FMS transfer robot fine positioning implementation method and system

Abstract

The invention relates to an FMS transfer robot fine positioning implementation method and system. The system comprises a control system PLC, an upper computer, a distance measuring sensor, a frequency converter and an encoder. The frequency converters are electrically connected with motors in corresponding directions; the encoder comprises a speed encoder A, a speed encoder B and a rotary encoder; the frequency converter comprises a horizontal-axis frequency converter, a vertical-axis frequency converter and a longitudinal-axis frequency converter; the horizontal shaft frequency converter corresponds to a walking motor in the horizontal direction; the vertical axis frequency converter corresponds to the vertical direction motor; the longitudinal shaft frequency converter corresponds to a longitudinal rotating motor; the control system PLC is electrically connected with the upper computer, the sensor, the horizontal axis frequency converter, the vertical axis frequency converter and the longitudinal axis frequency converter. The horizontal shaft frequency converter is electrically connected with the speed encoder and the horizontal laser range finder A respectively; the vertical axis frequency converter is electrically connected with the vertical laser ranging and speed encoder B respectively; the longitudinal shaft frequency converter is electrically connected with the rotary encoder; the device is reasonable in design, compact in structure and convenient to use.

Description

Technical Field

[0001] The present invention relates to a method and system for realizing precise positioning of an FMS transfer robot. Background Art

[0002] In today's industrial production automation, FMS production lines are increasingly being incorporated into various factories, and FMS production lines in the form of transfer robots have become an indispensable part. FMS production lines can perfectly solve the problem of processing multiple types of small batches, and the rate at which they replace mechanical labor is getting faster and faster, which is of great help in improving production efficiency. However, the current positioning method of transfer robots is generally based on the gear rack form. As the length of the production line increases, the length of the required rack also increases, resulting in increased costs. The present invention provides a low-cost, high-precision, and stable positioning method to replace the original gear rack structure.

[0003] The existing technical problems are as follows: the gear rack method of the transfer robot has many processing surfaces and uses a large number of racks, which is costly; the existing transfer robot rack installation requires high precision, which is time-consuming and labor-intensive; the existing transfer robot has low repeatability and positioning accuracy, making it unsuitable for high-precision FMS production lines; The purpose of the present invention is to use a new positioning method to replace the original gear rack method, reduce costs, reduce the investment of manpower and material resources, and achieve low cost and high precision. Summary of the Invention

[0004] The technical problem to be solved by the present invention is generally to provide a method and system for achieving precise positioning of an FMS transfer robot, using a new positioning method to replace the original rack and pinion method, thereby reducing costs, reducing the investment in manpower and material resources, and achieving low cost and high precision.

[0005] In order to solve the above problems, the technical solution adopted by the present invention is: An FMS transfer robot precise positioning realization system includes a control system PLC, a host computer, a distance measuring sensor, a frequency converter and an encoder; the frequency converter is electrically connected to a motor with a corresponding direction; The encoder includes speed encoder A, speed encoder B and rotary encoder; The frequency converter includes horizontal axis frequency converter, vertical axis frequency converter and longitudinal axis frequency converter; The horizontal axis inverter corresponds to the horizontal travel motor; the vertical axis inverter corresponds to the vertical motor; the longitudinal axis inverter corresponds to the longitudinal rotation motor; The control system PLC is electrically connected to the host computer, the sensor, the horizontal axis frequency converter, the vertical axis frequency converter, and the longitudinal axis frequency converter; The horizontal axis frequency converter is electrically connected to the speed encoder and the horizontal laser rangefinder A respectively; The vertical axis frequency converter is electrically connected to the vertical laser ranging and speed encoder B respectively; The longitudinal axis frequency converter is electrically connected to the rotary encoder.

[0006] As a further improvement of the above technical solution: Distance sensor supporting reflector; The reflector includes a horizontal reflector and a vertical reflector installed on the frame; the laser distance sensor includes a horizontal laser distance sensor and a vertical laser distance sensor; The horizontal reflector is equipped with a horizontal laser ranging sensor, and the vertical reflector is equipped with a vertical laser ranging sensor.

