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Siemens SIMOTION D4x5-2 Operating Instructions Manual Download Page 214

Trajectory

The trajectory is the calculated optimum travel curve. It is based on the interpolation points.

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Figure 6-35

Sequence for determining the optimum trajectory

You can find information about forming blocked regions in Chapter Blocked regions (Page 170).
You can find information about forming the immersion point in Chapter Immersion point 

(Page 166).
The target position can be specified externally by the crane control system or the target 

generator. You can find information about using the target generator in Chapter Target 

generator (Page 195).
The relationship between interpolation points and trajectory based on real travel in SAM is 

illustrated in the figure below.

Sway Control function description
6.15 Calculation of 2D trajectory in semi-automatic mode (SAM)

SC integrated STS, GSU

214

Operating Instructions, 07/2019, A5E48271265B AA

Summary of Contents for SIMOTION D4x5-2

Page 1: ...l safety instructions 1 System description 2 Overview of the software 3 Communication interface to SIMATIC S7 4 Configuration 5 Sway Control function description 6 TLS control function description 7 SIMOCRANE CeCOMM commissioning and diagnostic program 8 Commissioning AddOn Software 9 Alarm error and system messages 10 Parameters 11 Appendix A ...

Page 2: ...ersonnel are those who based on their training and experience are capable of identifying risks and avoiding potential hazards when working with these products systems Proper use of Siemens products Note the following WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation If products and components from other manufacturers...

Page 3: ...ing and use Prerequisite scope of validity This manual is valid for use with the following product versions Hardware SIMOTION D4x5 2 DP PN Firmware V5 2 SP1 V5 02 01 00 or higher SINAMICS Firmware V5 1 HF1 V5 10 23 2 or higher SIMOCRANE optional CenSOR V2 0 HF3 V2 0 0 3 Software SIMOCRANE Basic Technology Version V3 0 SIMOTION SCOUT version V5 2 SP1 or higher Option package CFC V9 0 or Drive Contr...

Page 4: ...omation siemens com Hotline for America Phone 1 423 262 5710 Fax 1 423 262 2231 Email Support America mailto support america automation siemens com Hotline for Asia Pacific Phone 86 10 6475 7575 Fax 86 10 6474 7474 Email Support Asia Pacific mailto support asia automation siemens com Siemens product support for SIMOTION and SINAMICS The latest information about SIMOTION products product support an...

Page 5: ...ture 22 2 3 Scope of supply 22 3 Overview of the software 25 3 1 Application projects 25 3 1 1 SCOUT project GSU 25 3 1 2 SCOUT project STS 27 3 2 AddOn software structure 28 3 2 1 Structure of the SCOUT part of the project 28 3 2 2 Structure of the function module 30 3 2 3 Global variables connection between the components 33 3 2 3 1 Overview 33 3 2 3 2 Naming scheme for the unit global variables...

Page 6: ... 79 3 3 2 18 FB_Send_Preparation 80 3 3 2 19 FB_ReadWrite_MV440 81 4 Communication interface to SIMATIC S7 83 4 1 SIMATIC S7 SIMOTION D for AddOn 83 4 1 1 Common 83 4 1 2 Hoist 86 4 1 3 Trolley 88 4 1 4 Intpo 90 4 1 5 TLS 90 4 1 6 Targets 93 4 1 7 Obstacles 95 4 1 8 AddData 96 4 2 SIMOTION D for AddOn SIMATIC S7 97 4 2 1 Common 97 4 2 2 Hoist 100 4 2 3 Trolley 102 4 2 4 Intpo 104 4 2 5 TLS 104 4 2...

Page 7: ...logy 147 6 2 Sway Control operating modes 148 6 2 1 Manual mode MAN 149 6 2 1 1 Method of operation 149 6 2 1 2 Activation 150 6 2 1 3 Control 150 6 2 2 Positioning POS 152 6 2 2 1 Method of operation 152 6 2 2 2 Activation 152 6 2 2 3 Control 152 6 2 3 Semi automatic mode SAM 155 6 2 3 1 Method of operation 155 6 2 3 2 Activation 155 6 2 3 3 Control 155 6 2 4 Sway neutralization load position SNL...

Page 8: ... of semi automatic mode SAM manual mode MAN 189 6 11 3 Velocity dependent monitoring functions before semi automatic mode starts 192 6 12 Selection of the control method 193 6 12 1 Selection 193 6 12 2 Conventional control 193 6 12 3 Time optimized control 194 6 12 3 1 General information 194 6 12 3 2 Relaxation oscillations with GSU 194 6 13 Target generator 195 6 13 1 Requirement 195 6 13 2 Para...

Page 9: ...d electric drive 239 7 2 TLS modes and TLS functions 241 7 2 1 Cylinder jogging mode 241 7 2 2 Go to zero positions mode 243 7 2 3 TLS jogging mode 247 7 2 4 TLS positioning mode 250 7 2 4 1 Versions of TLS positioning mode 250 7 2 4 2 V1 Move to internally stored trim list and skew positions 252 7 2 4 3 V2 Move to externally defined skew position and internally stored trim and list positions 254 ...

Page 10: ...uations 313 8 9 5 Handling the Logger function in SIMOCRANE CeCOMM 313 8 9 6 Display of blocked regions 317 9 Commissioning AddOn Software 319 9 1 Requirements 319 9 2 Communication of the camera measuring system via Ethernet 319 9 3 Commissioning requirements for AddOn software 320 9 3 1 General requirements 320 9 3 2 Preparing the PLC program 322 9 3 3 Preparing the converters 322 9 3 4 Setting ...

Page 11: ... 12 Optional adaptations 361 9 6 Commissioning TLS hydraulic system with electric drive 362 9 6 1 System requirements 362 9 6 2 Commissioning cylinders 363 9 6 3 Evaluation of the current position of the skew drive spindle 363 9 6 4 Position controller setting P328 364 9 6 5 Setting the limit for set position P324 365 9 6 6 Kinematic transformation of skew drive position angle of rotation 365 9 6 ...

Page 12: ...Overview of the parameter list 393 11 2 Trolley 393 11 3 Hoist 400 11 4 Sway control system 407 11 5 General 408 11 6 Camera measuring system reflector 412 11 7 Travel characteristic 413 11 8 Controlled variables 418 11 9 TLS 420 A Appendix 435 A 1 Service and maintenance 435 A 2 References 435 A 3 List of abbreviations 436 A 4 Assignment of signal names 437 A 5 Variable signals 437 Glossary 443 T...

Page 13: ...ified on the warning labels has elapsed 4 Check that there is no voltage between any of the power connections and between any of the power connections and the protective conductor connection 5 Check whether the existing auxiliary supply circuits are de energized 6 Ensure that the motors cannot move 7 Identify all other dangerous energy sources e g compressed air hydraulic systems or water Switch t...

Page 14: ...result of incorrect or changed parameter settings As a result of incorrect or changed parameterization machines can malfunction which in turn can lead to injuries or death Protect the parameterization against unauthorized access Handle possible malfunctions by taking suitable measures e g emergency stop or emergency off 1 3 Warranty and liability for application projects Application projects are n...

Page 15: ...applied as soon as they are available and that the latest product versions are used Using versions that are either out of date or no longer supported can increase the risk of cyber threats To stay informed about product updates subscribe to the Siemens Industrial Security RSS Feed at Industrial Security http www siemens com industrialsecurity Further information is provided on the Internet Industr...

Page 16: ...ns Industrial Security functions can be incorporated into a customized industrial security concept For more information about the Industrial Security functions of SIMATIC SIMOTION SINAMICS please go to SIMOTION SINAMICS https support industry siemens com cs ww en view 108862708 SIMATIC https support industry siemens com cs ww en view 90885010 Fundamental safety instructions 1 5 Additional specific...

Page 17: ...dOn for extending the existing sector solution SIMOCRANE Basic Technology based on SIMOTION D4x5 2 DP PN The sway control system can be configured for a variety of applications More detailed information can be found in Chapter Applications Page 18 2 2 System overview 2 2 1 System requirements and design The AddOn Sway Control with TLS Control is designed for the expansion of SIMOCRANE Basic Techno...

Page 18: ...complete sequential control system and the necessary interconnections between Basic Technology and AddOn technology 2 2 2 Applications 2 2 2 1 Grab ship unloader GSU without camera measuring system As a general rule GSU cranes are not equipped with a camera measuring system This is due to the design of the crane and the extreme application conditions of these crane types such as high temperatures ...

Page 19: ...hich specifies the targets semi automatically during loading and unloading is also available Targets for the semi automatic mode SAM can be input either by the target generator or via the PLC interface A detailed description of the STS functions can be found in Chapter Sway Control function description Page 147 3 DQG 6 027 21 DPHUD 5HIOHFWRU Figure 2 2 Schematic representation of a container crane...

Page 20: ...e 2 1 Overview of operating modes sway control functions STS GSU Operating mode Functions Manual mode MAN Specification of the velocity setpoint by the higher level control system Operation with and without sway control trolley Single or combined operation of hoist and trolley Generation of internally learned variable blocked regions Soft approach Consideration of blocked regions with different re...

Page 21: ...tion The velocity The obstacle profile Adjustable trajectory Transfer the calculated interpolation points of the trajectory to the PLC Table 2 2 Overview of TLS control operating modes Operating mode Functions Cylinder jogging Simultaneous movement of one or more cylinders during commissioning and servicing Go to zero positions Save zero position Go to zero position TLS jogging Manual movement of ...

Page 22: ...complete Sway Control and TLS functionality DCC is a representation which supports graphic configuring and interconnection You will find the detailed function scope of the DCC library in Chapter AddOn DCC library Page 37 The blocks are already wired to each other and preconfigured in the application projects The FB library comprises a collection of blocks for the implementation of data exchange be...

Page 23: ...abled based on the license which has been purchased and installed A detailed description of the correlation between function scope and license can be found in Chapter Overview of operating modes functions and required licenses Page 20 How to load a license onto the CF card is described in Chapter Creating the license key and downloading it to the CF card Page 140 Table 2 5 Licenses Product Article...

Page 24: ...System description 2 3 Scope of supply SC integrated STS GSU 24 Operating Instructions 07 2019 A5E48271265B AA ...

Page 25: ...D The SCOUT part of the project contains the actual product This includes the necessary libraries blocks charts calls etc The user must transfer this content into the user project A detailed description of how to do this will be given below The SCOUT part of the two application projects is described in the following chapters Each application comprises several components DCC chart SwayControl This ...

Page 26: ...xecution groups The DCC blocks in SwayControl operate in the sampling time of the SIMOTION interpolator cycle T2 One exception is the DCC_SCDIAG block which must be in T3 The function blocks in the AddOn MCC source file operate in a cyclical execution level Connections The required connections are contained in the tables for the connections of the required DCC and FB blocks Variables column in Cha...

Page 27: ...FB_HoistAddOnToPLC FB_TrolleyPLCToAddOn FB_TrolleyAddOnToPLC FB_IntpoPLCToAddOn FB_IntpoAddOnToPLC FB_ObstaclePLCToAddOn FB_ObstacleAddOnToPLC FB_AddDataPLCToAddOn FB_AddDataAddOnToPLC FB_TLSPLCToAddOn FB_TLSAddOnToPLC FB_TargetsPLCToAddOn FB_TargetsAddOnToPLC FB_Camera_Selection FB_Send_Preparation FB_Receive_Analysis FB_ReadWrite_MV440 DCC blocks DCC_SCCOMMON DCC_SCHOIST DCC_SCTROLLEY DCC_INTPO ...

Page 28: ...locity 2 Trolley control The DCC_SCTROLLEY block controls the trolley in all operating modes The behavior of the trolley is influenced by the control signals generated by the block The block then outputs signals including an output velocity 3 Target generator STS on ly The DCC_SCTARGETS block is responsible for learning the target positions and their internal administration Targets on the watersid...

Page 29: ... the DCC_SCCOMMON block All the data is grouped and the output values are calculated The block also controls the communication of the SIMOCRANE CeCOMM diagnostic program This block must be present 9 Diagnostics The inputs and outputs for the SIMOCRANE CeCOMM diagnostic program are controlled by the DCC_SCDIAG block The following graphic shows the principle of activation of the Sway Control AddOn a...

Page 30: ...nction blocks in the module Send PLC read the associated blocks from the unit global variables and write them to the PROFIBUS DP PROFINET PN output area The module Receive TO receives the values for the current positions and velocities from the technology object See Table 3 4 Variables technology object AddOn technology Page 36 The values for the output velocities are transferred to the technology...

Page 31: ...ntents of the CameraMCC MCC chart The Camera module is included in this If UDP is selected the module is processed i e when the IP address is not zero The data is stored in the DCC_SCCAMERA DCC block Overview of the software 3 2 AddOn software structure SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 31 ...

Page 32: ...rt The subprogram call is contained in this If PROFINET is selected the subprogram call is processed i e when the IP address is zero The data is stored in the DCC_SCCAMERA DCC block Figure 3 4 Cam_MV440_MCC MCC chart Overview of the software 3 2 AddOn software structure SC integrated STS GSU 32 Operating Instructions 07 2019 A5E48271265B AA ...

Page 33: ...n Chapters AddOn technology Basic Technology Page 35 and AddOn technology technology objects Page 36 Note Although some signals that come from Basic Technology or that form the interface to the technology objects have the data type LREAL they are processed in the DINT data format in the SwayControl AddOn Consequently these signals have only the value range of the DINT data format i e 231 231 1 Not...

Page 34: ... E5HDG 352 1 7 FRPPXQLFDWLRQ EHWZHHQ 6 0 7 DQG 6 027 21 Figure 3 5 Example of the signal flow between SIMATIC S7 and DCC block The detailed descriptions of the connections for function and DCC blocks are contained in Chapters AddOn DCC library Page 37 and AddOn FB library Page 58 This description makes it possible to trace the connections from MCC programs to DCC blocks Overview of the software 3 ...

Page 35: ...he following signals are forwarded via unit global variables of the AddOn MCC source file from the Basic Technology to the AddOn technology Table 3 2 Variables Basic Technology AddOn technology Variable Format Meaning Unit trolley_BT_S_Set_TR_Extern LREAL External target position for the trolley from the Basic Technology mm trolley_BT_V_Set_TR LREAL Set velocity for the trolley from the Ba sic Tec...

Page 36: ...hapter Configuration Page 109 3 2 3 4 AddOn technology technology objects Technology object AddOn technology Table 3 4 Variables technology object AddOn technology Variable Format Meaning Unit TO_Trolley_1 positioningstate actualposition LREAL Actual position trolley mm TO_Hoist_1 positioningstate actualposition LREAL Actual position hoist mm TO_Trolley_1 motionstatedata actualvelocity LREAL Curre...

Page 37: ... blocks 3 3 1 AddOn DCC library Note The source code of every DCC block is protected and cannot be opened Unless otherwise stated the following statements apply to all DCC blocks Firmware version SIMOTION D4x5 2 DP PN Firmware V5 2 SP1 or higher SINAMICS Firmware V5 1 HF1 or higher Configuration The DCC blocks in SwayControl operate in the sampling time of the SIMOTION interpolator cycle clock T2 ...

