Method and device for setting and / or checking a storage and retrieval machine

Abstract

Method for adjusting and / or checking a control device (22) of a storage and retrieval machine (12), wherein movements of the storage and retrieval machine (12) are measured and data on the movements of the storage and retrieval machine (12) are recorded, characterized in that the data are used for calculating and / or automatically adjusting control parameters.

Description

[0001] The invention relates to a method and a device which serve to adjust and / or check a storage and retrieval machine, in particular a control device of a storage and retrieval machine.

[0002] Storage and retrieval machines of the type in question are used to move to positions in storage racks using a load-handling device in order to store and / or retrieve goods. The movements to be performed by the storage and retrieval machine are characterized in particular by the fact that they vary in a random pattern and involve a multitude of acceleration and deceleration processes. The acceleration and deceleration processes of the individual axes may overlap in their effect on the acceleration experienced by a load to be transported. At the same time, however, the speed at which the storage and retrieval processes can be carried out is a decisive productivity factor for such a storage and retrieval machine. Therefore, it is desirable to be able to achieve high movement speeds and, where possible, to achieve high acceleration and deceleration values.Storage and retrieval machines therefore pose a challenge with regard to their drive technology.

[0003] Such a storage and retrieval machine typically has multiple drive units. The drive units are used to move the storage and retrieval machine or elements of the storage and retrieval machine, such as a load-handling device, along the individual movement axes of the storage and retrieval machine. Typically, the drive units are controlled by a common control unit. The control unit typically also includes control units for regulating the individual drive units. These control units typically have adjustable control parameters that must be matched to the control behavior of the individual drive units of the respective storage and retrieval machine in order to ensure stable control.In addition, there may also be other control-related parameters that can, for example, serve to ensure the smoothest possible start-up behavior of the storage and retrieval machine and that must be adapted to the specific characteristics of the individual storage and retrieval machine, particularly its drive technology. This even applies to storage and retrieval machines of the same design, since the high performance requirements mean that the differences caused by manufacturing tolerances between formally identical storage and retrieval machines mean that the corresponding settings must be optimized individually. It may also be necessary to adjust the parameters during the course of a storage and retrieval machine's operation. This can be due, for example, to wear and tear on the components of the storage and retrieval machine. For these reasons, regular parameter checks are necessary.

[0004] However, the work involved in adjusting and / or checking a storage and retrieval machine is labor- and time-intensive. This is not only disadvantageous in terms of the downtime of the storage and retrieval machine, but also requires highly experienced personnel, as finding the correct control and / or regulation parameters regularly requires a high level of expertise and experience, particularly a good "feel" for the movements of the storage and retrieval machine. It is often even necessary for people to "ride" on the storage and retrieval machine to gain a sensory impression of the movement behavior, for example, the jerking of the storage and retrieval machine when stopping and / or starting. For example, the initial adjustment of the parameters in question during the commissioning of a storage and retrieval machine can regularly take an entire day.

[0005] The publication DE 10 2015 008 506 A1 describes a method for preventing deviations between the target and actual values ​​of a drive's acceleration curve, particularly to prevent vibrations in a storage and retrieval machine. The deviation between the target and actual values ​​is detected by a sensor, and the reference variable values ​​are corrected accordingly based on this deviation.

[0006] US 5 044 859 A describes a storage and retrieval machine in which a higher-level control system causes the storage and retrieval machine to make corrective movements if measured position values ​​deviate from the controlled position values.

[0007] DE 10 2004 048 519 A1 shows a drive control for a storage and retrieval machine in which the manipulated variable, i.e. the reference variable or the target value, is influenced.

[0008] JP H11 - 301 815 A discloses a control system for a storage and retrieval machine with a specific control loop architecture.

[0009] The object of the present invention is therefore to provide a method and a device for setting and / or checking a control device of a storage and retrieval machine, which simplify the setting and / or checking of the storage and retrieval machine.

[0010] The problem is solved by a method and a device having the features of the independent claims. The features of the dependent claims relate to advantageous embodiments.

[0011] The method according to the invention provides that movements of the storage and retrieval machine are measured and data about the movements of the storage and retrieval machine are recorded.