[0007] Host computer dispatching control system PLC; The control system PLC is electrically connected to the human-machine interface HMI; Human-machine interface HMI sets point coordinates and modifies parameter control system; The control system PLC sends instructions to the horizontal axis frequency converter, the vertical axis frequency converter and / or the longitudinal axis frequency converter respectively; The laser ranging sensor collects obstacle avoidance and limit information and sends it to the control system; The horizontal axis inverter receives the speed loop of speed encoder A and the position loop of horizontal laser ranging respectively; The vertical axis inverter receives the speed loop of speed encoder B and the position loop of vertical laser ranging respectively; The longitudinal axis frequency converter receives electrical connections from the rotary encoder.

[0008] In the horizontal axis inverter, the line terminals L1 to L3 are connected to the 380V branch terminal UKK through the circuit breaker QF8 for input current; a braking resistor R2 is electrically connected between terminals R1 and R2 for energy consumption braking when the inverter decelerates; X130 port, access to 24V power supply; X134 port is used as the digital input of the horizontal axis inverter. Among them, the +24VOUT output is two-way, one is connected to the limit switch DI16 through the horizontal negative limit switch S1 and the other is connected to the limit switch DI17 through the horizontal positive limit switch; X135 port is used as the digital output of the horizontal axis inverter. DO1 is used to control the brake contactor KM2, which is used to supply power to the horizontal motor brake. U, V, W, and PE ports serve as the output of the horizontal axis inverter and are used to control the horizontal travel motor; X136 port is connected to the motor speed encoder and serves as the speed loop signal source of the horizontal axis inverter; The X2100 port is connected to the laser ranging encoder as the position loop signal source of the horizontal axis inverter.

[0009] Speed ​​encoder A or speed encoder B uses the distance measuring encoder DL100-21AA2101 to connect to the X2100 interface of the corresponding frequency converter as the position loop encoder.

[0010] The corresponding motor's built-in encoder is connected to the corresponding inverter's X136 interface as a speed loop encoder.

[0011] A function block FB284 is set between the control system PLC and the frequency converter and message communication is adopted.

[0012] The travel motor is connected to a drive wheel; A safety range threshold is set in the control system PLC, which includes the point thresholds of the horizontal axis, vertical axis and longitudinal axis; Based on the safety range threshold, the actual position of the transfer robot is judged to see whether it is within the safety range, and the feedback is sent to the control system PLC.

[0013] A method for achieving precise positioning of an FMS transfer robot includes the above-mentioned system; the method comprises the following steps: Step 1: Initialization. The horizontal laser distance sensor corresponds to the horizontal axis, the vertical laser distance sensor corresponds to the vertical axis, and the longitudinal axis is fed back by the rotary encoder to determine the current position. The horizontal, vertical, and longitudinal axis coordinates of each point are preset in the control system PLC through the HMI as the preset point coordinate values. Step 2: First, the corresponding inverter feeds back the real-time position of the horizontal axis, vertical axis, and longitudinal axis to the control system PLC through messages; Step three: The control system PLC compares the feedback real-time position with the coordinate values ​​of all preset points to obtain the difference; secondly, when the difference is within the preset safety threshold, the axis movement in the corresponding direction is allowed; if the difference exceeds the safety threshold, the corresponding axis movement is restricted.

[0014] As a further improvement of the above technical solution: The threshold limits are as follows: a, the longitudinal axis is at zero position, and the horizontal axis is allowed to move; b, the longitudinal axis is at zero position, and the vertical axis is allowed to move; c, the vertical axis is within the point threshold, the horizontal axis is within the point threshold, and the vertical axis is allowed to move within the threshold; d, the horizontal and vertical axes are within the point threshold, and the longitudinal axis is allowed to extend and retract; After step three, step four is executed, that is, the execution process is as follows; S1, the host computer issues a task, the control system PLC determines the target point coordinates according to the task and sends them to the three inverters; S2, longitudinal axis zero return, rotary encoder feedback and zero switch are valid, zero return is completed; S3: After the longitudinal axis returns to zero, the horizontal and vertical axes start and run to their respective point coordinate values; S4, when the current positions of the horizontal axis and the vertical axis are within the safety threshold range of the point position, the longitudinal axis extends.

[0015] The longitudinal axis extends into position, the current position is within the safety threshold of the point, and the vertical axis moves to complete the loading; S6, after loading is completed, the longitudinal axis returns to zero, completing a task; The distance encoder and speed encoder are connected to the drive; The drive feeds back the current position to the control system PLC via the bus.