Page 38: ...9B326B 2 5 B326B 2 5525 5525 5 5 22 17 22 22 22 17 5 6723B 7B2 67B0 1B 2 22 1 B7 5 B 2 17 6B2 6B 2 17 Figure 3 6 DCC_SCHOIST Brief description The block controls the hoist in all operating modes Method of operation Applying the control signals allows the hoist to be influenced The block then outputs signals including an output velocity Overview of the software 3 3 Sway control function blocks SC i...

Page 39: ...N LREAL hoist_to_rs_act_ho Current hoist position RS_SET_HO_EXTERN IN LREAL hoist_bt_s_set_ho_extern Target position IS_OFFS_HO IN INT hoist_plc_offset Position offset RV_ACT_HO IN LREAL hoist_to_rv_act_ho Current hoist velocity RV_SET_HO IN LREAL hoist_bt_v_set_ho Set velocity BREADY OUT BOOL hoist_sc_ready Release BACTIVE OUT BOOL hoist_sc_active Active BPOS_COMPLETED OUT BOOL hoist_sc_pos_compl...

Page 40: ...5 5525 5525 5 22 17 22 22 5 5 5 5 17 22 22 22 20 752 B326 6B2 6B75 17 6723B 7B2 67B0 1B75 22 02 B B75 17 1 B7 5 B75 17 6B 255B75 17 Figure 3 7 DCC_SCTROLLEY Brief description This block controls the trolley in all operating modes Method of operation The behavior of the trolley is influenced by the control signals generated by the block The block then outputs signals including an output velocity Ov...

Page 41: ...mit switch forward BLS_BW IN BOOL trolley_plc_ls_bw Limit switch backward BPRELS_FW IN BOOL trolley_plc_prels_fw Prelimit switch forward BPRELS_BW IN BOOL trolley_plc_prels_bw Prelimit switch backward BBRAKE_CLOSED IN BOOL trolley_plc_brake_closed Output value enable BSC_WHEN_STOP IN BOOL trolley_plc_sc_when_stop Sway control only when stopping BCONTROLLED_STOP IN BOOL trolley_plc_controlled_stop ...

Page 42: ...Final target position BERROR OUT BOOL Error bit from the block IERRORID OUT DINT Error number from the block Error messages If an error occurs output BERROR is set and the error number is output at output IERRORID for a description and help see Chapter Error list AddOn Page 374 If several errors are present the oldest error will be displayed 3 3 1 3 DCC_SCTARGETS Symbol B6 7 5 76 22 22 22 6 17 6 1...

Page 43: ...SHIP_UNLOAD IN SINT targets_plc_lane_ship_unload Unload lane to the ship BNO_SHIP_LOAD IN BOOL No further loading of the ship BNO_SHIP_UNLOAD IN BOOL No further unloading of the ship BCYCLING IN BOOL targets_plc_cycling Function is not enabled BOFFSET_TO_LAND IN BOOL targets_plc_offset_to_land Target offset in the land direction BOFFSET_TO_WATER IN BOOL targets_plc_offset_to_water Target offset in...

Page 44: ...22 17 35 B2 67 6 7 B75 6 7 B75 6 7 B 2 67 6 7 B75 6 7 B75 6 7 B 2 67 6 7 B75 6 7 B75 6 7 B 2 67 6 7 B75 6 7 B75 6 7 B75 6 7 B75 6 7 B 2 67 B2 67 6 7 B 2 67 5 7 B75 5 7 B75 5 7 B 2 67 5 7 B75 5 7 B75 5 7 B 2 67 5 7 B75 5 7 B75 5 7 B 2 67 17 17 17 17 17 17 17 17 17 5 7 B75 5 7 B75 5 7B 2 67 5 7 B75 5 7 B75 5 7 B 2 67 35 B2 67B2 2 67B 7 180 5B2 67 5525 5525 17 17 17 17 17 17 22 22 17 22 17 17 17 22 1...

Page 45: ..._TR1 IN DINT obstacle_plc_set4_tr1 Trolley position 1 of obstacle 4 ISET4_TR2 IN DINT obstacle_plc_set4_tr2 Trolley position 2 of obstacle 4 ISET4_HOIST IN DINT obstacle_plc_set4_hoist Hoist position of obstacle 4 ISET5_TR1 IN DINT obstacle_plc_set5_tr1 Trolley position 1 of obstacle 5 ISET5_TR2 IN DINT obstacle_plc_set5_tr2 Trolley position 2 of obstacle 5 ISET5_HOIST IN DINT obstacle_plc_set5_ho...

Page 46: ...s output at output IERRORID for a description and help see Chapter Error list AddOn Page 374 If several errors are present the oldest error will be displayed 3 3 1 5 DCC_SCCAMERA Symbol B6 0 5 17 17 22 17 17 17 17 86 17 0 5 B2 B326 9B B326 9B 6 9B6 2 67B 7 8 1B 5B 8 1B 5B 8 1B 5B 8 1B3257 8 1B 5B 2 67B 7B3 8287B 5B 8287B 5B 8287B 5B 8287B 5B 8287B3257 0 5 B9 5525 5525 17 86 17 86 17 86817 86 17 8 ...

Page 47: ...os Deflection in y direction IV_Y IN DINT camera_cam_v_y Swaying velocity in y direction ISKEW IN DINT camera_cam_skew Reflector rotation IV_SKEW IN DINT camera_cam_v_skew Velocity of rotation IHOIST_HEIGHT IN DINT camera_cam_hoist_height Hoist position measured by the camera UIN_ADDR_1 IN USINT camera_sc_addr 0 IP address of the camera part 1 UIN_ADDR_2 IN USINT camera_sc_addr 1 IP address of the...

Page 48: ...17 8 17 8 17 8 17 8 17 17 17 17 17 5 5 5 5 5 5 5 Figure 3 11 DCC_SCTLS2 Brief description DCC block DCC_SCTLS2 can be used to provide the trim list and skew functions in different operating modes as well as the skew damping function Technical implementation options Hydraulic system Hydraulic system in combination with an additional electrical system Electrical system for exclusive implementation o...

Page 49: ...peed_c_norm Output velocity cylinder C BSPEED_D_NORM OUT UINT tls_bspeed_d_norm Output velocity cylinder D IPOS_ACT_TRIM OUT DINT tls_ipos_act_trim Actual position trim IPOS_ACT_LIST OUT DINT tls_ipos_act_list Actual position list IPOS_ACT_SKEW OUT DINT tls_ipos_act_skew Actual position skew IANGLE_OSZ_SKEW OUT DINT tls_iangle_osz_skew Internal model for skew oscilla tion angle cgr BSPEED_SKEWAX I...

Page 50: ... bit 4 5 move Activate cylinder position control 6 mode_comm Activate cylinder jogging TLS mode 7 tls_pos Select TLS positioning mode 8 trim_right Trim right Cylinders A B out C D in Spreader A B up C D down left up right down 9 trim_left Trim left Cylinders A B in C D out Spreader A B down C D up left down right up 10 list_water List waterside Cylinders B C in A D out Spreader B C down A D up Wat...

Page 51: ...mm Cylinder jogging Extend cylinder D 8 skewpos_ext Set position for the skew drive is specified from an external source 9 SkA_in_comm Move skew axis in 10 SkA_out_comm Move skew axis out 11 move_SkA Activate position control of electric skew drive 12 reset_mdl Reset internal oscillation model 13 hold_trim_list Hold the trim and list positions 14 Reserved 15 Reserved Table 3 15 Status bits in stat...

Page 52: ... If several errors are present the oldest error will be displayed 3 3 1 7 DCC_SCINTPO Symbol B6 1732 22 1 2817 855B 326B75 326B 2 5525 7 7 17 17 22 7 67B Figure 3 12 DCC_SCINTPO Brief description The block outputs the calculated interpolation points Method of operation The number of interpolation points for the relevant movement in semi automatic mode SAM is issued at the output Consecutive number...

Page 53: ...cv Received interpolation point number BCOUNT OUT BYTE intpo_SC_Count Number of interpolation points BCURR_IDX OUT BYTE intpo_SC_Index_Snd Sent interpolation point number IPOS_TR OUT DINT intpo_SC_HO_Pos Hoist position corresponding to received interpolation point number IPOS_HO OUT DINT intpo_SC_TR_Pos Trolley position corresponding to re ceived interpolation point number BERROR OUT BOOL intpo_SC...

Page 54: ...You will find the naming system for crane function blocks in the SIMOCRANE Basic Technology operating instructions Ref 2 Chapter 5 1 Brief description The function block contains basic functions and must always be included in the chart Method of operation All data is grouped and the output values are calculated in this block The block also writes and reads the buffers for communication with the SI...

Page 55: ..._profile_on Request Learn height profile on the waterside BLEARN_PROFILE_RESET IN BOOL common_plc_learn_profile_reset Request Initialize height profile on the waterside BDIG_HOIST_DIST_CORR IN BOOL common_plc_dig_hoist_dist_corr Digital effective pendulum length correction BSAVE_LOGGER IN BOOL common_plc_save_logger Save logger files BSTART_2D_CALC IN BOOL common_plc_start_2D_calc Start of the 2D ...

Page 56: ... common_sc_open_grab STS selected Not relevant GSU selected Open grab BCHANGE_TARGET OUT BOOL common_sc_change_target STS selected Not relevant GSU selected Change target BFAULT1 OUT DWORD common_sc_error1 Error word 1 BFAULT2 OUT DWORD common_sc_error2 Error word 2 BINFO_NO_AUTO_START OUT DWORD common_sc_info_no_auto_start Data for user output BEXT_IMPNT_SMALLER OUT BOOL common_sc_ext_impnt_small...

Page 57: ...ust be at least 5 ms The block can require up to 4 ms computation time Connections The inputs and outputs of the DCC block do not have to be connected They are connected internally with the DCC_SCCOMMON block Table 3 18 DCC_SCDIAG connections Name Type Data type Unit global variables of AddOn Meaning BDIAG_ON IN BOOL Diagnostics ON ISTATUS OUT INT For diagnostic status see below Diagnostic status ...

Page 58: ... ERBVWZ B1RB DLWB3RV ERBVWZ B RLVWB0DQ ERBVWZ B RFNHGB LW ERBVWZ B RFNHGB LW ERBVWZ B6ODFNURSH ERBVWZ B D VFDQQHUB9DOLG ERB67 B HDUQB3URILOB2Q ERB67 B HDUQB3URILOB5HVHW 25 22 22 22 22 22 22 22 22 ERBVWZ B LJB RLVWB LVWB RUU ERBVWZ B6WDUWB B DOF ERBVWZ B6SUHDGHUVB RXSOHG ERBVWZ BLPSQWBH WBDFWLYH L RDG L 9DOXHB D VFDQQHU L RXQWB D VFDQQHU L 3DU6HW L 6B LGWK L LPSQWBH W 22 22 22 22 17 17 17 6 17 17 1...

Page 59: ...n_plc_learn_profil_reset Bit 9 of control word 1 bo_stw1_Dig_Hoist_Dist_Corr OUT BOOL common_plc_dig_hoist_dist_corr Bit 10 of control word 1 bo_stw1_Start_2D_Calc OUT BOOL common_plc_start_2d_calc Bit 11 of control word 1 bo_STW1_Spreaders_Coupled OUT BOOL common_plc_Spreaders_Coupled Bit 12 of control word 1 bo_stw1_impnt_ext_active OUT BOOL common_plc_Impnt_Ext_Active Bit 13 of control word 1 b...

Page 60: ...ommonAddOnToPLC connections Name Type Data type Unit global variables of AddOn Meaning bo_zsw1_Camera_OK IN BOOL commnon_SC_Camera_OK Bit 0 of status word 1 bo_zsw1_Change_Target IN BOOL common_sc_change_target Bit 1 of status word 1 bo_zsw1_No_Wait_Pos IN BOOL common_sc_no_wait_pos_ok Bit 2 of status word 1 bo_ZSW1_Learn_Profil_On_OK IN BOOL common_sc_learn_profil_on_ok Bit 3 of status word 1 bo_...

Page 61: ...word addon_common_send Output array for the Com mon block see Figure 5 13 Address list in SCOUT communication between SIMATIC S7 and SIMO TION Page 122 3 3 2 3 FB_HoistPLCToAddOn Symbol FBD representation B RLVW3 7R GG2Q 55 RLVWB 2B3 E BVWZ ERBVWZ B5HOHDVH ERBVWZ B7UDYHO ERBVWZ B20B3RV ERBVWZ B20B6SHHG ERBVWZ B20B RLVWB RQWURO ERBVWZ B 6B83 ERBVWZ B 6B 1 25 22 22 22 22 22 22 22 22 ERBVWZ B3UH 6B83...

Page 62: ...ntrol OUT BOOL hoist_plc_om_hoist_control Bit 6 of control word 1 bo_stw1_LS_UP OUT BOOL hoist_plc_ls_up Bit 8 of control word 1 bo_stw1_LS_DN OUT BOOL hoist_plc_ls_dn Bit 9 of control word 1 bo_stw1_PreLS_UP OUT BOOL hoist_plc_prels_up Bit 10 of control word 1 bo_stw1_PreLS_DN OUT BOOL hoist_plc_prels_dn Bit 11 of control word 1 bo_stw1_Brake_closed OUT BOOL hoist_plc_brake_closed Bit 12 of contr...

Page 63: ...p_at_obst_man Bit 8 of status word 1 Hoist_IO_PQW OUT ARRAY 0 5 OF word addon_hoist_send Output array for the Hoist block see Figure 5 13 Address list in SCOUT communication between SIMATIC S7 and SIMOTION Page 122 3 3 2 5 FB_TrolleyPLCToAddOn Symbol FBD representation B7UROOH 3 7R GG2Q 55 7UROOH B 2B3 E BVWZ ERBVWZ B5HOHDVH ERBVWZ B7UDYHO ERBVWZ B20B3RV ERBVWZ B20B6SHHG ERBVWZ B20B RDGB3RV ERBVWZ...

Page 64: ...o_stw1_OM_Load_Pos OUT BOOL trolley_plc_om_load_pos Bit 4 of control word 1 bo_stw1_OM_Trolley_Pos OUT BOOL trolley_plc_om_trolley_pos Bit 5 of control word 1 bo_stw1_OM_Hoist_Control OUT BOOL trolley_plc_om_hoist_control Bit 6 of control word 1 bo_stw1_SC_ON OUT BOOL trolley_plc_sc_on Bit 7 of control word 1 bo_stw1_LS_FW OUT BOOL trolley_plc_ls_fw Bit 8 of control word 1 bo_stw1_LS_BW OUT BOOL t...

Page 65: ...bles of AddOn Meaning bo_zsw1_Ready IN BOOL trolley_sc_ready Bit 0 of status word 1 bo_zsw1_Active IN BOOL trolley_sc_active Bit 1 of status word 1 bo_zsw1_Pos_Completed IN BOOL trolley_sc_pos_completed Bit 2 of status word 1 bo_zsw1_SC_Completed IN BOOL trolley_sc_sc_completed Bit 3 of status word 1 bo_zsw1_Travel_FW IN BOOL trolley_sc_travel_fw Bit 4 of status word 1 bo_zsw1_Travel_BW IN BOOL tr...