[0012] Measuring the movements of the storage and retrieval machine and collecting data related to these movements makes it possible to quantitatively record the effects of the parameter settings of a control device on the movements of the storage and retrieval machine. This makes it possible, in particular, to make the necessary settings more specifically and to directly and quantitatively verify their effects on the movement behavior of the storage and retrieval machine. For example, it is possible to directly and quantitatively record how a change in a control parameter of the control device affects the jerk behavior of the storage and retrieval machine or the maximum acceleration experienced by a load picked up by the storage and retrieval machine.Because this data is available quantitatively, adjustment work can also be performed by less experienced personnel, for example, who then don't necessarily need the necessary experience and, in particular, the sensory "feel" for the movements of the storage and retrieval machine, as is the case with conventional adjustment work. Such quantitative data on the movements of the storage and retrieval machine are also more objective than the subjective sensory impression of a person entrusted with the adjustment, and are also more reproducible and reliable, since they do not depend, for example, on the "condition" of the people entrusted with the work.

[0013] In particular, the movements of a load-handling device of the storage and retrieval machine are measured, and data on the movements of the load-handling device of the storage and retrieval machine are recorded. Since the load picked up by the load-handling device performs the same movements as the load-handling device of the storage and retrieval machine itself, the load-handling device experiences the same acceleration values ​​as a load picked up by the load-handling device. Therefore, the data obtained by measuring the movements of the load-handling device is particularly relevant with regard to the acceleration values ​​that are "reasonable" for a picked-up load.

[0014] When measuring the movements of the storage and retrieval machine, data on the acceleration, speed, and / or position of at least one point on the storage and retrieval machine are recorded. The data is recorded, in particular, as a function of time. Recording the data as a function of time allows for the precise correlation of the data obtained from the movement measurement to the actual control of the storage and retrieval machine's drives during data evaluation. Acceleration, speed, and / or position are the preferred parameters for quantitatively recording the movements of the storage and retrieval machine.

[0015] Alternatively and / or additionally, other data can also be obtained when measuring the movements of the storage and retrieval machine. For example, data on deformations, in particular elastic deformations, of the storage and retrieval machine can be obtained. This can be particularly interesting if the storage and retrieval machine has a mast on which the load-handling device is arranged. Such masts of storage and retrieval machines can vibrate due to the movements of the storage and retrieval machine and can therefore deform elastically. The elastic deformations can also be measured using suitable sensors. Suitable sensors can be strain gauges, for example. The parameters of the control device can be set on the basis of this data in such a way that a certain permissible degree of deformation of a part of the storage and retrieval machine, in particular the mast of the storage and retrieval machine, is not exceeded.

[0016] Alternatively and / or additionally, data about the stacker crane can be derived from the data obtained by measuring its movements. For example, data about the natural frequency, vibration amplitude, and / or damping of a part of the stacker crane, in particular a mast of the stacker crane, can be obtained. This data can be determined, for example, by evaluating data relating to measured acceleration values.

[0017] Alternatively and / or additionally, data relating to the temperature of the storage and retrieval machine can be recorded. The temperature can, in particular, be the temperature of a motor and / or the temperature of a gearbox. This makes it possible, in particular, to select the parameters of the control device so that maximum permissible temperatures are not exceeded. Any errors in the thermal design of individual components of the storage and retrieval machine can also be identified. This way, for example during commissioning, a thermal weak point in the storage and retrieval machine can be identified and rectified before it causes problems during later operation. Alternatively and / or additionally, the functions of sensors on the storage and retrieval machine can be checked. These can be, for example, limit switches and / or other position sensors, such as laser sensors for position measurement.In particular, the accuracy of these sensors can also be checked.

[0018] When measuring the movements of the storage and retrieval machine, data on the operation of the storage and retrieval machine's control system can be recorded. The data can be recorded, in particular, over time. Time-dependent data recording has the advantage that, when evaluating the data, correlations can easily be established with other time-dependent data, in particular with time-dependent data on the acceleration, speed, and / or position of at least one point on the storage and retrieval machine.

[0019] The data relating to the operation of the control device can, in particular, be electrical variables relating to the control of the drives. These include, in particular, the power, voltage, and current supplied to the drives by the control device. In particular, they include the electrical parameters of a converter of the control device or of a converter controlled by the control device. This makes it possible to quantitatively record and evaluate a direct relationship between the control of the drives and the resulting movements of the storage and retrieval machine.