[0016] The present invention features a rational design, low cost, durability, safety, reliability, simplicity of operation, time-saving, labor-saving, and financial savings, as well as a compact structure, easy installation and maintenance, and high positioning accuracy. The laser ranging sensor is low-cost, saving manpower and material resources. The laser ranging sensor, when paired with a dual closed-loop control system, offers high positioning accuracy; laser ranging is essentially unrestricted by length. Furthermore, installing a laser ranging sensor and a reflector significantly saves manpower and material resources. Compared to the existing rack and pinion structure, the present invention eliminates the need to purchase additional racks based on the length of the production line, nor does it require machining the rack mounting surface. Mechanically, the reflector and ranging sensor require simple installation, and precise positioning can be achieved with the electrical dual closed-loop program, significantly reducing manufacturing costs, as well as subsequent installation, adjustment, and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the use structure of the reflector of the present invention.

[0018] Figure 2 It is a schematic diagram of the sensor structure of the present invention.

[0019] Figure 3 It is a schematic diagram of the circuit framework structure of the present invention.

[0020] Figure 4 It is a control flow diagram of the present invention.

[0021] Figure 5 It is a schematic diagram of the inverter circuit of the present invention.

[0022] Among them: 1. Horizontal reflector; 2. Horizontal laser ranging sensor; 3. Vertical reflector; 4. Vertical laser ranging sensor. DETAILED DESCRIPTION

[0023] like Figure 1-5 As shown, the present invention mainly includes a system including a control system PLC, a host computer, a human-machine interface HMI, a safety range threshold, a distance sensor, a frequency converter and an encoder; the frequency converter is electrically connected to a motor with a corresponding direction; The encoder includes speed encoder A, speed encoder B and rotary encoder; The frequency converter includes horizontal axis frequency converter, vertical axis frequency converter and longitudinal axis frequency converter; The horizontal axis inverter corresponds to the horizontal travel motor; the vertical axis inverter corresponds to the vertical motor; the longitudinal axis inverter corresponds to the longitudinal rotation motor; Distance sensor supporting reflector; The reflector includes a horizontal reflector (1) and a vertical reflector (3); the laser distance sensor includes a horizontal laser distance sensor (2) and a vertical laser distance sensor (4); The transfer robot comprises a frame; a horizontal direction reflector (1) and a vertical direction reflector (3) are mounted on the frame; the horizontal direction reflector (1) is equipped with a horizontal direction laser distance sensor (2), and the vertical direction reflector (3) is equipped with a vertical direction laser distance sensor (4), so as to perform precise positioning; In terms of electrical control, dual closed-loop control is adopted, that is, two feedback loops, speed loop and current loop / position loop, are used to achieve higher level control and more precise response; The control system PLC is electrically connected to the host computer, human-machine interface HMI, safety range threshold, sensor, horizontal axis inverter, vertical axis inverter, and longitudinal axis inverter respectively; The horizontal axis frequency converter is electrically connected to the speed encoder and the horizontal laser rangefinder A respectively; The vertical axis frequency converter is electrically connected to the vertical laser ranging and speed encoder B respectively; The longitudinal axis frequency converter is electrically connected to the rotary encoder; Example 2 is a further improvement of Example 1, wherein: Host computer dispatching control system PLC; Human-machine interface HMI sets point coordinates and modifies parameter control system; The safety range threshold determines whether the transfer robot's position is within the safety range and feeds back to the control system; The control system PLC sends instructions to the horizontal axis frequency converter, the vertical axis frequency converter and / or the longitudinal axis frequency converter respectively; The laser ranging sensor collects obstacle avoidance and limit information and sends it to the control system; The horizontal axis inverter receives the speed loop of speed encoder A and the position loop of horizontal laser ranging respectively; The vertical axis inverter receives the speed loop of speed encoder B and the position loop of vertical laser ranging respectively; The longitudinal axis frequency converter receives electrical connections from the rotary encoder; The wiring principles of the three inverters are the same. In the horizontal axis inverter, the incoming line terminals L1 to L3 are connected to the 380V branch terminal UKK through the circuit breaker QF8 for input current. A braking resistor R2 is electrically connected between terminals R1 and R2 for energy-consuming braking when the inverter decelerates. X130 port, access to 24V power supply; X134 port is used as the digital input of the horizontal axis inverter. Among them, the +24VOUT output is two-way, one is connected to the limit switch DI16 through the horizontal negative limit switch S1 and the other is connected to the limit switch DI17 through the horizontal positive limit switch; X135 port is used as the digital output of the horizontal axis inverter. DO1 is used to control the brake contactor KM2, which is used to supply power to the horizontal motor brake. U, V, W, and PE ports serve as the output of the horizontal axis inverter and are used to control the horizontal travel motor; X136 port is connected to the motor speed encoder and serves as the speed loop signal source of the horizontal axis inverter; X2100 port is connected to the laser ranging encoder as the position loop signal source of the horizontal axis inverter; In Example 3, the speed encoder A or speed encoder B is preferably a distance measuring encoder DL100-21AA2101 (SSI interface, absolute value) connected to the G120 inverter X2100 interface as a position loop encoder. The laser ranging is independent of the transmission structure and feeds back the current ranging position. The motor's built-in encoder OG73 UN 1024 (incremental encoder) is connected to the inverter X136 interface as a speed loop encoder.