Page 66: ...s the array into words and bits Connections The outputs must be connected to the inputs of the DCC_SCINTPO DCC block using the unit global variables of the AddOn MCC source file Table 3 25 FB_IntpoPLCToAddOn connections Name Type Data type Unit global variables of AddOn Meaning Intpo_IO_PIW IN ARRAY 0 5 OF WORD addon_intpo_receive Input array for the Intpo block see Figure 5 13 Address list in SCO...

Page 67: ...y_Fault IN BOOL intpo_SC_Error Error invalid interpolation point number b8Trajectory_Index_Snd IN BYTE intpo_SC_Index_Snd Sent interpolation point num ber b8Trajectory_Count IN BYTE intpo_SC_Count Number of interpolation points i32Trajectory_TR_Pos IN DINT intpo_SC_HO_Pos Hoist position corresponding to received interpolation point number i32Trajectory_HO_Pos IN DINT intpo_SC_TR_Pos Trolley positi...

Page 68: ... Data type Unit global variables of AddOn Meaning TLS_IO_PIW IN Array 0 15 OF word addon_tls_receive Input array for the TLS2 block b16_CW1 OUT WORD TLS_CW1 Control word 1 b16_CW2 OUT WORD TLS_CW2 Control word 2 r64Pos_Cyl_A OUT LREAL TLS_rpos_a Cylinder A position r64Pos_Cyl _B OUT LREAL TLS_rpos_b Cylinder B position r64Pos_Cyl _C OUT LREAL TLS_rpos_c Cylinder C position r64Pos_Cyl _D OUT LREAL ...

Page 69: ...ype Data type Unit global variables of AddOn Meaning b16_SW1 IN WORD TLS_SW1 TLS status word 1 i16Speed_A_norm IN UINT TLS_bspeed_a_norm Output velocity cylinder A i16Speed_B_norm IN UINT TLS_bspeed_b_norm Output velocity cylinder B i16Speed_C_norm IN UINT TLS_bspeed_c_norm Output velocity cylinder C i16Speed_D_norm IN UINT TLS_bspeed_d_norm Output velocity cylinder D i32Pos_Act_Trim IN DINT TLS_i...

Page 70: ...HDUQB DVKB3ODWI ERBVWZ B8VHB DVKB3ODWI ERBVWZ B6WDFNB RUPB LW ERBVWZ B6WDFNB RUPB LW ERBVWZ B FOLQJ ERBVWZ B2IIVHWB7RB DQG ERBVWZ B2IIVHWB7RB DWHU 25 22 22 22 22 22 22 22 22 ERBVWZ B8VHB WHUQB7DUJHWV L DQHB RDG L DQHB8QORDG L HDUQB3RVB DQH 22 6 17 6 17 6 17 22 ERBVWZ B QLWB7DUJHWV Figure 3 25 FB_TargetsPLCToAddOn Task The FB_TargetsPLCToAddOn block reads the input area from the PROFIBUS DP PROFINE...

Page 71: ...word 1 bo_stw1_Offset_To_Water OUT BOOL targets_plc_offset_to_water Bit 7 of control word 1 bo_stw1_Learn_Lash_Platf OUT BOOL targets_plc_learn_lash_platf Bit 1 of control word 1 bo_stw1_Learn_Park_Pos OUT BOOL targets_plc_learn_park_pos Bit 0 of control word 1 bo_stw1_Use_Extern_Targets OUT BOOL targets_plc_use_extern_targets Bit 8 of control word 1 bo_stw1_Init_Targets OUT BOOL targets_PLC_Init_...

Page 72: ...BOOL targets_sc_direction_water Bit 2 of status word 1 bo_zsw1_Pos_Saved IN BOOL targets_sc_pos_saved Bit 0 of status word 1 i8Lane_Ship_Load_OK IN SINT targets_SC_Lane_Load_OK Return the lane number from which the ship will be loaded i8Lane_Ship_Unload_OK IN SINT targets_SC_Lane_Unload_OK Return the lane number from which the ship will be unloaded Targets_IO_PQW OUT ARRAY 0 5 OF word addon_target...

Page 73: ... using the unit global variables of the AddOn MCC source file with the inputs of the DCC_SCOBSTACLES DCC block Table 3 31 FB_ObstaclePLCToAddOn connections Name Type Data type Unit global variables of Ad dOn Meaning Obstacle1_IO_PIW IN ARRAY 0 15 OF word addon_obstacle1_receive Input array for the Obstacle block 1 see Figure 5 13 Address list in SCOUT communication between SI MATIC S7 and SIMOTION...

Page 74: ...n 2 of obstacle 3 i32Set3_Hoist OUT DINT obstacle_plc_set3_hoist Hoist position of obstacle 3 i32Set4_Tr1 OUT DINT obstacle_plc_set4_tr1 Trolley position 1 of obstacle 4 i32Set4_Tr2 OUT DINT obstacle_plc_set4_tr2 Trolley position 2 of obstacle 4 i32Set4_Hoist OUT DINT obstacle_plc_set4_hoist Hoist position of obstacle 4 i32Set5_Tr1 OUT DINT obstacle_plc_set5_tr1 Trolley position 1 of obstacle 5 i3...

Page 75: ...ween SIMATIC S7 and SIMO TION Page 122 Obstacle2_IO_PQW OUT ARRAY 0 15 OF word addon_obstacle2_send Output array for the Obstacle block see Figure 5 13 Address list in SCOUT communication between SIMATIC S7 and SIMO TION Page 122 3 3 2 15 FB_AddDataPLCToAddOn Symbol FBD representation B GG DWD3 7R GG2Q 55 GG DWD B 2B3 E GG DWD B RUG 25 25 25 25 25 25 E GG DWD B RUG E GG DWD B RUG E GG DWD B RUG E ...

Page 76: ... b16AddData1_Word9 OUT WORD Not connected b16AddData1_Word10 OUT WORD Not connected b16AddData1_Word11 OUT WORD Not connected b16AddData1_Word12 OUT WORD Not connected b16AddData1_Word13 OUT WORD Not connected b16AddData1_Word14 OUT WORD Not connected b16AddData1_Word15 OUT WORD Not connected b16AddData1_Word16 OUT WORD Not connected b16AddData2_Word1 OUT WORD Not connected b16AddData2_Word2 OUT W...

Page 77: ... DWD B 2B3 E GG DWD B RUG E GG DWD B RUG E GG DWD B RUG E GG DWD B RUG E GG DWD B RUG 55 GG DWD B 2B3 55 GG DWD B 2B3 17 17 17 17 25 17 17 17 17 17 17 17 25 25 25 25 25 L 75B6HWSRLQWB6SHHG L 2B6HWSRLQWB6SHHG L 75B LQDOB7DUJHW L 2B LQDOB7DUJHW E GG DWD B RUG L DPHUDB L DPHUDB L DPHUDB LL DPHUDBY L DPHUDBY L DPHUDB6NHZ L DPHUDBY6NHZ Figure 3 30 FB_AddDataAddOnToPLC Task The FB_AddDataAddOnToPLC bloc...

Page 78: ...mera pendulum velocity in X direction mm s i16Camera_vY IN INT camera_cam_v_y Camera pendulum velocity in Y direction mm s i16Camera_Skew IN INT camera_cam_skew Camera reflector rotation cgr i16Camera_vSkew IN INT camera_cam_v_skew Camera velocity of rotation cgr s b16AddData1_Word16 IN WORD Not connected b16AddData2_Word1 IN WORD Not connected b16AddData2_Word2 IN WORD Not connected b16AddData2_W...

Page 79: ...tween SIMATIC S7 and SIMOTION Page 122 AddData2_IO_PIW OUT AR RAY 0 15 OF WORD AddData3_IO_PIW OUT ARRAY 0 5 OF WORD See also Copying the address list Page 121 3 3 2 17 FB_Receive_Analysis Symbol FBD representation B5HFHLYHB QDO VLV 8 17 55 D5HFHLYH DWD DWD HQJWK E DPHUD2 L L L3KL L XE L9 L9 L9SKL 22 17 17 17 17 17 17 17 17 LBGL7LPH2XW L7HO RXQWHU L UURU L9KXE 17 25 17 Figure 3 31 FB_Receive_Analy...

Page 80: ...ra_cam_camera_ok Camera OK iX OUT DINT camera_cam_x_pos Deflection in X direction iY OUT DINT camera_cam_y_pos Deflection in Y direction iPhi OUT DINT camera_cam_skew Reflector rotation iHub OUT DINT camera_cam_hoist_height Reflector distance iVx OUT DINT camera_cam_v_x Pendulum velocity in X direction iVy OUT DINT camera_cam_v_y Pendulum velocity in Y direction iVphi OUT DINT camera_cam_v_skew Ve...

Page 81: ...sent to the camera measuring system 3 3 2 19 FB_ReadWrite_MV440 Symbol FBD representation B5HDG ULWHB09 7 55 LBDE XVHU LBE 6WDWXV TBDE XVHU TBE WUO TBE2 TBZ UURU TBGL TBGL TBGL5RW TBGL LVW TBGL BY 55 7 22 25 17 17 17 17 17 TBGL BY TBGL5RWBY TBGL LVWBY TB RXQWHU 17 17 17 17 17 17 LBGL7LPH2XW LBGL W LVW Figure 3 33 FB_ReadWrite_MV440 Task The block prepares the send and receive addresses for the cam...

Page 82: ... OUT ARRAY 0 31 OF Byte q_io_user q_b8Ctrl OUT BYTE q_io_ctrl q_bOK OUT BOOL camera_CAM_Camera_OK Q_wError OUT WORD q_diX OUT DINT camera_CAM_X_Pos q_diY OUT DINT camera_CAM_Y_Pos q_diRot OUT DINT camera_CAM_Skew q_diDist OUT DINT camera_CAM_Hoist_Heigh q_diX_v OUT DINT camera_CAM_V_X q_diY_v OUT DINT camera_CAM_V_Y q_diRot_v OUT DINT camera_CAM_V_Skew q_diDist_v OUT DINT camera_CAM_V_Skew q_Count...

Page 83: ...oad meas urement system and transferred to the sway control system via the PLC This value is used for analog correction of the effective pendulum length 1 increment for each 10 kg Load is limited to values between 0 and 32767 3 PARSET SINT Parameter set Number for selecting the four different parameter sets Various velocities or accelerations can be set in the different sets for example 1 Paramete...

Page 84: ...bserve obstacle regions 1 Ignore obstacle regions 2 NO_WAIT_POS Do not approach waiting position This bit specifies whether the waiting position defined in the P25 trolley and P65 hoist parameters is to be approached 0 Approach waiting position 1 Do not approach waiting position 3 Reserved 4 LOCKED_BIT0 Locking state of the spreader 5 LOCKED_BIT1 LOCKED_BIT 0 LOCKED_BIT1 Meaning 0 0 Scenario A 1 0...

Page 85: ...r example moving of the center of gravity caused by the various load suspension devices and thus the resulting change of the effective pendu lum length is taken into consideration If this bit is set the effective pendulum length is changed by a specified amount parameter 80 0 Not active 1 Active 11 START_2D_CALC Control bit START_2D_CALC This control signal is only operative in semi automatic mode...

Page 86: ...his value can be used to limit velocity The maximum possible output velocity is calculated from the override as a percentage multiplied by P40 maximum output velocity hoist 3 S_OFFS mm INT Offset for the target position This value can be used to add an offset to the target position in ternal targets from target generator or external targets The sign is also evaluated 4 6 Reserved Table 4 4 STW1_PL...

Page 87: ... Reserved 8 LS_UP Limit switch up 0 Operated 1 Not operated 9 LS_DN Limit switch down 0 Operated 1 Not operated 10 PRELS_UP Prelimit switch up This bit is active only when P115 0 Otherwise the dynamic prelimit switch will be used 0 Operated 1 Not operated 11 PRELS_DN Prelimit switch down This bit is active only when P115 0 Otherwise the dynamic prelimit switch will be used 0 Operated 1 Not operate...

Page 88: ...TRAVEL Travel signal A direction signal with which the brakes can be opened is not output until this signal is present The current operating mode is applied 0 Stop with maximum deceleration P5 without sway control 1 Activation of the specified operating mode Note Resetting the TRAVEL control bit If the operation is to be completed with sway control the TRAVEL control bit may only be reset if the P...

Page 89: ...switch will be used 0 Operated 1 Not operated 12 BRAKE_CLOSED Output value enable 0 Output value and direction signals are set 1 Output value is not enabled braking with maximum deceleration direction signals are set 13 SC_WHEN_STOP Sway control only when stopping 0 Sway control is always active 1 Sway control is only active when stopping Note This bit is only operative if bit 7 SC_ON has been set...

Page 90: ...Remark 1 STW1_PLC_TLS WORD Control word 1 See table below 2 STW2_PLC_TLS WORD Control word 2 See table below 3 4 ActPos_cylinder_A 1 DINT Cylinder A position 5 6 ActPos_cylinder_B 1 DINT Cylinder B position 7 8 ActPos_cylinder_C 1 DINT Cylinder C position 9 10 ActPos_cylinder_D 1 DINT Cylinder D position 11 12 SkewAngle_ext_for_TLS cgr DINT External skew angle for TLS positioning see Chapter Contr...

Page 91: ...r_bit0 0 spreader_bit1 0 Container 20 ft spreader_bit0 1 spreader_bit1 0 Container 30 ft spreader_bit0 0 spreader_bit1 1 Container 40 ft spreader_bit0 1 spreader_bit1 1 Container 45 ft Note The bits must be set appropriately for the spreader length In twin operation Container 45 ft must be selected 4 Reserved 5 move Activation of the cylinder position control 0 No command 1 Activation of the move ...

Page 92: ...ctivates go to zero positions mode 0 No command 1 Move all cylinders to zero position command 15 as_on Activates the skew damping function 0 No command 1 Skew damping command Table 4 11 STW2_PLC_TLS Bit Signal name Remark 0 a_in_comm 0 No command 1 Control cylinder A with negative velocity 1 b_in_comm 0 No command 1 Control cylinder B with negative velocity 2 c_in_comm 0 No command 1 Control cylin...

Page 93: ...nd via the skew axis position control 12 reset_mdl 0 No command 1 Resetting an internal oscillation model 13 hold_trim_list 0 No command 1 Hold the trim and list positions 14 15 Reserved 4 1 6 Targets Table 4 12 SIMATIC S7 SIMOTION D4x5 2 DP PN Targets PZD Signal name Unit Format Remark 1 STW1_PLC_Targets WORD Control word see below Table STW1_PLC_Targets 2 LANE_SHIP_LOAD 1 99 SINT Load lane numbe...

Page 94: ...inal target position the TRAVEL control bit must be reset and set again 3 STACK_FORM_BIT0 Stacking type Bit combination for selection of the stacking type 4 STACK_FORM_BIT1 STACK_FORM_BIT0 STACK_FORM_BIT1 Stacking type 0 0 Parking position approached 1 0 Row WS 0 1 Row LS 1 1 Column 5 CYCLING Cycling This function is not enabled 6 OFFSET_TO_LAND Offset landside When positioning the trolley an offs...