[0020] The method can provide for a predefined movement pattern to be executed by the storage and retrieval machine. The execution of a predefined movement pattern can serve to obtain comparable data about the movements of the storage and retrieval machine when applying different parameters of the control device for controlling and / or regulating the drives of the storage and retrieval machine. In particular, by repeatedly running through a predefined movement pattern, a step-by-step optimization of the parameters of the control device in question can be achieved. In particular, for this purpose, an analysis of the data about the movements of the storage and retrieval machine takes place after and / or during the running through the predefined movement pattern. Depending on the result of this analysis, new parameters are specified for the control device and the movement pattern is run through again using the new parameters.In this way, it is possible to determine, particularly quantitatively, how changes in the parameters of the control device affect the movements of the storage and retrieval machine.

[0021] The method for adjusting and / or checking a control device of a storage and retrieval machine can be used, in particular, for commissioning the storage and retrieval machine. Especially when commissioning a storage and retrieval machine of the type in question, the described work for adjusting and / or checking the storage and retrieval machine, in particular the control device of the storage and retrieval machine, must be carried out "from scratch." This is due, in particular, to the properties of the storage and retrieval machines in question, which vary from one storage and retrieval machine to another, as described above.

[0022] In particular, data relating to the storage and retrieval machine can be obtained and / or made available using a remote data transmission device. This means, in particular, that data is exchanged with, obtained from, and / or made available to a data processing device. The data processing device is, in particular, located at a location remote from the storage and retrieval machine. This can, for example, be a data processing device within the sphere of the manufacturer of the storage and retrieval machine. The remote data transmission device can, for example, be a connection via the Internet. This makes it possible, for example, to draw on experience gained when carrying out the method on other storage and retrieval machines when carrying out the method.Furthermore, specific data relating to the respective stacker crane can be made available on-site during the process. This enables flexible use of the process, as the required data about the respective stacker crane does not need to be kept on-site or carried by the personnel entrusted with the work, for example, on a data storage device. This allows the personnel entrusted with the process, who are typically field staff, more flexible in terms of time and location with regard to their deployment planning.

[0023] Furthermore, data obtained during the implementation of the method from a multitude of applications of the method on a multitude of different and / or similar storage and retrieval machines can be made available to the data processing device. The data processing device can then be used, in particular, to evaluate this data relating to a multitude of storage and retrieval machines.

[0024] The data is used to calculate and / or automatically adjust control and / or regulation parameters. These can, in particular, be PID control parameters. The calculation and / or automated adjustment significantly facilitates the practical implementation of the process.

[0025] In particular, a heuristic method and / or an approximation method can be used to calculate and / or automatically adjust the control and / or regulation parameters. In control engineering, a number of such methods are known, which are based on more or less complex mathematical models, algorithms and / or approximation formulas. For example, the Ziegler and Nichols method exists as a heuristic method. Alternatively and / or additionally, the method of symmetric optimum or the method of pole specification (also known as eigenvalue specification) can also be used. These methods can, in particular, also include experimental steps. This means, in particular, that movements of the storage and retrieval machine are carried out and corresponding data on the movements and / or the operation of the control device are recorded in order to further adapt the control and / or regulation parameters in subsequent steps.In particular, combinations and / or modifications of the above-mentioned methods may also be used.

[0026] When calculating and / or automatically setting the control and / or regulating parameters, both data about the acceleration, speed, and / or position of at least one point of the storage and retrieval machine and data about the operation of the control device of the storage and retrieval machine can be used. The use of both types of data makes it possible to incorporate data relating to the actual movement of the storage and retrieval machine into the calculation and / or automated setting, along with data relating to the control of the storage and retrieval machine by the control device used to generate this movement. This makes it possible to use methods for calculating and / or automatically setting the control and / or regulating parameters that utilize a quantitative evaluation of both types of data, particularly in relation to one another.

[0027] The method can provide for data to be stored, particularly for documentation purposes. This particularly applies to data recorded during the execution of a predefined movement pattern. In this way, for example, the acceptance of a storage and retrieval machine can be logged. The execution of predefined "standard movement patterns" in particular ensures comparability between data recorded on various different and / or similar storage and retrieval machines. Furthermore, the use of predefined movement patterns can ensure repeatability for verification purposes. In this way, for example, it can be checked at a later point in time whether, under otherwise identical conditions, the measured movements of the storage and retrieval machine differ from those during acceptance.The stored data can include all data acquired during the process, i.e., data on the movement of the storage and retrieval machine, but also all other data mentioned above, such as temperatures or parameters of the control system. In this context, storing the data makes it possible, in particular, to support the search for the cause of problems that arise later during the operation of the storage and retrieval machine. This particularly concerns the question of whether these are due to subsequent tampering with the storage and retrieval machine, for example, unauthorized attempts to change set parameters, or merely to wear and tear on components of the storage and retrieval machine.

