The three ball juggling operation is the most difficult to control, because all five axis must be controlled synchronously and the throwing up the third ball require split the juggling kinematics description in more parts and ensure carry them out in control application in right order and time using any type of cam automat.
The control system is distributed and consist of BuR PowerPanel PLC with integrated visualization, five Acopos servo-drives controlling all five real axis and one virtual synchronizing axis and there is also X20 I/O module. All these parts are interconnected using PowerLink industrial Ethernet in version 2 (shortcut is EPL2 ) for real-time control where high throughput is required too.
More information on: http://dce.fel.cvut.cz/juggler/ .
