemblies. Each has 4 coils. The center pair are the Near Wire Coils and the outer coils are the Guidance Coils. These sensor coils have an AC voltage induced into them by the magnetic field being radiated from the guide wire. These AC voltages are amplified and sent to the Filter Card.
•
Steer Motor Encoder - when the steer motor armature is rotating, the steer motor encoder produces a pair of quadrature phased square waves used by the TM to determine steer motor speed and direction of rotation. The TM checks this information against the steering commands from the GM to verify correct operation.
•
Home Steer Prox - used by the TM to determine “Home” or straight ahead position of the drive unit.
•
Guide Wire - a wire that is installed in the facility floor that radiates a magnetic field when an AC current flows through it.
Carriage Manager - calculates encoder requests and communicates them to the TM.
Wire Guidance The following components control the Guidance system: •
Auto/Manual Switch (S4) – used by the operator to select manual or wire guided steering.
•
Carriage Manager - monitors the state of the Auto/Manual switch and advises the TM if it is open (Auto) or closed (Manual).
•
Tractor Manager - controlling manager for the steering and travel systems. When the Auto/Manual switch is in the Auto position, it uses truck position information supplied by the GM to provide steering control. The TM also provides direction and speed information to the GM that enables it to provide steering commands for forward or reverse travel.
Publication: 1089040, Issued: 08 Apr 2016
8-5