[0028] Data storage can be secured, in particular, against subsequent manipulation. Such data protection can be achieved using well-known IT methods. Data protection is particularly advantageous with regard to legal certainty if the data stored for documentation purposes is used in the event of a dispute.

[0029] The device for adjusting and / or checking the storage and retrieval machine has at least one sensor for measuring a movement of the storage and retrieval machine. This sensor can, in particular, be an acceleration sensor. Acceleration sensors represent a cost-effective and easy-to-use option for measuring the movements of the storage and retrieval machine. It is understood that the device can also have additional sensors, for example, temperature sensors and / or sensors for detecting mechanical deformations.

[0030] The device may comprise a data processing unit. The data processing unit may be a data processing unit created specifically for the purpose of setting and / or checking storage and retrieval machines, or a data processing unit enabled by appropriate software to carry out a method for setting and / or checking a storage and retrieval machine, in particular as described above. The data processing unit itself may be a data processing unit that can be universally used for a variety of purposes, in other words, standard hardware. The latter may be a PC, in particular a portable one, a tablet, a smartphone, and / or a similar universally applicable data processing unit.

[0031] In particular, the device can comprise a universally applicable data processing unit and an additional unit, wherein the additional unit has at least one interface to a sensor and / or the control device of the storage and retrieval machine. This makes it possible, in particular, to connect "standard hardware," such as commercially available tablet PCs, to sensors and / or the control device via the additional unit if these do not have an interface compatible with the "standard hardware" (e.g., USB).

[0032] The data processing unit can thus, optionally using an additional unit, read the measured values ​​from the sensors and in this way record the data on the movements of the storage and retrieval machine, in particular data on the acceleration, the speed and / or the position of at least one point on the storage and retrieval machine. Alternatively and / or additionally, the data processing unit can, optionally via the additional unit, record data on the operation of the control device, in particular data on the operation of a converter of the control device, when measuring the movements of the storage and retrieval machine. In particular, the recorded data can be further processed in the data processing unit. For example, the data processing unit can calculate and / or automatically adjust the control and / or regulating parameters of the control device.

[0033] In this context, it is understood that the data processing unit can also be connected to sensors and / or control devices via a plurality of additional units in order to ensure the respective interface compatibility.

[0034] The data processing unit has, in particular, one or a plurality of interfaces which allow the data processing unit to be connected to the sensors required for carrying out the method and / or to the storage and retrieval machine, in particular to the control device of the storage and retrieval machine.

[0035] The interface can, for example, be an analog interface for transmitting an analog measurement signal to the data processing unit. It goes without saying that in this case, the data processing unit advantageously has appropriate evaluation electronics for evaluating the analog measurement signal, for example, an analog-to-digital converter.

[0036] Furthermore, the interface can be a wired, digital interface. Standard interfaces such as USB, Ethernet, and / or a fieldbus are possible options.

[0037] Furthermore, the interface can be a wireless interface, especially a wireless digital interface. Standard technologies such as Wi-Fi or Bluetooth are also possible.

[0038] The data processing unit serves, in particular, to evaluate the measurement signals and / or data that the data processing unit receives from the sensors and / or the storage and retrieval machine. For this purpose, the device, in particular the data processing unit, can have a data storage unit. In this context, the data storage unit serves, in particular, to store the data acquired by the data processing unit and the data obtained therefrom.

[0039] In this context, the data processing device can be designed, in particular, to obtain and / or provide data via a remote data transmission device, for example, via the Internet. In particular, it is designed to exchange data with a remote data processing device, for example, a server in the sphere of the manufacturer of the storage and retrieval machine, according to the method described above.

[0040] The device, in particular the data processing unit, can be designed to be connected to the storage and retrieval machine, in particular to the control device of the storage and retrieval machine, in order to effect movements of the storage and retrieval machine and / or to change parameters of the storage and retrieval machine, in particular of the control device of the storage and retrieval machine. This makes it possible, in particular, for the device to cause the storage and retrieval machine to execute a predetermined movement pattern.