Page 95: ...position for obstacle 2 9 10 SET2_TR2 mm DINT Second trolley position for obstacle 2 11 12 SET2_HOIST mm DINT Hoist position for obstacle 2 13 14 SET3_TR1 mm DINT First trolley position for obstacle 3 15 16 SET3_TR2 mm DINT Second trolley position for obstacle 3 17 18 SET3_HOIST mm DINT Hoist position for obstacle 3 19 20 SET4_TR1 mm DINT First trolley position for obstacle 4 21 22 SET4_TR2 mm DIN...

Page 96: ...les required to avoid exceeding the total number of 250 must be known in ad vance The following applies for the maximum number of external variable obstacles that can be transferred Maximum value 250 maximum number of internally learned obstacles If the bits PRG_OBST and DEL_OBST are set simultaneously all external variable obstacles will be deleted 2 15 Reserved 4 1 8 AddData Table 4 16 SIMATIC S...

Page 97: ...M mode start see below Table INFO_NO_AUTO_START 7 8 PARSET_OUT 1 99 SINT Parameter set confirmation Confirmation of the number of the active parameter set 1 Parameter set 1 2 Parameter set 2 3 Parameter set 3 4 Parameter set 4 9 IMPNT mm DINT Current immersion point value Either the internal or the external immersion point is used as the current immersion point depending on the IMPNT_EXT_ACTIVE co...

Page 98: ...ight profile The height profile has been deleted 5 START_AUTO_OK Start in SAM mode permitted Bit for enabling SAM mode without triggering an error message An exact explanation why a start is not possible can be seen in Table INFO_NO_AU TO_START see below A group bit can also be formed from signal mes sages by the PLC In this way specific functions can be permitted for SAM mode e g start from slack...

Page 99: ...n permit ted limits Starting position not in permitted limits Starting position is not within the set limits for positioning 2 Starting position in a fixed blocked region Starting position in a fixed blocked region Current starting position is in a fixed blocked region 3 Target position in a fixed blocked region Target position in a fixed blocked region Target position is in a fixed blocked region...

Page 100: ...tart in SAM mode This bit has no meaning when STS is selected 11 Blocked region too close Braking distance is insufficient SAM cannot be started during travel The braking distance before a blocked region is insufficient 12 31 Reserved 4 2 2 Hoist Table 4 22 SIMOTION SIMATIC S7 Hoist PZD Signal name Unit Format Remark 1 ZSW1_Hoist_PLC WORD Status word See table below 2 6 Reserved Table 4 23 ZSW1_Ho...

Page 101: ... to zero or the output velocity is positive and greater than the zero speed detection P44 Positioning sway neutralization and semi automatic mode The TRAVEL control bit is set and the difference between the target position and the current position is greater than or equal to zero or the output velocity is positive and greater than the zero speed detection P44 5 TRAVEL_DN Direction of travel backwa...

Page 102: ...he trolley or status bit SC_COMPLETED 0 Positioning sway neutralization and semi automatic mode POS_COMPLETED is reset if the distance between the actual position and the target position is greater than the positioning accuracy P162 or the status bit SC_COMPLETED is reset 1 Manual mode The external set velocity V_SET 0 and the output velocity rV_Pos_TR is less than or equal to the zero speed detec...

Page 103: ...ero The output velocity V_POS is positive and greater than the zero speed detection P3 5 TRAVEL_BW Direction of travel backward 0 All operating modes The TRAVEL control bit is reset or the output velocity V_POS is less than or equal to the zero speed detection P3 or an error message is pending that prevents travel 1 Manual mode The TRAVEL control bit is set and the internal set velocity V_REF is l...

Page 104: ...ATIC S7 PZD Signal name Unit Format Remark 1 ZSW1_TLS_PLC WORD TLS status word 1 see the table below 2 Reserve1 3 BSPEED_A_NORM 1 WORD Output velocity of cylinder A normalized with P262 and P261 4 BSPEED_B_NORM 1 WORD Output velocity of cylinder B normalized with P262 and P261 5 BSPEED_C_NORM 1 WORD Output velocity of cylinder C normalized with P262 and P261 6 BSPEED_D_NORM 1 WORD Output velocity ...

Page 105: ...ng of the status bit skew_removed In this case the bit should be evaluated via an additional timer in the higher level control system 5 Reserved 6 Reserved 7 Reserved 8 a_out 0 Cylinder A is not extended 1 Cylinder A is extended 9 b_out 0 Cylinder B is not extended 1 Cylinder B is extended 10 c_out 0 Cylinder C is not extended 1 Cylinder C is extended 11 d_out 0 Cylinder D is not extended 1 Cylind...

Page 106: ...landside 1 The next target is on the landside The real direction of trolley movement can be toward the landside or toward the waterside Targets from the target generator and external targets are considered This bit is set only if the distance between the start and target positions of the trolley is at least double the positioning accuracy set in P162 2 DIRECTION_WATER Next target toward waterside ...

Page 107: ...t is transferred to the drive 2 HO_SETPOINT_SPEED mm s Int Interpolated set velocity of hoist The interpolated set velocity that is transferred to the drive 3 4 TR_FINAL_TARGET mm Dint Final target position of trolley If the specified target cannot be approached exactly blocked region the target is changed internally 5 6 HO_FINAL_TARGET mm Dint Final target position of hoist If the specified targe...

Page 108: ...Format Remark 1 16 Reserved Table 4 36 SIMOTION SIMATIC S7 AddData 3 PZD Signal name Unit Format Remark 1 16 Reserved Communication interface to SIMATIC S7 4 2 SIMOTION D for AddOn SIMATIC S7 SC integrated STS GSU 108 Operating Instructions 07 2019 A5E48271265B AA ...

Page 109: ...his can be checked as follows Save and compile the project Click on the button in the display screen Consistency check via the shortcut menu of SIMOTION D 435 2 DP PN command Check consistency Note When an electric drive is used for skew damping the suitable TO DO MCC DCC ActiveSkew_1 must also be copied from the project supplied on DVD and linked into the execution system Either the hoist or the ...

Page 110: ...pying the address list Page 121 5 Copying the AddOn FB library Page 123 6 Copying MCC source files Page 126 7 Inserting DCC blocks Page 127 8 Establishing the connection between Basic Technology and AddOn Page 131 9 Connection between active skew technology object and DCC block TLS2 Page 132 10 Linking the AddOn and Camera programs into the execution system Page 134 11 Saving compiling and checkin...

Page 111: ...locks to the DCC library Figure 5 2 Installing the AddOn DCC library 5 4 Importing the SCOUT application project of the AddOn technology Now you can import the SCOUT application project of the AddOn technology Note To import a project in XML format SCOUT must be open but all the projects closed Click the button to start the import of a SCOUT application project Configuration 5 4 Importing the SCOU...

Page 112: ...ter importing always check whether compilation was successful 5 5 PROFINET configuration 5 5 1 Configuring the connection Changes must be made in the hardware configuration of the SIMOTION and the S7 in order to configure the connection SIMOTION hardware configuration The MV440 camera can communicate with the SIMOTION D via PROFINET or via UDP You will need a CBE30 2 module if communication is to ...

Page 113: ...it is configured via Ethernet and the MV440 in the HW Config of the SIMOTION is not required Ref 1 Figure 5 4 SIMOTION D4x5 2 DP PN hardware configuration The specified IP addresses are not fixed and can be changed as required Configuration 5 5 PROFINET configuration SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 113 ...

Page 114: ...fter I device mode has been activated the data exchange between SIMATIC S7 and SIMOTION must be configured The appropriate process data must be configured for each block Note For the AddOn technology identical I O address ranges are used in the SIMATIC S7 and the SIMOTION D The address range 2000 to 2243 is reserved Configuration 5 5 PROFINET configuration SC integrated STS GSU 114 Operating Instr...

Page 115: ...CTARGETS Targets 6 2092 2103 DCC_SCOBSTACLES Obstacle regions Block1 16 2104 2135 Obstacle regions Block2 16 2136 2167 Additional data AddData_1 16 2168 2199 Additional data AddData_2 16 2200 2231 Additional data AddData_3 6 2232 2243 Enter these addresses in the I Device tab under Transfer area Figure 5 7 I O peripherals definition in the SIMOTION D435 2 hardware configuration Configuration 5 5 P...

Page 116: ...mple the trolley with start address 2036 is configured once as an output and once as an input from the master s viewpoint Figure 5 8 Properties of the output words Configuration 5 5 PROFINET configuration SC integrated STS GSU 116 Operating Instructions 07 2019 A5E48271265B AA ...

Page 117: ...e Please observe the note about the S7 hardware configuration below To create a new GSD file select Options Create GSD file for I Device from the menu bar after you have finished the configuration Then press Create and Install Configuration 5 5 PROFINET configuration SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 117 ...

Page 118: ...e of the SIMOTION In this case create a new GSD file in the HW Config of the SIMOTION and use the new PNxIO station from the hardware catalog in the HW Config of the SIMATIC S7 After the GSD file has been created and installed it can be found under Hardware catalog PROFINET IO Preconfigured Stations D435 PNxIO Configuration 5 5 PROFINET configuration SC integrated STS GSU 118 Operating Instruction...

Page 119: ...TION but can be changed if required Once all the functions of the AddOn technology have been configured the hardware configurations must be compiled in the SIMATIC S7 and SIMOTION and loaded into the controller The complete SIMATIC S7 and SIMOTION hardware is displayed in the NetPro screen below Although the PG PC can be connected to any line the PNxIO line is always selected in the application pr...

Page 120: ...ater once PROFINET has been configured you can copy the programs from one project into the other project Communication between the higher level SIMATIC S7 control and the drive related control SIMOTION D4x 5 2 DP PN is established via PROFINET PN The SINAMICS Control Unit is integrated in the drive based SIMOTION D Ref 5 and Ref 6 Configuration 5 5 PROFINET configuration SC integrated STS GSU 120 ...

Page 121: ...LC are programmed in the AddOn technology to process communication telegrams or interconnect and convert signals between SIMATIC S7 and SIMOTION In addition the corresponding function blocks and data blocks in the application projects for defined communication are available to users on the DVD 5 6 Copying the address list In SIMOTION all communication with the I O or with the master is performed v...

Page 122: ...e address list of the user project with Basic Technology The ActiveSkew address is only required if skew damping is to be implemented via an electric axis see Chapter Connection between skew damping technology object and DCC block TLS2 Page 132 The addresses i_io_status i_io_user q_io_ctrl and q_io_user are only required if communication with the camera is established via PROFINET and not UDP Conf...

Page 123: ...ct the library in the AddOn_FB_Library and copy it using the shortcut menu In the project with the Basic Technology select the LIBRARIES folder and paste the copied library using the shortcut menu User project Application project Figure 5 15 Copying the AddOn_FB_Library in the application project Configuration 5 7 Copying the AddOn FB library SC integrated STS GSU Operating Instructions 07 2019 A5...

Page 124: ..._Library into the user project Figure 5 17 User project accept and compile library Select the copied library and compile it using the shortcut menu Configuration 5 7 Copying the AddOn FB library SC integrated STS GSU 124 Operating Instructions 07 2019 A5E48271265B AA ...

Page 125: ...enu 2 Click the Technology packages technology objects tab 3 Click the Upgrade button to upgrade the library to the version in use 4 Click OK to confirm the changes Figure 5 18 User project accepting and compiling library of devices with higher software hardware version Configuration 5 7 Copying the AddOn FB library SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 125 ...

Page 126: ...t Figure 5 20 Inserting an MCC source file in the user project After you have inserted the Camera MCC source file you must adjust the IP address of the camera To do this open the Camera MCC source file and set the start value of the camera_SC_Addr parameter in the Interface in accordance with your configuration If the camera is connected via PROFINET the address 0 0 0 0 must be entered Configurati...

Page 127: ...ock types Click OK in the popup that then appears Figure 5 22 Popup for updating the DCC library The window that now opens shows the available libraries on the left hand side with the previously imported libraries shown on the right hand side Only import the most recently available library Do this by clicking the right arrow key Configuration 5 9 Inserting DCC blocks SC integrated STS GSU Operatin...

Page 128: ...igure 5 23 Importing the DCC library The selected library is shown in the right hand frame Configuration 5 9 Inserting DCC blocks SC integrated STS GSU 128 Operating Instructions 07 2019 A5E48271265B AA ...

Page 129: ...ser project To do this select the chart in the application project using the right mouse button and copy it User project Application project Figure 5 25 Copying the DCC chart from the application project Configuration 5 9 Inserting DCC blocks SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 129 ...

Page 130: ...RAMS folder User project Application project Figure 5 26 Pasting the DCC chart into the user project Note You can copy the DCC chart and paste it into a SCOUT project Configuration 5 9 Inserting DCC blocks SC integrated STS GSU 130 Operating Instructions 07 2019 A5E48271265B AA ...

Page 131: ... version V2 1 SP2 or higher Show the hidden communication elements in the display To do this open the AddOn MCC source file Figure 5 27 MCC chart AddOnMCC After this open the Receive TO and Send TO modules and select the deactivated blocks Click the right mouse button to display the following list Configuration 5 10 Establishing the connection between Basic Technology and AddOn SC integrated STS G...

Page 132: ...ect and DCC block TLS2 Note Carry out the following instructions only if skew damping is to be implemented via an electric drive rather than hydraulic cylinders Configuration 5 11 Connection between skew damping technology object and DCC block TLS2 SC integrated STS GSU 132 Operating Instructions 07 2019 A5E48271265B AA ...

Page 133: ...Task activeSkewmcc_1_s SynchronousTask IPOsynchronousTask 3 Copy the DCC chart ActiveSkewd_1 4 Interconnect the input rpos_Skewaxis and output rspeed_Skewaxis of DCC block SC_TLS2 with the technology object The relevant standard connections are listed in Chapter DCC_SCTLS2 Table Block DCC_SCTLS2 Page 48 Axis TO output DCC block DCC input TLS STS only ActiveSkew_1 positioningstate actualposition DC...

Page 134: ...g the MCC charts into the execution system 5 13 Saving compiling and checking consistency The project is compiled and saved when you click on button Then press the Ctrl Alt K key combination to perform a consistency check The project should now be free from any errors Configuration 5 13 Saving compiling and checking consistency SC integrated STS GSU 134 Operating Instructions 07 2019 A5E48271265B ...

Page 135: ...tion Figure 5 30 Transferring the user project online Note After the user project has been transferred the SIMOTION D4x5 2 system must be restarted Transfer by means of a card reader Select the device D4x5 2 in the user project Open the shortcut menu with a right click Select menu option Load to file system Configuration 5 14 Downloading the user project to the CF card SC integrated STS GSU Operat...

Page 136: ...Figure 5 31 Copying the user project to CF card directly Configuration 5 14 Downloading the user project to the CF card SC integrated STS GSU 136 Operating Instructions 07 2019 A5E48271265B AA ...

Page 137: ...Figure 5 32 Selecting the CF card in the card reader as the target Configuration 5 14 Downloading the user project to the CF card SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 137 ...

Page 138: ...protection of the parameter files Par0 txt to Par3 txt To do this edit the file properties to remove the write protection when files are copied with the CF card reader After this the following data should be stored on the CF card SWAYCONTROL directory Language files Sprache0 txt and Sprache1 txt Online help files Help_D chm and Help_E chm Parameter files Par0 txt to Par3 txt Java files Buffer jar ...

