Visual act Scandinavia AB. Copyright 2015.

Advanced Wagon

Revision 2015:1

A Visual act Advanced wagon provides horizontal stage motion without limitation. Using a patented algorithm,

wagons can move along curves, maintain one face forward as they move, or rotate and move in any direction

simultaneously. Each Advanced wagon has a complete navigation system on board such that motions can be

repeated with high accuracy.

Wagons are built according to the following specifications:

• Full freedom of movement in two dimensions plus unlimited rotation.

• No cables, wires or other mechanical limitations.

• Operation on most floor surfaces, including dance floor.

• All components in a height of 200 mm.

• Configuration, programming and operation from a single interface.

• Up to 16 wagons in operation at any time.

• Synchronization of any number of wagons.

• Speeds of up to 1 m/s.

• Position repeatability to less than 5 mm.

• Reusable components.

Programming the wagons involves creating sequences of movements that are organized as ques. After selecting

the wagon or wagons to be moved the operator uses the mouse to ”drag” the wagon into position virtually,

much like adjusting a curve in a PC drawing program. Alternatively, the operator can use the teach-in function

to save a manual motion. For accurate positions coordinates, angles and distances can be entered directly. Two

or more wagons can be combined into a group such that several wagons appear to function as a single wagon.

Movements can also be tested ”off-line” by running the cues on the screen.

Visual act Scandinavia AB. Copyright 2014.

All the components are modular and easily installed in the wagon framework. They can therefore be reused in

wagons of different shapes and sizes and quickly replaced for service.

Drive unit redundancy can be accomplished by including one or more extra drive units in a wagon. A failed

drive unit can be lifted from the floor and the wagon can continue operation.

All of the wagon components are designed to fit into the wagon frame while allowing for a platform height of

200 mm. Being modular they can be reused in wagons of different shapes and sizes and quickly replaced for

service.

• The DRIVE UNIT is the key to the mechanical operation of the wagon. Each unit includes two

servomotors that provide for locomotion and steering in tandem. The drive unit’s patented design allows

rotation of the wheels at standstill without any damage to the stage floor. Depending on the maximum

speed, drive units can move from 500 to 2000 kg. Up to 10 units can be mounted in a single wagon.

• LIFT CASSETTES, while optional, are highly recommended. They allow drive units to be lifted from

the floor so as to provide redundancy. They also ensure that the pressure of the drive wheel remains

constant, even if the floor is not flat or if the load on the wagon changes.

• The TRIPLE CASTER UNITS have been especially designed to provide a minimum of rolling friction.

This helps to provide for high positioning accuracy, even when the navigation system is out of range.

• A LASER SCANNER works together with the navigation computer to control the position of the

wagon. The scanner can be mounted anywhere on the wagon, including under the floor or on top of

scenery. As long as the laser can see a minimum of three reflectors, a repeatability of +/- 5 mm can be

expected. In cases where visibility might be limited, as when the scanner is mounted in the wagon frame

and can “see” only 180 degrees, two scanners can be used.

• The CONTROL CABINET contains the control and navigation computers, a power supply and an

emergency stop system. Two independent radio systems ensure reliability and safety.

• The AMPLIFIER CABINET includes four intelligent servo amplifiers. The servos work together with

the control computer to dynamically position the wagon.

• SEALED BATTERY PACKS provide power for many hours of continuous operation.

• The POWER SWITCH includes an emergency stop button and a socket for connecting a mains cable.

It is small and can be placed in any accessible position.

• A LIFT CONTROL SYSTEM is used to control lift cassettes. Both manual and automated systems are

available. The automated system allows the operator to raise and lower drive units from the operator

desk.

Technical specifications:

• Maximum speed – dependant on drive unit, from 0,3 to 1 m/s

• Minimum speed – 0 m/s

• Maximum load that can be moved – dependant on drive unit and wheel pressure against the stage floor

– from 500 kg to 3000 kg / drive unit, or up to 30 000 kg per wagon

• Maximum number of drive units in a wagon – 10

Visual act Scandinavia AB. Copyright 2015.

BATT 2

AMP

CONTROL

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Contact information, rentals & salesVärmdövägen 703, SE-132 35 Saltsjö-Boo, Sweden

Ph: +46 (0)8 522 472 00 / Mail: vact@visualact.se

w w w . v i s u a l a c t . s e

Advanced wagon component summary:

Component Catalog number Number required NotesDrive unit W-DU22-0x Minimum 2, maximum 10

Lift cassette W-LIFT-xx Same as drive units

Control cabinet W-CTL 1

Laser scanner W-LAS 1 or 2 One always included with con-

trol cabinet

Amplifier cabinet W-AMP 1 for every 2 drive units

Battery cabinet W-BATT-13x 1 plus 1 for each amplifier cabinet

Triple caster W-TPL Minimum 2 depending on shape of

wagon, 1 for each 500 kg load

Power switch W-QSTOP 1

Power cables W-CBL-PWR 2 + 1 for each battery cabinet + 1 for

each amplifier cabinet

To connect all cabinets

Laser cable W-CBL-LAS 1 for each laser scanner Control cabinet to laser scanner

Laser adapter W-CBL-LASADP 1 for each laser scanner At laser scanner

Motor power cable W-CBL-MOTPWR 1 for each drive unit Amplifier cabinet to drive unit

Motor signal cable W-CBL-MOTSIG 1 for each drive unit Amplifier cabinet to drive unit

System bus cable W-CBL-CAN 1 for each amplifier cabinet Control cabinet to all amplifier

cabinets as daisy chain

Bus termination W-CBL-CAN-TERM 1

Power switch cable W-CBL-QSTOP 1 Power switch to control cabinet

Lift manual control W-LIFTCTL-M Select one lift control

Lift automated control W-LIFTCTL-A Select one lift control

Laser holder W-LASHLDR 1 for esch scanner - laser mounting

bracket

See separate data sheets for detailed component specifications.