[0041] The connection to the storage and retrieval machine, in particular to the control device, can be established, for example, via a diagnostic access or a fieldbus. It is also conceivable for the device to be configured to assume the function of the control device, at least to a large extent, and to directly control the drives or a converter that supplies the drives with electrical power. The parameters determined by the data processing unit for the control and / or regulation of the storage and retrieval machine can then be transferred manually or, advantageously, automatically to the control device of the storage and retrieval machine. In the latter case, in particular, the device, in particular the data processing device, can be configured to overwrite parameters of the control device of the storage and retrieval machine.Alternatively and / or additionally, it is possible for the device to merely specify the movement patterns for the control unit, while the actual control of the drives is carried out via the control unit of the storage and retrieval machine. In this case, in particular, the device has an interface that allows it to be connected to the control unit in such a way that the device can perform the function of a higher-level controller with respect to the control unit of the storage and retrieval machine.

[0042] Further practical embodiments and advantages of the invention are described below in conjunction with the drawings. It shows: Fig. 1 a schematic representation of the operation of a device according to the invention.

[0043] The exemplary device 10 for adjusting and / or checking a storage and retrieval machine 12 has interfaces with which it can receive measurement signals from sensors 14, 16, 18. These measurement signals are converted into data relating to the movements of the storage and retrieval machine and are recorded by the device 10.

[0044] For example, the sensor 14 can be an acceleration sensor 14, which can be mounted, for example, at the upper end of the mast 20 of the storage and retrieval machine 12. As in the example shown, the sensor 16 can be a bending sensor 16 that detects an elastic deformation of the mast 20. For example, the sensor 18 can be a position sensor 18. This can, for example—as in the example shown—detect the position of the storage and retrieval machine 12 along a horizontal direction, for example, along a guide rail of the storage and retrieval machine 12.

[0045] As in the example shown, the device 10 can be connected to a control device 22 of the storage and retrieval machine 12 via a suitable data interface. The control device 22 can, in particular, comprise a converter for supplying a drive 24 of the storage and retrieval machine 12 with electrical energy.

[0046] The device 10 can now acquire data about the movements of the storage and retrieval machine 12, which are obtained from measuring the movements of the storage and retrieval machine 12 with the sensors 14, 16, 18. The data are evaluated by the device 10, and control and / or regulation parameters determined on the basis of this evaluation are set by the device 10 in the control device 22. For this purpose, the device 10 can, in particular, cause the storage and retrieval machine 12 controlled by the control device 22 to execute predetermined movement patterns. At the same time, measurement signals and / or data originating from the control device 22 can be acquired by the device 10 and likewise evaluated and / or stored.

[0047] An exemplary method, which can be carried out in particular with the exemplary device 10, can provide, for example, that the device 10, in particular a data processing unit of the device 10, is connected to the control device 22 and / or a data processing device remote from the storage and retrieval machine 12. Reference values ​​for the control and / or regulating parameters, for example expected values ​​and / or catalog values, can be obtained from the data processing device. An existing parameterization and / or the error status of the control device 22 can be read out and compared by the device 10, in particular by the data processing unit, with the reference values ​​for the control and / or regulating parameters. With such a procedure, an incorrectly parameterized drive of the storage and retrieval machine 12 could already be identified.

[0048] Before, after, or during the method steps described above, the data processing unit can also be connected to sensors, for example, sensors 14, 16, and / or 18. The connection can be established, in particular, via an additional unit.

[0049] In a method step that particularly follows the method steps described above, initial values ​​for the control and / or regulation parameters can be specified to the control device 22. The initial values ​​can be the previously obtained reference values. These can be obtained, in particular, from the data processing device. The initial values ​​are selected, in particular, such that a sufficient distance from the stability limits of the control is maintained. Experts also refer to this as "soft" control.

[0050] In a further method step, which in particular follows the specification of the output values ​​for the control and / or regulation parameters, the stability of the control and / or regulation is checked by the control device 22.

[0051] In a further method step, which in particular follows the specification of the initial values ​​for the control and / or regulation parameters, movements of the storage and retrieval machine 12 can be carried out for the purpose of checking and / or calculating and / or automatically setting the control and / or regulation parameters. In particular, the speed of the movements can be increased in order to optimize and / or check the control and / or regulation parameters in a step-by-step approach. In connection with the movements of the storage and retrieval machine 12, further parameters, which in particular flow into the calculation and / or adjustment models, such as friction and / or transmission ratios, can also be taken into account. In particular, inertias and / or natural frequencies can also be measured during the test runs, in particular during test runs carried out at comparatively higher speeds.

