XTS Movers

The movers, together with the modules, are the main components of the XTS system. The movers travel on the parts in the system by activating the corresponding tracks using NC functionalities of TwinCAT 3. Currently, 250 movers with collision avoidance function can be controlled simultaneously within a project.

Each mover is connected to an NC axis via the SoftDrive and has its own SoftDrive object to communicate with the NC and establish compatibility with the basic control commands. The SoftDrive is a software controller for the axes that controls the movers of the lowest level. This means that the SoftDrive can adapt the control of the movers to different loads.

Required settings:

• Task
• Linking with the SoftDrive of the NC axes
• SimulatedStartUpPart
• SimulatedStartUpPosition
• SimulatedStartUpId

Optional settings:

• none