Page 139: ...3 Card image of the CF card Configuration 5 15 Transferring language files online help files JAVA files and parameter files to the CF card SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 139 ...

Page 140: ...the previously determined license key without having to run through the wizard Follow the instructions in the wizard for licensing Card reader Switch off the SIMOTION and remove the CF card Then insert the CF card into a CF card reader and connect this to your PC Open the keys txt file in the KEYS SIMOTION directory of the CF card and replace the text you find there with your license key Save the ...

Page 141: ...ance with the above principle is observed step by step in the following section Signal flow Step 1 Check the execution system and SIMOTION D4x5 2 DP PN in Run Before the signal flow is observed a check must be made whether the programs in the execution system are assigned to the appropriate tasks because otherwise the programs cannot be processed For more information see Chapter Execution system P...

Page 142: ...k the value at the inputs of the FB block The AddOn MCC source file or the AddOnMCC MCC program calls the FB_TargetsPLCToAddOn function block and accesses the array in the I O area for which it was parameterized Figure 5 36 Array assignment Configuration 5 17 Communication tests for the STS application project SC integrated STS GSU 142 Operating Instructions 07 2019 A5E48271265B AA ...

Page 143: ...0 0 control word 1 bit 3 bo_STW1_Stack_Form_Bit1 1 control word 1 bit 4 bo_STW1_Cycling 1 control word 1 bit 5 bo_STW1_Offset_To_Land 1 control word 1 bit 6 bo_STW1_Offset_To_Water 1 control word 1 bit 7 bo_STW1_Use_Extern_Targets 1 control word 1 bit 8 Because the b16_STW1 word at the block output is not interconnected any further the following bit variables are selected for tracing the signal bo...

Page 144: ...o trace the path back to the S7 you can select a variable at the block output and trace it back in the same manner The technology object has only the following variables supplied by the AddOn technology or sent back from the technology object AddOn technology technology object TO_Trolley_1 Defaultmotionin velocity TO_Hoist_1 Defaultmotionin velocity Technology object AddOn technology TO_Trolley_1 ...

Page 145: ...e displayed values are used and processed in the sway control system It is also necessary to check that the output data of the sway control system such as the output velocities and status bits are correctly returned to the SIMATIC S7 Configuration 5 17 Communication tests for the STS application project SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 145 ...

Page 146: ...Configuration 5 17 Communication tests for the STS application project SC integrated STS GSU 146 Operating Instructions 07 2019 A5E48271265B AA ...

Page 147: ...r specific axes by the SIMATIC S7 controller in application control word 1 bit 15 The Basic Technology returns the state of the Basic Technology mode Sway Control for specific axes in application status word 1 bit 15 Other Basic Technology modes may not be selected application control word 1 bit 9 to bit 14 Switchover to the Basic Technology mode Sway Control is performed only when all the conditi...

Page 148: ...st can be released Normal operation with AddOn technology Deselection of the Basic Technology mode Sway Control via the Basic Technology Figure 6 1 Sway Control release sequence 6 2 Sway Control operating modes When the Sway Control operating mode is selected in the Basic Technology the Sway Control AddOn technology is activated This is subdivided into the following operating modes Manual mode MAN...

Page 149: ...ued travel The TRAVEL control bit must be activated by a deliberate action WARNING Danger to life due to load movements Movement oscillation of the load or spreader can occur due to movement of the crane axes or due to wind The load deflection spreader is not taken into account by the AddOn technology package Take the deflection and oscillation of the load or spreader into account in the control o...

Page 150: ...tiated by setting the TRAVEL control bit with the master switch and by resetting the BRAKE_CLOSED control bit The following signal sequence is performed U9B6HWB75 75 9 75 9 B 5 B 26 PP V PP V 1 1 287 1 287 0 1 1 U9B3RVB75 Figure 6 3 Signal sequence at the start of travel in manual mode MAN trolley Section 1 The sway control system is activated and manual mode MAN MAN control bit STW1_PLC_Hoist STW...

Page 151: ...7 75 9 75 9 B 5 B 26 1 1 287 287 1 287 1 0 1 U9B6HWB75 PP V PP V Figure 6 4 Signal sequence at the end of travel in manual mode MAN trolley Section 1 Sway controlled travel Section 2 Master switch is released the output velocity decreases Section 3 The output velocity is less than the zero speed detection in P3 The POS_COMPLETED status bit is set as a result Section 4 The TRAVEL control bit must b...

Page 152: ...y result in injury or death are possible due to inattention of the crane driver In POS mode the blocked regions must be taken into account in the crane control Further information Further different control options in this operating mode are described in Chapter Hoist takeover Page 221 6 2 2 2 Activation Positioning mode is activated by setting the control bit POS on the drives 6 2 2 3 Control Star...

Page 153: ...ignals are set triggering opening of the brake see Chapter Drive activation and brake control Page 163 Section 3 The brake is opened The output velocity rV_Pos_TR is transferred to the drive End of travel Travel is complete when the POS_COMPLETED status bit is set The difference between the current and target positions is less than the set positioning accuracy The SC_COMPLETED status bit is set Th...

Page 154: ...V_POS_TR decreases Section 3 Target position reached The output velocity rV_POS_TR is less than the zero speed detection P3 for trolley P44 for hoist The POS_COMPLETED signal is then set Section 4 The TRAVEL control bit must be reset As a result no direction signals are set and the brake must be closed Section 5 The brake has been closed the BRAKE_CLOSED control bit has been set Sway Control funct...

Page 155: ...es for large loads 6 2 3 2 Activation The Semi automatic mode SAM is activated by setting the control bit SAM STW1_PLC_Trolley STW1_PLC_Hoist on both drives 6 2 3 3 Control In this mode the TRAVEL control bit is triggered by a start signal in the higher level control e g by means of a foot operated switch referred to as automatic start here The system checks whether it is possible to start in this...

Page 156: ...RQ 67 57B 872B2 75 9 75 9 B 5 B 26 PP V PP 1 287 1 287 1 1 1 U9B3RVB75 Figure 6 8 Signal sequence at the start of semi automatic mode trolley Section 1 The sway control system is activated and semi automatic mode SAM is selected for the hoist and trolley A target position has been specified Section 2 The automatic start has been triggered e g by means of a foot operated switch If no error has occu...

Page 157: ...gnal sequence is performed U9B3RVB75 326B 203 7 75 9 75 9 B 5 B 26 1 1 287 287 1 287 1 U6B FWB75 7DUJHW 3RVLWLRQ PP PP PP PP V PP V Figure 6 9 Signal sequence at the end of positioning in semi automatic mode trolley Section 1 Sway controlled travel to the target position Section 2 Actual position approaches target position the output velocity decreases Section 3 Target position is reached output v...

Page 158: ... load position mode is activated by setting the SNL control bit 6 2 4 3 Control The control of SNL mode is the same as the Control Page 152 of POS mode 6 2 5 Sway neutralization drive position SND 6 2 5 1 Functional principle The sway neutralization drive position operation mode only for the version with the SIMOCRANE CenSOR camera measuring system is used to eliminate load sway from standstill Sw...

Page 159: ...s The TRAVEL control bit must be reset if a state occurs during travel which is intended to prevent continued travel The crane is then stopped at the maximum deceleration rate without sway control If the travel can be completed without a fault the TRAVEL control bit should be reset with the POS_COMPLETED status bit The travel is then completed with no residual sway and the target position is reach...

Page 160: ...tion 6 4 Activating deactivating the sway control function 6 4 1 Calculation of the pendulum deflection The pendulum deflection needs to be acquired when the sway control system is active The pendulum deflection is the current distance of the reflector from its home position in the direction of the trolley Depending on whether or not a camera measuring system can supply a useful signal the pendulu...

Page 161: ...OXH 2 B B75 FRUUHVSRQGV WR IUR HQ FDPHUD YDOXH L H WR ODVW YDOLG YDOXH 2XWSXW YDOXH 2 B B75 FRUUHVSRQGV WR IUR HQ FDPHUD YDOXH L H WR ODVW YDOLG YDOXH 1RUPDO 676 RSHUDWLRQ ZLWKRXW HUURUV 676 EHKDYLRU LQ UHVSRQVH WR EULHI FDPHUD IDLOXUH 676 EHKDYLRU LQ UHVSRQVH WR SURORQJHG 3 FDPHUD IDLOXUH 1RUPDO 68 RSHUDWLRQ ZLWKRXW HUURUV 1R FDPHUD DYDLODEOH 68 7UDYHO VLJQDO VHW 75 9 7UDYHO VLJQDO QRW VHW 75 9 D...

Page 162: ...ay control inactive The up and down ramps for the velocity output value of the trolley are specified as linear characteristics according to the set acceleration P6 6 4 3 Deactivating the sway control function The conditions under which the sway control system will be deactivated are described below The system is deactivated if at least one of the conditions is fulfilled Conditions for deactivating...

Page 163: ...tion S_Corr due to influence of sway control Sway control influences the braking distance of the trolley The resulting additional distance is specified as the approximation S_Corr This value varies and depends on the following factors Effective pendulum length State of the oscillation model Output velocity Damping factor The correction value S_Corr is output in all operating modes provided the con...

Page 164: ...controlled stop in all modes One possible use is to interrupt travel in positioning mode in order to wait for a particular event The functionality could be combined with a dead man s switch for example Stopping is complete when the POS_COMPLETED status bit is set for the relevant drive While braking it is possible to reset the CONTROLLED_STOP control bit As soon as the bit has been reset and the T...

Page 165: ... following conditions is fulfilled Prelimit switches have been activated Velocity reduction due to change in external override Sway control is deactivated control bit SC_ON 0 The minimum acceleration is not operative in the normal travel range and when the override does not change The sway control system can then decelerate more slowly to compensate any load sway The maximum acceleration P5 repres...

Page 166: ...ter P46 see figure below Setting the immersion point Above this height it can be assumed that no superstructures such as cell guides frames for container fastenings etc are present Below this height immersion point travel in semi automatic mode SAM is only possible with the hoist in the upward direction because it is assumed that the spreader is located in the cell guides or between two container ...

Page 167: ...he trolley is not expected to move so the immersion point is not lowered any further either The immersion point is only a supplementary function at point B because there are also blocked regions due to the existing container stack At point C the immersion point is at the same height as point B because at this point the container is also lowered vertically as at point B along the cell guides to the...

Page 168: ...Maximum position for positioning hoist P108 Maximum container height Setting the immersion point When the control bit LEARN_PROFILE_RESET STW1_PLC_Common is set the immersion point is set to the initialization value The internally learned variable blocked regions are deleted In the MAN and POS modes the immersion point is dynamically set to the current hoisting height when The trolley on the water...

Page 169: ...ne control system This makes it possible to react to special situations allowing the required immersion point to be set while avoiding the effects of limiting or the reduction of the immersion point relative to the velocity Switchover between the internal and external immersion points is possible via the control bit IMPNT_EXT_ACTIVE If the external immersion point is less than the internal immersi...

Page 170: ...al mode MAN see Manual mode MAN Page 149 WARNING Danger to life due to failure to observe blocked regions Blocked regions are observed in SAM mode and if activated in MAN mode In all other operating modes i e also in positioning mode collisions that may result in injury or death are possible due to inattention of the crane driver In positioning mode obstacles and blocked regions must be taken into...

Page 171: ...arned variable blocked regions External variable blocked regions is the name given to blocked regions that are transferred from the PLC to the sway control system This is necessary when the obstacle management is to be implemented in a higher level control system Blocked regions should be transferred to the sway control system prior to travel in semi automatic mode SAM External variable blocked re...

Page 172: ...le spreader Tandem mode In tandem mode the current position of the trolley must refer to the center of the landside spreader During learning and avoiding obstacles the current total width of the double spreader is taken into account The width of the blocked regions is increased in the landside direction The operation of coupled double spreaders is activated by setting the SPREADERS_COUPLED control...

Page 173: ...nput edit and save Region menu in the SI MOCRANE CeCOMM di agnostic program B key Delete and transfer via PLC By monitoring the movements of the trolley and the hoist in manual mode By acquiring the values from the bay scanner Default values on start up Saved regions in the pa rameter files none Maximal position for position ing hoist P69 if the control bits are Learn_Pro file_ON 1 and Learn_Pro f...

Page 174: ...ation A start and an end position for the trolley is specified for each obstacle in addition to the associated hoist position An unused obstacle contains the value zero for all three entries The transfer of obstacles to the sway control system is described in Chapter Blocked regions Page 170 Proceed as follows Delete all the external variable obstacles of the previous travel job Transfer the obsta...

Page 175: ...stacles in the sway control system is displayed in the output value Number_OBST number of obstacles If zero values have been assigned to obstacles or if these obstacles already exist they are not transferred Fewer than five obstacles will be transferred in these cases When the maximum number of 250 obstacles is reached no new obstacles are transferred The current list of transferred obstacles can ...

Page 176: ...he target position for the hoist on the waterside using the initialization value for the immersion point This mode should occur only during the initialization refer to the bit description in Common Page 83 Initialization of the internally learned variable blocked regions after resetting the LEARN_PROFILE_RESET bit by setting the LEARN_PROFILE_ON bit bit 8 This creates the described blocked region ...

Page 177: ...ts resulting in serious injury or death can occur If the LEARN_PROFILE_ON and LEARN_PROFILE_RESET bits are reset you must take the blocked regions into account in the higher level control system 6 10 5 Defining the blocked regions The clearances to the obstacles can be set as parameters If a double spreader is used the width of the blocked region increases in the landside direction A distinction i...

Page 178: ...ew monitor accessible via the spacebar This mode is only for internal development purposes and must not be used on the crane The German text MODELLMODUS appears even if the user interface language is English Note The safety clearance P33 is limited internally to 20 of the spreader width In other words even when P33 0 2 x P106 the safety clearance is still 0 2 x P106 See also Calculation of 2D traj...

Page 179: ... on one spreader The functions are the same as for single spreader operation Combined double spreader twin operation A maximum of four containers can be locked and transported 6 10 6 2 Lock bits Two control bits LOCKED_BIT0 and LOCKED_BIT1 are provided in STW_PLC_COMMON for sensing the locking state as a function of the spreader constellations The meaning of these control bits is as follows Table ...

Page 180: ...eader in twin operation it is assumed that both of the containers are either locked or unlocked A situation in which a spreader extended to 45 ft is transporting only one 20 ft container is excluded as a possible scenario because this mode of operation would not generally be used in practice and would therefore be disabled in the higher level control system 6 10 6 3 Forming blocked regions during ...

Page 181: ...gion is placed at lower edge of spreader P72 or P78 precisely If the spreader is locked to a container following the learning travel the blocked region is raised by P108 Scenarios B and C Scenarios B and C define a learning travel if only the landside or waterside spreader is locked in double spreader operation 6SUHDGHU 6SUHDGHU ORFNHG UHJLRQ OHDUQLQJ SRVLWLRQ XUUHQW KRLVW SRVLWLRQ ORZHU HGJH RI V...