[0052] In particular, after certain specified speeds have been reached during the movements, which correspond in particular to the maximum speeds of the storage and retrieval machine 12 or the maximum speeds for which the storage and retrieval machine 12 is designed, a check of the storage and retrieval machine can be carried out, in particular at maximum movement speed. In particular, the vibration behavior of a mast, its amplitude, damping, and natural frequency can be checked. Sensors, such as a laser sensor for position measurement and / or other functional components of the storage and retrieval machine, for example, limit switches, motor and / or gear temperatures, can also be monitored.

[0053] The method can provide, in particular after performing the above method steps or a selection from the method steps described above, for executing a predefined movement pattern and logging the data acquired in this process. Such a predefined movement pattern is, in particular, a so-called acceptance trajectory, which serves the purpose of accepting the storage and retrieval machine. In this context, the data acquired in this process is documented, in particular, in the form of permanent storage. In this way, for example, the proper condition of the storage and retrieval machine 12 can be documented during acceptance, for example, during handover to a customer.

[0054] It is understood that in the above-described sequence of process steps, further intermediate steps can also be carried out between the individual process steps described above.

[0055] The features of the invention disclosed in the present description, the drawings, and the claims may be essential, both individually and in any combination, for the realization of the invention in its various embodiments. The invention is not limited to the described embodiments. It may be varied within the scope of the claims and taking into account the knowledge of the person skilled in the art. List of reference symbols 10 Device 12 storage and retrieval machines 14 Accelerometer 16 bending sensor 18 Position sensor 20 masts 22 Control device 24 drive

Claims

[1] Method for setting and / or checking a control device (22) of a storage and retrieval machine (12), wherein movements of the storage and retrieval machine (12) are measured and data about the movements of the storage and retrieval machine (12) are recorded, characterized by that the data is used to calculate and / or automatically adjust control parameters. [2] Method according to claim 1, characterized by that a load-handling device of the storage and retrieval machine (12) is measured and data on the movements of the storage and retrieval machine (12) are recorded. [3] Method according to claim 1 or 2, characterized by that when measuring the movements of the storage and retrieval machine (12), data on the acceleration, the speed and / or the position of at least one point of the storage and retrieval machine (12), in particular as a function of time, are recorded. [4] Method according to one of the preceding claims, characterized bythat when measuring the movements of the storage and retrieval machine (12), data on the operation of the control device (22) of the storage and retrieval machine (12), which in particular has a converter, are recorded, in particular as a function of time. [5] Method according to one of the preceding claims, characterized by that a predetermined movement pattern is carried out by the storage and retrieval machine (12) and the functionality of sensors (14, 16, 18) of the storage and retrieval machine (12) is checked. [6] Method according to one of the preceding claims, characterized by that the method for commissioning the storage and retrieval machine (12) is used. [7] Method according to one of the preceding claims, characterized by that data relating to the storage and retrieval machine (12) are obtained and / or made available by means of a remote data transmission device, in particular via the Internet, in particular exchanged with a data processing device. [8] Method according to one of the preceding claims, characterized by that the data is used to calculate and / or automatically adjust control and / or PID control parameters. [9] Method according to claim 8, characterized by that a heuristic method and / or an approximation method is used to calculate and / or automatically adjust the control and / or regulation parameters. [10] Method according to claim 8 or 9, characterized by that in the calculation and / or automated setting of the control and / or regulating parameters, both data about the acceleration, the speed and / or the position of at least one point of the storage and retrieval machine (12) and data about the operation of the control device (22) of the storage and retrieval machine (12), in particular the operation of the converter, are used. [11] Method according to one of the preceding claims, characterized bythat a predetermined movement pattern is carried out by the storage and retrieval machine (12) and that the data recorded are stored for documentation purposes, in particular protected against subsequent manipulation. [12] Device (10) for setting and / or checking a control device (22) of a storage and retrieval device (12) according to a method according to one of the preceding claims, characterized by that the device (10) has at least one sensor (14, 16, 18) for measuring a movement of the storage and retrieval device (12), in particular an acceleration sensor (14). [13] Device (10) according to claim 11, characterized by that the device (10) has at least one acceleration sensor (14). [14] Device (10) according to claim 12 or 13, characterized by that the device (10) has an interface for connecting the device (10) to a computer network, in particular an Ethernet or WLAN interface.

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