JEFFREY A ABRAMS
Pharmacy in Allegan, MI

2006014, Jul 6, 2006

Jul 26, 2005

11/190161

Jeffrey Abrams - Allegan MI, US
Robert Mikuski - Edison NJ, US

A47B 88/00

312319500

A movable storage system includes at least two movable storage units, a brush-less motor accommodated in each of the units for moving the units in movement directions, each of the motors comprising a plurality of stators and a rotor, and each of the motors including a sensor. Each sensor detects an angular position and a rotational speed of a respective rotor of each motor using the magnetic poles of the rotor. Each sensor outputs an angular position signal representing the angular position and a rotational speed signal representing the rotational speed of the rotor. A motor control is associated and in communication with each motor and sensor, which is operable for controlling the motor. The controls are adapted to receive the position and speed signals of each sensor with each control having a signal-outputting terminal to provide a command signal output to its respective motor. In addition, the system includes a master control that is in communication with the motor controls, which obtains the speed and angular position signals from each of the motor controls. Further, each unit includes a communications board, which allows exchange of information between the motor controls and the master control, which includes the speed and angular position signals, wherein the master control commands a respective unit that needs to be moved to move or stop in a movement direction by sending a control signal to the motor control of the respective unit. The motor control compares the speed and the position signals with the control signal to provide a motor control signal to the motor of the respective unit to control electric current supplied to the stators of the motor of the respective unit to control rotational speed and angular position of the rotor of that motor.