[0024] Messages are used between the control system PLC and the inverter. Control instructions are sent to the inverter through the standard function block FB284. The inverter receives the instructions and completes them independently under the guidance of two encoders. The laser ranging form is basically not limited by length.

[0025] Mechanically, this drive system uses a reduction motor to directly drive the drive wheels, using friction to propel the stacker crane, eliminating the traditional rack and pinion transmission. A speed loop controls the drive wheel speed, while a current loop controls the motor current, ensuring the motor responds quickly and accurately to the speed loop's speed commands. This enables more efficient and precise control at various levels. This control method, combined with a laser ranging sensor, allows the transfer robot to achieve repeatable positioning accuracy within ±1mm.

[0026] In Example 4, the present invention can be applied to a stacker device, wherein the stacker device includes two laser ranging sensors, a horizontal motor shaft, a vertical lifting shaft, and a longitudinal telescopic shaft. The method includes: Step 1: Initialization. The horizontal laser distance sensor (2) corresponds to the horizontal axis, the vertical laser distance sensor (4) corresponds to the vertical axis, and the longitudinal axis is fed back by the rotary encoder to determine the current position. The horizontal axis, vertical axis, and longitudinal axis coordinates of each point are preset in the control system PLC through the HMI as the preset point coordinate values. Step 2: First, the corresponding inverter feeds back the real-time position of the horizontal axis, vertical axis, and longitudinal axis to the control system PLC through messages; Step 3: The control system PLC compares the real-time position feedback with the coordinates of all preset points to obtain the difference. Secondly, if the difference is within the preset safety threshold, the axis movement in the corresponding direction is allowed. If the difference exceeds the safety threshold, the corresponding axis movement is restricted. The threshold limits are as follows: a, the longitudinal axis is at zero position, and the horizontal axis is allowed to move; b, the longitudinal axis is at zero position, and the vertical axis is allowed to move; c, the vertical axis is within the point threshold, the horizontal axis is within the point threshold, and the vertical axis is allowed to move within the threshold; d, the horizontal and vertical axes are within the point threshold, and the longitudinal axis is allowed to extend and retract; Step 4: Execute the action flow; S1, the host computer issues a task, the control system PLC determines the target point coordinates according to the task and sends them to the three inverters; S2, longitudinal axis zero return, rotary encoder feedback and zero switch are valid, zero return is completed; S3: After the longitudinal axis returns to zero, the horizontal and vertical axes start and run to their respective point coordinate values; S4, when the current positions of the horizontal axis and the vertical axis are within the safety threshold range of the point position, the longitudinal axis extends.

[0027] S5, the longitudinal axis extends to its full position, the current position is within the safety threshold of the point, the vertical axis moves, and the loading is completed; S6, after loading is completed, the longitudinal axis returns to zero, completing a task.

[0028] During operation, the laser ranging is independent of the transmission mechanism and is not affected by the mechanical structure. The ranging feedback value is only related to the installation position of the laser ranging and reflector, and will not be affected by tooth jumping, slipping, or loosening.