Page 182: ...stellations 6SUHDGHU 6SUHDGHU ORFNHG UHJLRQ OHDUQLQJ SRVLWLRQ XUUHQW KRLVW SRVLWLRQ ORZHU HGJH RI VSUHDGHU RQWDLQHU RQWDLQHU 3 P 3 3 3 3 3 3 P72 Hoist safety clearance SAM P78 Hoist safety clearance MAN P108 Maximum container height 2 m Minimum container height Figure 6 18 Forming blocked regions scenario D Explanation of the diagram Blocked region height current hoist position lower edge of sprea...

Page 183: ... was higher before the learning travel started Scenario A Scenario A defines a learning travel if none of the containers is locked It is applicable to all spreader constellations 6SUHDGHU 6SUHDGHU XUUHQW KRLVW SRVLWLRQ ORZHU HGJH RI VSUHDGHU PPHUVLRQ SRLQW Figure 6 19 Forming the immersion point scenario A Explanation of the diagram The immersion point is set at the current hoist position lower ed...

Page 184: ...8 maximum container height during unlocking The immersion point thus behaves exactly as if two twistlock bits were set Scenario D Scenario D defines a learning travel if all of the containers are locked It is applicable to all spreader constellations 6SUHDGHU 6SUHDGHU XUUHQW KRLVW SRVLWLRQ ORZHU HGJH RI VSUHDGHU RQWDLQHU 3 P 3 RQWDLQHU 3 PPHUVLRQ SRLQW P108 Maximum container height 2 m Minimum con...

Page 185: ...fts the stopping point When the spreader is located within the braking distance reserve of the hoist lowering is no longer possible but the trolley can continue to move without restriction The same applies to the braking distance reserve of the trolley When this is located within the braking distance reserve the trolley can no longer move in the direction of the blocked region The hoist can lift o...

Page 186: ...Figure 6 22 Soft approach with fixed blocked regions Sway Control function description 6 11 Collision protection soft approach SC integrated STS GSU 186 Operating Instructions 07 2019 A5E48271265B AA ...

Page 187: ... False the trolley is braked in good time before a blocked region and any oscillation is ignored In this case the crane driver must always monitor the sway condition in order to prevent a collision due to excessive oscillation We therefore recommend activating sway control whenever soft approach is used Note Blocked regions are not taken into account in positioning mode POS If the Hoist_TakeOver f...

Page 188: ...unction with the conventional control method see Selection of the control method Page 193 Sway Control function description 6 11 Collision protection soft approach SC integrated STS GSU 188 Operating Instructions 07 2019 A5E48271265B AA ...

Page 189: ...GWK 3 6KRZQ EORFNHG UHJLRQ LQ H 200 WDE LDJUDP DOFXODWHG WUDMHFWRU LQWHUSRODWLRQ SRLQWV 6DIHW FOHDUDQFH KRLVW 6 0 3 0 1 3 Single spreader Half spreader width P106 2 Coupled double spreader Overall width of double spreader DCC Block Common Half spreader width P106 2 The maximum container height P108 is only effective if at least one container is locked Figure 6 24 Defining the blocked regions Note ...

Page 190: ...ist positioning and a target position above the blocked region is not possible the target position for the hoist is not changed The target position for the trolley is changed internally such that the new target position is located before the blocked region Error message E30 No path found is also output in this case If the actual position is in the safety clearance of a fixed blocked region yellow ...

Page 191: ...ion is not possible the target position for the hoist is not changed The target position for the trolley is changed internally such that the new target position is located before the blocked region Error message E30 No path found is also output in this case Variable blocked region MAN If the actual position is located in a blocked region the velocity is reduced to P16 P56 and the status bit POS_IN...

Page 192: ...topping at maximum acceleration Immersion point If the actual position is below the immersion point when travel in SAM mode commences hoisting is performed until the hoist position is above the immersion point The sway control function is deactivated internally during this phase to avoid collisions with adjacent obstacles 6 11 3 Velocity dependent monitoring functions before semi automatic mode st...

Page 193: ... mode switchover the TRAVEL control bit is set for both drives 6 12 Selection of the control method 6 12 1 Selection Two control methods are available Conventional control Time optimized control The control method is selected via parameter P152 6 12 2 Conventional control Use of the conventional control method produces an aperiodic characteristic for the sway angle The acceleration ramp is smoothe...

Page 194: ...ossible ways of reducing these are described below Reducing relaxation oscillations using a PT1 element P38 A PT1 element can be activated using parameter P38 This effect of this PT1 element is to smooth the output velocity ramp Reducing relaxation oscillations using an input shaper P39 An input shaper can be used as an alternative for reducing relaxation oscillations The input shaper must be exac...

Page 195: ...or a user defined position as a target on the landside Moreover the lashing or waiting position can be approached as an intermediate position The requirements the control signals and the diagnostics are explained in more detail in the next chapter 6 13 1 Requirement Requirement The target generator can only be used with STS cranes For this purpose the parameter must be set as follows P102 1 SAM mo...

Page 196: ...it is set 6 13 3 2 Loading or unloading the ship The system detects whether a load or an unload operation is required based on the control signals concerning the locking state of the spreader LOCKED_BIT0 LOCKED_BIT1 and the spreader position If the spreader is located on the waterside for example and the locking state or the control bits associated with it are set an unloading operation is require...

Page 197: ... lashing positions To save the position the appropriate control bit LEARN_PARK_POS or LEARN_LASH_PLATF must be set in the control word STW1_PLC_Targets Necessary for all positions The brakes BRAKE_CLOSED control bit must be applied during the learning process 3 Wait for confirmation The corresponding control bit or lane number must remain set until the POS_SAVED status bit returns the confirmation...

Page 198: ... must be approached and the locking state LOCKED_BIT0 LOCKED_BIT1 must be changed via the control bits The user defined position is specified for the landside by the target generator when no lanes are selected LANE_SHIP_LOAD 0 and LANE_SHIP_UNLOAD 0 Targets on the waterside Before loading or unloading of the ship can be started with the aid of the target generator the stacking type and the first s...

Page 199: ...rside the operation for horizontal or vertical target specification is terminated Start of waterside P26 Maximum trolley position P28 Minimum hoisting height P63 Maximum hoisting height P69 A new operation cannot be started until a new starting position is specified on the waterside Note If the calculated target position is on the landside travel to this position is no longer performed but only ev...

Page 200: ...rd status displays will follow in Chapter Automatic target specification Page 201 The first status display 1 3 for the target generator provides an overview of the saved positions which are important for operation The upper section shows the indexes of the target position list described in Chapter Automatic target specification Page 201 whose locking state has been changed The value 1 indicates th...

Page 201: ...t below shows the second status display of the target generator which contains the target position list The targets for the landside are shown on the left The targets for the waterside are shown on the right In each section the first column lists the index the second the trolley position and the third the hoist position The column after the hoist position indicates the status If this contains a 1 ...

Page 202: ... the waterside and add an offset to them An offset can be defined for the targets on the waterside P35 for unloading P36 for loading in conjunction with the target generator This can be activated by the control bits OFFSET_TO_LAND and OFFSET_TO_WATER The following table shows the calculation of the next target position on the waterside depending on the stacking type and the state of the control bi...

Page 203: ... list index 0 or 1 and an offset of 0 75 P108 container height is added The target for the trolley is transferred from the target position list unchanged 6 13 6 Offset for the target position An externally specifiable value S_OFFS can be used to add an offset to the target positions internal targets from target generator or external targets for the hoist and trolley Note Note that this function is...

Page 204: ...rmation contained in this chapter relating to use of a bay scanner refers exclusively to STS crane applications In principle a bay scanner can be used on GSU cranes but a description of this application is not included in this documentation Sway Control function description 6 14 Bay scanner SC integrated STS GSU 204 Operating Instructions 07 2019 A5E48271265B AA ...

Page 205: ...HOHWH HLJKW 3URILOH HOHWH HLJKW 3URILOH 6 11 5 ุ 6 11 5B 9 2817B 1 If a bay scanner is present the BAYSCANNER_VALID bit is set 2 Whether or not the bay scanner is error free is acquired in the value COUNT_BAYSCANNER A Error free operation with bay scanner The VALUE_BAYSCANNER values are used by the bay scanner to determine the height profile Sway Control function description 6 14 Bay scanner SC in...

Page 206: ...of the bay scanner is not triggered In this case only internally learned blocked regions are used The bit must not be used to signal whether the bay scanner value is correct This is only done with the COUNT_BAYSCANNER value Note On cranes without a bay scanner the BAYSCANNER_VALID bit must remain permanently reset On cranes with a bay scanner the bit can remain permanently set If internally learne...

Page 207: ... Input variables Result BAYSCANNER_ VALID COUNT_ BAYSCANNER Dependency S_ACT H_ALT Dependency S_ACT L_ACT H_NEU Remark a 0 2 Hz S_ACT H_ALT H_ALT Bay scanner deselec ted Regular operation b 0 2 Hz S_ ACT H_ALT S_ACT Bay scanner deselec ted Regular operation c 1 2 Hz S_ ACT H_ALT H_ALT Bay scanner selected Error E59 d 1 2 Hz S_ ACT H_ALT S_ACT Bay scanner selected Error E59 e 0 2 Hz S_ACT H_ALT H_A...

Page 208: ...sured values or a shift in the obstacle profile in particular when the trolley is moving This inaccuracy must be taken into account by setting appropriate safety clearances P33 and P72 for SAM and P29 and P78 for MAN WARNING Danger to life due to erroneous values for the current positions S_ACT for the hoist and the trolley If the current positions for the hoist and the trolley do not correspond t...

Page 209: ...y scanner in such a way that the container stack is acquired with as little disturbance as possible from the swaying spreader It is advisable to mount the bay scanner in such a way as to obtain a value of at least one spreader width for parameter P37 6 14 2 Conversion of the bay scanner values Note Mount the bay scanner in such a way that the container stack is acquired with as little disturbance ...

Page 210: ...0 to the upper edge of the container stack at this position bay scanner value see following figure The height between two valid measuring points is direction dependent and is set to the height of the second measuring point Figure 6 30 Measurement of the height of the container stack with the bay scanner Formula for calculating the obstacle height hVB hs hm Sway Control function description 6 14 Ba...

Page 211: ... Explanation of point 1 2 The measured laser value Measured laser valueQuay and the actual position of the hoist Hoist actualpositionQuay at a defined position result in the installation height of the scanner Scanner height hs that can be calculated manually hs Measured laser valueQuay Actualposition hoistQuay hs 45000 mm 1000 mm hs 46000 mm Sway Control function description 6 14 Bay scanner SC in...

Page 212: ... conversion in SIMATIC S7 This converted laser value Value Bay Scanner hVB is also displayed in the Kinematics 1 display screen see Monitor tab Page 271 4 Check the adjustment of the bay scanner values and the hoisting height in the Semi Automatic Mode SAM 6 display screen see Monitor tab Page 271 These must be approximately the same 100 mm when the spreader is on the quay Sway Control function de...

Page 213: ...e observed in semi automatic mode SAM and if activated in manual mode MAN A trajectory is only calculated in SAM as automatic avoidance only occurs in this operating mode Sway Control function description 6 15 Calculation of 2D trajectory in semi automatic mode SAM SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 213 ...

Page 214: ...regions in Chapter Blocked regions Page 170 You can find information about forming the immersion point in Chapter Immersion point Page 166 The target position can be specified externally by the crane control system or the target generator You can find information about using the target generator in Chapter Target generator Page 195 The relationship between interpolation points and trajectory based...

Page 215: ...IMOCRANE CeCOMM The following data must be known before travel in SAM mode can commence Blocked regions Starting position Target position Immersion point The interpolation points are calculated on the basis of this data The interpolation point calculations provide the basis for the trajectory Sway Control function description 6 15 Calculation of 2D trajectory in semi automatic mode SAM SC integrat...

Page 216: ...sferred START_2D_CALC 1 is set 4 The interpolation points are calculated and trajectory travel is initiated Status bit BLOCK_REG_TOO_CLOSE in version V3 0 and higher A new status bit BLOCK_REG_TOO_CLOSE has been introduced in the status word INFO_START_AUTO_OK to ensure the safety of SAM travel The BLOCK_REG_TOO_CLOSE status bit is set when the braking distance before a blocked region is no longer...

Page 217: ...ion Internal activation of the sway control function is indicated by the status bit SC_STATE ZSW_Trolley_PLC 6 17 Suppressing the opposite direction Until output velocity rV_POS_TR reaches the value from P141 the polarities of output velocity rV_POS_TR and setpoint rV_SET_TR are identical The function Suppress opposite direction prevents the trolley from moving in a different direction from the on...

Page 218: ...ower than the highest interpolation point position The hoist is then lowered to P65 if the difference between the actual position and the waiting position of the trolley is less than one spreader width P106 and if the actual position of the hoist is greater than P65 This is rarely the case If the NO_WAIT_POS control bit is set before the waiting position is reached travel will be continued to the ...

Page 219: ...is lifted until the maximum position for the hoist programmed in parameter P69 is reached This applies only in SAM mode not in the POS or MAN modes The hoist is not lifted when P47 0 In this case the SLACKROPE control bit does not influence the trajectory The internally learned blocked regions and those calculated by the bay scanner are not updated while the SLACKROPE control bit is set Note It is...

Page 220: ...DE from the PLC and the input value hoist_BT_Field_Weak from the Basic Technology No override for hoist because no valid field weakening value for hoist No override from the PLC interface Override on hoist is 20 An output velocity is not output however because the set velocity 0 Override for hoist follows the valid field weakening value Values from the PLC are limited because they are higher than ...

Page 221: ... performed as soon as possible depending on the blocked regions Figure 6 39 Lowering point in SAM travel from WS to LS 6 23 Hoist takeover This application involves switchover from semi automatic mode SAM to the positioning POS and manual MAN modes Please note that following switchover of the trolley to POS mode and of the hoist to MAN mode Blocked regions are no longer observed by the trolley Blo...

Page 222: ...ing logic The operating mode of the hoist is immediately switched to MAN The operating mode of the trolley is switched to POS POS control bit if the status bit HOIST_TAKEOVER_OK bit 6 is set The trolley continues to travel automatically to the target If the HOIST_TAKEOVER_OK bit bit 6 is not set the trolley will also be switched to MAN mode The HOIST_TAKEOVER_OK bit is set at the height where the ...

Page 223: ...0 1 7UROOH 326 7UROOH 2 67B7 29 5B2 PP V PP V 1 1 1 287 1 1 1 PP V PP V 1 1 1 287 1 1 1 Figure 6 41 Hoist takeover status diagram Scenario A Section 1 Sway Control function description 6 23 Hoist takeover SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 223 ...

Page 224: ...afe height of the load The crane driver has complete control over the hoist with the master switch Note Takeover of the hoist from SAM to manual mode should be prevented by the PLC when the master switch is operated only very briefly unintentional operator error This delays takeover of the hoist into manual mode by the waiting time 6 24 Minimum hoisting height The trolley and the hoist can be limi...

Page 225: ... in the same direction once again during or after a correction travel trolley movement is continued without lifting the hoist The value between target and actual position must continue to be P73 Total corrections P73 are therefore possible but only gradually Parameter P70 safe height on land defines a position below which lifting is possible but not lowering Travel in SAM above this position is te...