[0029] Laser ranging only recognizes the laser reflected from the reflector to determine the position. When an obstruction or abnormal line connection occurs, the feedback distance will immediately return to zero, triggering the driver to alarm and shut down, which can effectively prevent the intrusion of debris from affecting the positioning action.

[0030] The control system performs safety threshold judgment in real time, not only for the target position, but also when the equipment is in manual or debugging conditions, the driver must meet the safety threshold judgment before it can operate.

[0031] Both the distance encoder and the speed encoder are connected to the driver, which controls the speed loop and position loop, improving response speed and control accuracy, making the axis movement smoother and reducing jamming.

[0032] The driver feeds back the current position to the control system PLC through the bus. The control system PLC can complete the threshold judgment of the current position within 50ms to ensure the safe and stable execution of the action.

[0033] Mechanically, this drive system uses a reduction motor to directly drive the drive wheels, using friction to propel the stacker, eliminating the traditional rack-and-pinion transmission. Furthermore, the installation of a laser rangefinder and reflector significantly saves manpower and resources. Compared to the traditional rack-and-pinion structure, this system eliminates the need to purchase additional racks based on production line length or machine the rack mounting surface. Mechanically, it requires only the simple installation of a reflector and rangefinder, coupled with a dual closed-loop electrical process to achieve precise positioning. This significantly reduces manufacturing costs, as well as subsequent installation, adjustment, and maintenance costs.

[0034] The present invention is fully described for a clearer disclosure, and the prior art is not listed one by one.

[0035] Finally, it should be noted that the above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may be modified or some of the technical features thereof may be replaced with equivalents. It is obvious for those skilled in the art to combine multiple technical solutions of the present invention. However, these modifications or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. Any technical content not fully described in this invention is well-known technology.

Claims

1. A precise positioning implementation system for an FMS transfer robot, characterized in that: It includes a control system PLC, a host computer, a distance sensor, a frequency converter and an encoder; the frequency converter is electrically connected to a motor with a corresponding direction; The encoder includes a speed encoder A, a speed encoder B and a rotary encoder; The frequency converter includes a horizontal axis frequency converter, a vertical axis frequency converter and a longitudinal axis frequency converter; The horizontal axis inverter corresponds to the horizontal walking motor; the vertical axis inverter corresponds to the vertical motor; the longitudinal axis inverter corresponds to the longitudinal rotating motor; The control system PLC is electrically connected to the host computer, the sensor, the horizontal axis frequency converter, the vertical axis frequency converter, and the longitudinal axis frequency converter respectively; The horizontal axis frequency converter is electrically connected to the speed encoder and the horizontal laser rangefinder A respectively; The vertical axis frequency converter is electrically connected to the vertical laser range finder and speed encoder B respectively; The longitudinal axis frequency converter is electrically connected to the rotary encoder.

2. The FMS transfer robot precise positioning implementation system according to claim 1, characterized in that: The distance sensor is equipped with a reflector; The reflector comprises a horizontal reflector (1) and a vertical reflector (3) installed on the frame; the laser distance measuring sensor comprises a horizontal laser distance measuring sensor (2) and a vertical laser distance measuring sensor (4); The horizontal direction reflector (1) is equipped with a horizontal direction laser distance measuring sensor (2), and the vertical direction reflector (3) is equipped with a vertical direction laser distance measuring sensor (4).

3. The FMS transfer robot precise positioning implementation system according to claim 1, characterized in that: Host computer dispatching control system PLC; The control system PLC is electrically connected to the human-machine interface HMI; Human-machine interface HMI sets point coordinates and modifies parameter control system; The control system PLC sends instructions to the horizontal axis frequency converter, the vertical axis frequency converter and / or the longitudinal axis frequency converter respectively; The laser ranging sensor collects obstacle avoidance and limit information and sends it to the control system; The horizontal axis inverter receives the speed loop of speed encoder A and the position loop of horizontal laser ranging respectively; The vertical axis inverter receives the speed loop of speed encoder B and the position loop of vertical laser ranging respectively; The longitudinal axis frequency converter receives electrical connections from the rotary encoder.