Page 226: ...on is therefore initiated shortly before 200 mm is reached so that the target velocity has already been achieved when 200 mm is reached Limiting takes place on the land and water sides but only when lowering These targets can be either internal target generator or external higher level control system For this reason the function is not absolutely linked to a particular position The position is tar...

Page 227: ...elocity and P113 defines the operative range of P112 They can be used to reduce the lowering velocity of the hoist for a specified travel range thus ensuring that the travel curve remains above the interpolation point straight line Example P112 50 The lowering velocity is reduced to 50 as soon as the actual position of the hoist lies below the interpolation point straight line P113 30 Reducing the...

Page 228: ...relevant Calculation of effective pendulum length Automatically during commissioning Manually by counting the number of oscilla tions Block DCC_SCTLS2 Used Not used Block DCC_SCTARGETS Used Not used Block DCC_SCCAMERA Used Not used PROFINET PN configuration See table Table 5 1 I O address ranges for the AddOn technology Page 115 All address ranges are used The blocks DCC_SCTARGETS and DCCSCTLS2 ar...

Page 229: ...ab opens in the direction of gantry travel parameter P106 corresponds to the grab depth 6 27 2 On the fly unloading 6 27 2 1 Use On the fly unloading can be used in positioning mode POS and semi automatic mode SAM Positioning with on the fly unloading utilizes the swinging of a grab when unloading bulk goods and saves turnover time in this way The trolley is decelerated before the target position ...

Page 230: ...side to land The target position at 20 m is reached with a pendulum deflection of approx 0 8 m The return travel is restarted shortly after the status bit OPEN_GRAB has been reset The grab remains for approximately 2 seconds in the target area of 20 m 21 m The duration that the grab is present within a target area results mainly from the deceleration The lower the deceleration the longer the durat...

Page 231: ... control system catches this offset as fast as possible Section 3 Because the trolley is in the deceleration phase the grab sways forward The signal to open grab status bit OPEN_GRAB is set because the distance before opening the grab P31 has been undershot Unloading begins The material to be loaded is thrown into the funnel Sway Control function description 6 27 Special aspects of GSU application...

Page 232: ...he on the fly unloading abort velocity P30 P30 and P31 must be set as follows As soon as the distance between the load position and the target position of the trolley is smaller than P31 the OPEN_GRAB status bit is set P30 is used to set the time for resetting the OPEN_GRAB status bit and therefore provides the time for setting the CHANGE_TARGET status bit The CHANGE_TARGET status bit is reset aut...

Page 233: ...movement being performed It is possible to calculate the travel curve independently of blocked regions using these parameters In effect a horizontal path is added Parameter P75 applies to travel towards the land ship to hopper Parameter P76 applies to travel towards the water hopper to ship Both parameters are deactivated when they are set to zero General conditions for using P75 and P76 The obsta...

Page 234: ...se parameter P158 to influence the interpolation point for the upward trajectory towards the hopper It shifts the interpolation point vertically from hoist to inclined travel and can therefore influence the rate of rise of the upward trajectory flat or steep Please note that inclined travel must always be preceded by a hoist movement Sway Control function description 6 27 Special aspects of GSU ap...

Page 235: ...d making simultaneous changes to the settings of parameters P75 P76 and P158 6 27 3 Procedure for changing targets over the hopper The target positions for the trolley and the hoist are not always transferred consistently i e precisely simultaneously from the higher level control system to the sway control system Sway Control function description 6 27 Special aspects of GSU applications SC integra...

Page 236: ...if the Target Hopper is the next target to be specified after the Target Ship is reached and the trolley target is changed first due to time delays For this reason the target for the trolley must always be transferred first when targets are changed above the hopper and the target for the hoist always transferred first when targets are changed above the ship A temporary Target Temp 2 will be genera...

Page 237: ...on about the necessary crane constellations in Chapters Mechanical requirements for TLS with a hydraulic system Page 238 and Mechanical requirements for TLS with a hydraulic system and electric drive Page 239 You will find explanations of the type of movement and associated functions in Chapter TLS modes and TLS functions Page 241 Constellations In total there are three constellations for which th...

Page 238: ...e following relationships between cylinder and spreader movements must apply When a cylinder is extended the associated suspension point on the spreader is raised Trim movement Synchronous travel motion of the following cylinders Extension of cylinders A and B retraction of cylinders C and D or vice versa List movement Synchronous travel motion of the following cylinders Extension of cylinders A a...

Page 239: ...spindle The figure above shows a schematic mechanical structure at the tip of the boom hoist Four guide pulleys R1 R4 guide the hoist cables An electric drive with a spindle is also installed The hoist cables are pulled in the predefined directions via the fastenings based on the linear movement of the electrically driven spindle The spreader then rotates clockwise skew CW or counterclockwise skew...

Page 240: ...e corresponding suspension point in direction pos 1 Cylinder Simultaneous movement of cylinders A and C in direction max and cylinders B and D in direction max 4 Camera measuring system Rotary movement in CCW direction is measured 3 Electric drive Movement of skew drive in CCW direction 2 Spreader Motion of suspension points PA and PC in direction pos up and of suspension points PB and PD in direc...

Page 241: ...e abruptly Abrupt changes in output values must be avoided An extend retract bit is provided for each cylinder see Table Table 4 11 STW2_PLC_TLS Page 92 You can set bits for several cylinders simultaneously These cylinders will then also move simultaneously No internal cylinder position limits are monitored in this operating mode WARNING Move signal position controllers of all cylinders As soon as...

Page 242: ... means of the control bit of the relevant cylinder _out_comm or _in_comm In this example Select the a_out_comm control bit STW2_PLC_TLS bit 4 for cylinder A Section 3 Depending on the control selected in STW2_PLC_TLS the status bits 8 15 change to true In this example Status bit a_out ZSW1_TLS_PLC bit 8 The status bit motion_terminated ZSW1_TLS_PLC bit 3 changes to false when the cylinders start m...

Page 243: ...nder A specified by BSPEED_A_NORM is reduced to zero Section 3 The status bit motion_terminated ZSW1_TLS_PLC bit 3 changes to true when the cylinder stops moving Deactivate the move command by resetting the move control bit STW1_PLC_TLS bit 5 Terminate cylinder jogging mode by resetting the mode_comm control bit STW1_PLC_TLS bit 6 7 2 2 Go to zero positions mode Go to zero positions The cylinders ...

Page 244: ...ions but not the mid positions are relevant for calculating the trim list and skew positions Start of Go to zero positions Up to four cylinders at once can be moved simultaneously to their zero position For this purpose the cylinders are either retracted or extended depending on their current position and zero position target position The following examples of cylinder movements explain this proce...

Page 245: ...ence for starting travel in go to zero positions mode Section 1 Select the go to zero positions mode by setting the move_zero control bit STW1_PLC_TLS bit 14 Section 2 Activate the move command by setting the move control bit STW1_PLC_TLS bit 5 TLS control function description 7 2 TLS modes and TLS functions SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 245 ...

Page 246: ...utput velocities of cylinders A B and C are specified by BSPEED_A_NORM BSPEED_B_NORM and BSPEED_C_NORM End of Go to zero positions zero position reached The cylinders stop moving automatically when they reach their zero position target position PRYHB HUR PRYH DBLQ EBRXW 1 FBRXW GBRXW 1 287 287 287 287 GBLQ PRWLRQBWHUPLQDWHG HUR 63 B B1250 63 B B1250 63 B B1250 63 B B1250 287 287 287 287 287 287 28...

Page 247: ...he move_zero control bit STW1_PLC_TLS bit 14 7 2 3 TLS jogging mode With this TLS mode the spreader can be moved along the directions trim list and skew Each direction has a parameterized limit The spreader can only move in one of the three directions at any one time If several of these bits are set simultaneously they are prioritized as follows 1 Trim 2 List 3 Skew If the following control bits a...

Page 248: ...rds PRYH WULPBULJKW FBLQ GBLQ 1 DBRXW EBRXW 1 287 287 287 287 PRWLRQBWHUPLQDWHG 63 B B1250 63 B B1250 63 B B1250 63 B B1250 287 287 287 287 287 Figure 7 9 Signal sequence for starting travel in TLS jogging mode Section 1 Activate the move command by setting the move control bit STW1_PLC_TLS bit 5 Section 2 Select TLS jogging mode In this example Set the trim_right control bit STW1_PLC_TLS bit 8 TL...

Page 249: ...M BSPEED_B_NORM BSPEED_C_NORM and BSPEED_D_NORM End TLS jogging mode In this example trim_right is deselected as one of the options for TLS jogging mode PRYH WULPBULJKW FBLQ GBLQ 1 DBRXW EBRXW 1 287 287 287 287 PRWLRQBWHUPLQDWHG 63 B B1250 63 B B1250 63 B B1250 63 B B1250 287 287 287 287 287 Figure 7 10 Signal sequence for ending travel in TLS jogging mode Section 1 Cylinders A D move according to...

Page 250: ...on of the particular side When the limit is exceeded the target position of the other side becomes active The land and water sides are distinguished by means of parameter P26 The following versions are possible Version V1 Move to internally stored trim list and skew positions Version V2 Move to externally defined skew position and internally stored trim and list positions Version V3 Move to and ho...

Page 251: ...ble on the waterside the internally stored skew position can be activated by means of the skew_target_ext control bit Version V3 Move to and hold internally stored trim list and skew positions See Version V1 Note No distinction is made between the landside and waterside for the trim and list positions Application example Two containers are picked up on the waterside Because they have different wei...

Page 252: ... EBRXW FBLQ GBRXW PRWLRQBWHUPLQDWHG 63 B B1250 63 B B1250 287 287 287 287 287 287 Figure 7 11 Signal sequence for moving to internally stored position in TLS positioning mode Section 1 Select the TLS positioning mode by setting the tls_pos control bit STW1_PLC_TLS bit 7 Section 2 Activate the move command by setting the move control bit STW1_PLC_TLS bit 5 TLS control function description 7 2 TLS m...

Page 253: ... The internal target position is reached Depending on the cylinder control the status bits 8 15 in ZSW1_TLS_PLC change to false In this example a_in ZSW1_TLS_PLC bit 12 b_out ZSW1_TLS_PLC bit 9 c_in ZSW1_TLS_PLC bit 14 d_out ZSW1_TLS_PLC bit 11 The motion_terminated status bit ZSW1_TLS_PLC bit 3 changes to true The output velocities of cylinders A B C and D BSPEED_A_NORM BSPEED_B_NORM BSPEED_C_NOR...

Page 254: ... positions in TLS positioning mode Section 1 Select the TLS positioning mode by setting the tls_pos control bit STW1_PLC_TLS bit 7 Section 2 Select external specification of the skew angle for TLS positioning by setting the skew_target_ext control bit STW1_PLC_TLS bit 1 Section 3 Specify the external skew angle target angle for TLS positioning in SkewAngle_ext_for_TLS PZD 11 12 unit cgr Activate t...

Page 255: ... The motion_terminated status bit ZSW1_TLS_PLC bit 3 changes to true The output velocities of cylinders A B C and D BSPEED_A_NORM BSPEED_B_NORM BSPEED_C_NORM and BSPEED_D_NORM are reduced to zero 7 2 5 Skew damping for damping skew oscillation function 7 2 5 1 Skew damping via electric drive function If the mechanical design of the crane permits see Chapter Mechanical requirements for TLS with a h...

Page 256: ...ality of the camera signal The greater the noise in the camera signal the larger the minimum angle to which the system can damp the oscillations Please take this fact into account especially when setting parameter P301 The value should be larger than the maximum signal noise so that the skew_removed status bit ZSW1_PLC_TLS bit 14 is set at the end of compensation The commissioning mode for the ele...

Page 257: ...tput velocity is specified by BSPEED_SKEWAXIS_NORM End of commissioning mode of electric skew drive PRGHBFRPP PRYHB6N VNDBRXWBFRPP 1 PRWLRQBWHUPLQDWHGB6N 63 B6 6B1250 1 1 287 287 Figure 7 14 Signal sequence for ending movement of the electric drive skew damping via electric drive function Section 1 The electrically driven spindle moves out according to the set output velocity Section 2 Reset the s...

Page 258: ...atus observer contains the internal oscillation model and compares it to the camera values By setting the parameters of the status observer you can determine the speed at which the model is synchronized with the camera values for information see Chapter Commissioning TLS hydraulic system Page 350 The TLS function Skew damping via cylinders requires a camera This variant is relevant for the constel...

Page 259: ...l bit move which deactivates the position controller output velocity 0 mm s Note In the transition phase the status bit motion_terminated may bounce This can be remedied by using a timer in evaluation in the higher level control The control bit move is then reset if the status bit motion_terminated is set for a certain time 7 4 Controlling movement of the electric drive This chapter is relevant fo...

Page 260: ...3 0 0 1 1 The value that the bit has is irrelevant for the mode Notes on the table 1 In this time the value 1 means that one or more control bits are set in a_in_comm b_in_comm c_in_comm d_in_comm a_out_comm b_out_comm c_out_comm d_out_comm 2 In this time the value 1 means that one of the control bits trim_right trim_left list_water list_land skew_right skew_left is set This means that it is possi...

Page 261: ...c drive When traveling with the electric drive the process is not divided into different operating modes skewpos_ext 0 In this case when mode_comm is set position controlled travel is activated without internal limitation of the axis via the input bits ska_in_comm and ska_out_comm The input signal rskewpos_set of DCC block DCC_SCTLS2 has no significance in this case skewpos_ext 1 In this case the ...

Page 262: ...TLS control function description 7 6 Controlling travel and skew damping with electric drive SC integrated STS GSU 262 Operating Instructions 07 2019 A5E48271265B AA ...

Page 263: ...r effective pendulum length Evaluation of logger data Additional functions such as version information calculation of position and speed parameters Display of the target position list TPL see Chapter Diagnostics Page 200 The program interface is supplied in German and English An overview is now provided of the most important functions of the SIMOCRANE CeCOMM program 8 1 Installing The installation...

Page 264: ...ble via the tabs Monitor Device dependent display of all diagnostic information changed parameters display error messages etc File manager Explorer User interface for copying renaming editing etc files Diagram User interface for recording saving and loading curves Web browser Use of the Web browser available on the target system Telnet Establish connection to the sway control system with Telnet Ef...

Page 265: ... or system and so can vary greatly The status bar contains the IP address of the connected device and the interface version in addition to the version of the DCC library and the loaded ini file This icon can also be used to always keep the window in the foreground even when it is not active Pressing the icon again deactivates this function SIMOCRANE CeCOMM commissioning and diagnostic program 8 2 ...

Page 266: ...terface IP address tab After saving the IP addresses are updated in the toolbar 3 Start the connection setup to the target device using one of the IP buttons in the toolbar The status of the connection setup is displayed in an additional window and in the status bar Note If no connection can be established check the interface settings on the diagnostic PC and in the SIMOCRANE CeCOMM diagnostic pro...

Page 267: ...tarted using this menu item The communication addresses of the connected nodes can be determined by means of this tool View The View menu function can be used to call all functions provided on the tabs Options Save image content This function saves the contents currently displayed on the Monitor tab to a text file Ping Ping is a diagnostic tool which can be used to check whether a communication pa...