4. The FMS transfer robot precise positioning implementation system according to claim 1, characterized in that: In the horizontal axis inverter, the incoming line terminals L1~L3 are connected to the 380V branch terminal UKK through the circuit breaker QF8 to input current; a braking resistor R2 is electrically connected between the terminals R1 and R2, which is used for energy consumption braking when the inverter decelerates; X130 port, connected to 24V power supply; X134 port is used as the digital input of the horizontal axis inverter, where +24VOUT outputs two paths, one path is connected to the limit switch DI16 through the horizontal negative limit switch S1 and the other path is connected to the limit switch DI17 through the horizontal positive limit switch; X135 port is used as the digital output of the horizontal axis inverter, where DO1 is used to control the brake contactor KM2, and through the brake contactor KM2, it is used to supply power to the horizontal motor brake; U, V, W, PE ports are used as the output of the horizontal axis inverter to control the horizontal travel motor; X136 port, connected to the motor speed encoder, as the speed loop signal source of the horizontal axis inverter; The X2100 port is connected to the laser distance measuring encoder as the position loop signal source of the horizontal axis inverter.

5. The FMS transfer robot precise positioning implementation system according to claim 1, characterized in that: Speed ​​encoder A or speed encoder B uses distance measuring encoder DL100-21AA2101 to connect to the X2100 interface of the corresponding frequency converter as position loop encoder.

6. The FMS transfer robot precise positioning implementation system according to claim 1, characterized in that: The corresponding motor's built-in encoder is connected to the corresponding frequency converter's X136 interface as a speed loop encoder.

7. The FMS transfer robot precise positioning implementation system according to claim 1, characterized in that: A function block FB284 is provided between the control system PLC and the frequency converter and message communication is adopted.

8. The FMS transfer robot precise positioning implementation system according to claim 1, characterized in that: The travel motor is connected with a driving wheel; A safety range threshold is set in the control system PLC, and the safety range threshold includes the point thresholds of the horizontal axis, vertical axis and longitudinal axis; Based on the safety range threshold, it is determined whether the actual position of the transfer robot is within the safety range and fed back to the control system PLC.

9. A method for realizing precise positioning of an FMS transfer robot, characterized in that: The method comprises the following steps: Step 1: Initialization: the horizontal laser distance sensor (2) corresponds to the horizontal axis, the vertical laser distance sensor (4) corresponds to the vertical axis, and the longitudinal axis is fed back by the rotary encoder to obtain the current position; the horizontal axis, vertical axis, and longitudinal axis coordinates of each point are preset in the control system PLC through the HMI as the preset point coordinate values; Step 2: First, the corresponding frequency converter feeds back the real-time positions of the horizontal axis, vertical axis, and longitudinal axis to the control system PLC through messages; Step three: the control system PLC compares the feedback real-time position with all the preset point coordinate values ​​to obtain the difference; secondly, when the difference is within the preset safety threshold, the axis movement in the corresponding direction is allowed; if the difference exceeds the safety threshold, the corresponding axis movement is restricted.

10. The method for realizing precise positioning of an FMS transfer robot according to claim 9, characterized in that: In step three, the threshold limits are as follows: a, the longitudinal axis is at zero position, and the horizontal axis is allowed to move; b, the longitudinal axis is at zero position, and the vertical axis is allowed to move; c, the longitudinal axis is within the point threshold, the horizontal axis is within the point threshold, and the vertical axis is allowed to move within the threshold; d, the horizontal axis and the vertical axis are within the point threshold, and the longitudinal axis is allowed to extend and retract; After step three, step four is executed, that is, the execution process is as follows; S1, the host computer issues a task, the control system PLC determines the target point coordinates according to the task, and sends them to the three inverters; S2, longitudinal axis zero return, rotary encoder feedback and zero switch are valid, zero return is completed; S3, after the longitudinal axis returns to zero, the horizontal axis and vertical axis start and run to their respective point coordinate values; S4, when the current positions of the horizontal axis and the vertical axis are within the safety threshold range of the point position, the longitudinal axis extends; S5, the longitudinal axis is extended to the position, the current position is within the safety threshold of the point, the vertical axis moves, and the loading is completed; S6, after loading is completed, the longitudinal axis returns to zero, completing a task; The distance encoder and speed encoder are connected to the drive; The drive feeds back the current position to the control system PLC via the bus.

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