Page 268: ...ge Setting up FTP file access Page 325 is generated in this case Figure 8 5 Error message Language The languages available for selection are German and English This function sets the language of the SIMOCRANE CeCOMM user interface and the signal names in displays of trace information If a SIMOTION system is connected online the function will also adjust the language of the display monitors A resta...

Page 269: ...file is loaded when the SIMOCRANE CeCOMM program is started It is not advisable to alter the file contents manually Calculations Position parameters This function can be used to calculate the factor and the offset Measurement data and the required position data are entered in pairs in this case Figure 8 6 Calculation of position parameters Speed parameters Crane manufacturers frequently supply cra...

Page 270: ...quency and the pendulum length from a specific oscillation count over time Figure 8 8 Pendulum calculations Deflection After the pendulum length and acceleration have been input the maximum deflection values for starting and stopping are calculated without sway control SIMOCRANE CeCOMM commissioning and diagnostic program 8 4 Menu bar SC integrated STS GSU 270 Operating Instructions 07 2019 A5E482...

Page 271: ...ssociated connected device or system and displayed in HTML format 8 5 Monitor tab The Monitor tab can be used to parameterize Sway Control and TLS Control and to check their status The keyboard is used for operation e g main menu spacebar or Esc spacebar No distinction is made between upper and lower case characters during input SIMOCRANE CeCOMM commissioning and diagnostic program 8 5 Monitor tab...

Page 272: ...ges H Display error history I Call up commissioning menu L Fetch logger data P Edit parameters V Version and license information X Simulation of twistlock control Initialization status of the parameter and language files Y Call up target generator menu It is possible to switch between the individual menus directly by operating the appropriate key provided the key is not assigned in the active menu...

Page 273: ...ed view of scrolling windows e g Parameter Listing When this history function is called the display screen will have a gray colored background The text on the gray background can be selected and copied using keyboard command Ctrl C or saved directly to a text file using the command Ctrl A F4 SIMOCRANE CeCOMM commissioning and diagnostic program 8 5 Monitor tab SC integrated STS GSU Operating Instr...

Page 274: ...ction from the parameter list The F3 Return to Monitor button exits the history area SIMOCRANE CeCOMM commissioning and diagnostic program 8 5 Monitor tab SC integrated STS GSU 274 Operating Instructions 07 2019 A5E48271265B AA ...

Page 275: ...of the Sway Control section in more detail Figure 8 13 CeCOMM monitor 1 Status display number 1 lists the most important kinematic data SIMOCRANE CeCOMM commissioning and diagnostic program 8 5 Monitor tab SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 275 ...

Page 276: ...tatus display number 3 lists the most important control signals for the trolley and hoist SIMOCRANE CeCOMM commissioning and diagnostic program 8 5 Monitor tab SC integrated STS GSU 276 Operating Instructions 07 2019 A5E48271265B AA ...

Page 277: ...s trim list skew and vertical translation That is each of the signals comprises four components For naming individual components the endings _A _B _C and _D or T _L _S and _h are valid The following applies as exemplified for the actual position s_act_T 0 25 s_act_A s_act_B s_act_C s_act_D s_act_L 0 25 s_act_A s_act_B s_act_C s_act_D s_act_S 0 25 s_act_A s_act_B s_act_C s_act_D s_act_h 0 25 s_act_...

Page 278: ...del actual output iangle_osz_skew from DCC_SCTLS2 cgr psip_modell psip_model Angular velocity of rotation of the internal oscillation model cgr s psi_ofs_modell psi_ofs_model Offset between camera angle and model angle resulting from installation cgr Signals cylinders s_ist_TLSh s_act_TLSh Actual position cylinders TLS coordi nates mm s_ist_f_TLSh s_act_f_TLSh Actual position converted s_act_f_T i...

Page 279: ...s_cal_A rpos_a P241 etc mm Signals of the electric drive s_stell_SkA s_out_SkA Output position calculated by integrating the output velocity of the electric drive mm v_stell_SkA v_out_SkA Signals of the electric drive DCC output rspeed_skewaxis mm s v_stell_norm_SkA v_out_norm_SkA Normalized output velocity of the electric drive v_out_norm_SkA P332 v_out_SkA P325 Outputs of DCC_SCTLS2 speed_ske wa...

Page 280: ...53 Note The parameters for the skew axis in the lower monitor section are only visible if the electric drive is activated with P320 1 9 v_set_SkA mm s v_out_SkA mm s v_out_norm_SkA 10 s_set_SkA s_act_SkA rpos_skewaxis 11 Input of the DCC block rskewpos_set Monitor 8 Monitor 8 shows information about skew oscillation the selected travel mode and current target positions SIMOCRANE CeCOMM commissioni...

Page 281: ..._target_abcd mm s_target_TLSh mm s_target_S converted to centigrade s_target_S P280 Monitor 9 Monitor 9 shows control bits and status bits for TLS see also the Tables in Chapters TLS Page 90 and TLS Page 104 This display screen can be used to verify the correct control The CeCOMM trace function is used for detailed analysis of signals SIMOCRANE CeCOMM commissioning and diagnostic program 8 5 Monit...

Page 282: ...Figure 8 18 Monitor 9 SIMOCRANE CeCOMM commissioning and diagnostic program 8 5 Monitor tab SC integrated STS GSU 282 Operating Instructions 07 2019 A5E48271265B AA ...

Page 283: ...8 19 Editing parameter sets in the SIMOCRANE CeCOMM diagnostic program All the parameters in the parameter list are available in fours i e in the form of four current parameter sets To be able to respond appropriately to the requirements of individual handling tasks e g changes in acceleration you can adjust the relevant parameter settings in each of the current parameter sets In other words you c...

Page 284: ...es can be entered for the parameter If values lower than 20 are input as settings for the acceleration parameters they will be interpreted as ramp times and made available for transfer after conversion to the corresponding acceleration values Note the following Always use the parameter menu of the SIMOCRANE CeCOMM diagnostic software in order to edit the parameter sets as this is the only method w...

Page 285: ...dit another parameter set can be changed using the C function Note Changes to parameters P100 P102 P106 and P110 take effect in all parameter sets otherwise only in the parameter set that can be edited Once the C key is activated the parameter number must be entered e g 1 for parameter P1 and completed with the Enter key The new value is then entered and confirmed twice with the Enter key Changed ...

Page 286: ...d If a parameter set is copied into the directory the parameters must also be reloaded for updating The parameters are reloaded automatically upon power up 8 5 3 8 Saving all sets of parameters S Save all sets of parameters All current parameter sets are saved in parameter files Par0 txt to Par3 txt with this function Note Each parameter changed in the active parameter set is effective immediately...

Page 287: ...ist with F2 History or to copy it into the Windows clipboard for further processing F3 Return to Monitor restores the monitor display Note All set values can best be documented with the functions L Show list of parameters F2 History select e g CTRL A copy e g CTRL C and F4 Save as F3 Return to Monitor restores the monitor display SIMOCRANE CeCOMM commissioning and diagnostic program 8 5 Monitor ta...

Page 288: ...isplay screens From these display screens it is also possible to execute the functions of the parameter menu 8 6 File manager The file manager can be used to edit copy rename and delete files Directories can be created Note The displayed directories in the function part depend on the sway control system and so can vary greatly SIMOCRANE CeCOMM commissioning and diagnostic program 8 6 File manager ...

Page 289: ...he signal flows e g velocity distance degree over time All curves of the calculated and actual velocities and distances upper area as well as all states of the input output bits lower area can be tracked x y diagram The distance curves for two drives in the x y plane with displayed blocked regions can be monitored The recorded measured values are used for both diagram types F11 or F12 can be used ...

Page 290: ...rposes These files are stored in the default directory CeCOMM application path LongTraces If you want to use an external hard disk as a data storage medium for example you can enter a new path in the Properties dialog window on the page Diagram F8 Properties Project Title tab NOTE Note If no path is specified in the dialog window the default path mentioned above is used x y display To display the ...

Page 291: ...he signals are loaded with the set sampling rate The File and Reload last chart menu items can be used to load the most recent recording at a specified sampling rate To improve clarity the number of parameters to be recorded can be restricted This is done on the Main values Input bits and Output bits tabs of the View diagram window The following settings can be defined on the Main values tab see s...

Page 292: ...F Select no parameter Recording ON If this checkbox is deactivated it is possible to end the recording of the bits without losing the settings of the parameters to be selected However it is also possible to record all parameters first and then restrict the recording using the F7 View button SIMOCRANE CeCOMM commissioning and diagnostic program 8 7 Diagram trace function SC integrated STS GSU 292 O...

Page 293: ...ily assign the curves to the axes The default assignment of the signals to the axes and the associated unit are listed in the following table Values to be transferred Table 8 2 Analog signals trolley Short name Meaning Unit V_SET TR Trolley set velocity specified by the master switch mm s V_REF TR Trolley set velocity using the set ramps mm s V_POS TR Trolley output velocity computed by the calcul...

Page 294: ...tion to the Values to be transferred signals four signal traces with variable selection are available on each tab of the dialog box In this way a scalar signal can usually be selected that is then recorded for the trolley and hoist The list of signals can be found in Appendix A5 Page 437 Zoom You can zoom areas of the diagram to view a more detailed display To do this click and drag the mouse poin...

Page 295: ...h mm ss ms instead of the trace duration s Measuring cursor Use the measuring cursor to permit a more exact tracing of signals specific bit has been set how does a specific quantity behave at this time and to determine special points You can activate this as follows Click the Options button to open the dropdown list and select the option Measuring cursor ON Or place the mouse pointer on the left e...

Page 296: ...measuring cursor When the measuring cursor is active select Open info series in the dropdown list to open an information window If only one measuring cursor is active all the values active in the legend on the right hand side are displayed in the information window at the time specified by the measuring cursor If the second measuring cursor is active two columns are automatically added to the info...

Page 297: ... of the screen while holding down the left mouse button The time stamp can also be displayed using the dropdown list of the Options button on the toolbar The X axis then shows the exact time hh mm ss ms instead of the trace duration s SIMOCRANE CeCOMM commissioning and diagnostic program 8 7 Diagram trace function SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 297 ...

Page 298: ... are displayed in the diagram and in the legend on the right hand side Figure 8 32 Limit lines Click the right mouse button in the legend to view further display options Blocked regions can be displayed without safety clearances or with contour lines SIMOCRANE CeCOMM commissioning and diagnostic program 8 7 Diagram trace function SC integrated STS GSU 298 Operating Instructions 07 2019 A5E48271265...

Page 299: ...Longtime trace active The laptop screen can be closed Screensavers also do not interrupt the trace Every half hour a file together with the date and time set up in SIMOTION is saved automatically in the LongTraces directory SIMOCRANE CeCOMM commissioning and diagnostic program 8 7 Diagram trace function SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 299 ...

Page 300: ...e legend on the right hand side Refresh The functions Auto automatic refresh of diagram Interpola tion points Blocked regions and Limit lines are available via the dropdown list Start Select which axes and parameters should be traced and start the trace task Stop End recording Load file Load existing dgr diagram file Save file Save the diagram content data in a dgr file Print Print the diagram aft...

Page 301: ...iew F6 Print The diagram can be printed using the F6 Print button After selecting the printer and the printer settings a print preview appears when the OK button is pressed to confirm Various details e g print with without legend can be set in this print preview Zooming with the mouse is also possible Figure 8 36 Print print preview function SIMOCRANE CeCOMM commissioning and diagnostic program 8 ...

Page 302: ...es Color Name Line type and line thickness A selected parameter can be placed on the left hand axis or on the right hand axis The direction arrow keys up or down can be used to change the order of the display Figure 8 37 Diagram function F7 View General tab SIMOCRANE CeCOMM commissioning and diagnostic program 8 7 Diagram trace function SC integrated STS GSU 302 Operating Instructions 07 2019 A5E4...

Page 303: ...e 8 38 Diagram function F8 Properties Analog values tab Note For all changed properties F8 the properties of the diagram will be saved automatically in the DiagXXX ini or DiagXXX_engl ini file in the program directory or the currently set directory and file name SIMOCRANE CeCOMM commissioning and diagnostic program 8 7 Diagram trace function SC integrated STS GSU Operating Instructions 07 2019 A5E...

Page 304: ...ram shows the travel curve of two drives in the x y plane where the x axis represents the movement of the trolley and the y axis the path of the hoist When the other button either F11 or F12 is pressed the x and y axes will be interchanged Operating the same button again changes to the distance velocity time curve SIMOCRANE CeCOMM commissioning and diagnostic program 8 7 Diagram trace function SC ...

Page 305: ...el curve Blocked regions Display all blocked regions fixed and variable If the Cyclical re fresh option is selected the internally learned variable blocked re gions on the waterside will be updated continuously as the crane is traveling MAN Obstacles This switches between the blocked regions for the MAN and SAM modes Note The curves drawn in the diagram are always relative to the lower edge of the...

Page 306: ...nding fields can be switched over by selecting deselecting the checkmark for Show TLS Text between trolley hoist and TLS These are mainly signals from Table 8 1 TLS signals Page 278 Note on 4th tab Signal 1 TLS zero Zero position reached Signal 2 TLS motion_terminated Cylinder motion completed Signal 3 TLS skew_removed Skew oscillation eliminated Signal 4 TLS motion_term_ska Skew drive motion term...

Page 307: ...evelopment engineers Note on signals from the variable recording with number greater than or equal to 200 If such a signal is selected for a field of the variable recording the trace will record four TLS signals For example if the TLS signal s_act_ABCD is selected the signal curves of each of the four cylinders will appear in the trace with the signals s_act_A s_act_B s_act_C and s_act_D Note on t...

Page 308: ...nificant quantity for the functionality of the sway control system The tool can also be used to subsequently check the pendulum length fast and easily The displayed pendulum length row 4 in the table should generally match that currently displayed in screen 1 of the monitor Note The oscillation experiments can be conducted with low amplitudes Nonetheless the amplitudes must be high enough that the...

Page 309: ...tem with the SAVE LOGGER control bit The data are stored to the memory card in binary form Up to 10 logger files can be stored The logger files are automatically numbered from Logger0 bin to Logger9 bin and are stored in the SwayControl directory After the last logger file Logger9 bin has been created the next SAVE LOGGER signal resets the numbering and Logger0 bin is overwritten The oldest file i...

Page 310: ...en the service life of the memory card Note Transfer the stored logger files from the memory card to hard disk immediately This ensures that the stored files are not overwritten when the next save operation is performed save using logger menu of CeComm or after the tenth save operation save using SAVE LOGGER bit Figure 8 43 View of a logger file as a text file This is how logger files appear when ...

Page 311: ...ons to a monitored variable are recorded and timestamped with the internal clock of the SIMOTION system The display in SIMOCRANE CeCOMM shows the time stamp name of the variable and the states before and after the change Status changes of bits are shown in boldface type see Figure 8 45 Display of the logger content in SIMOCRANE CeCOMM Page 314 Recording of obstacles in the logger Obstacles are onl...

Page 312: ...trol word hoist Status word 1 hoist Control word 1 Common Control word 2 Common Error double word FAULT1 Status word 1 common Status double word INFO_NO_AUTO_START Target positions Interpolation points Obstacles Override trolley and hoist Offset S_OFFS for trolley and hoist Intermediate targets S_Max during movement along the trajectory Factor for reduction of sway control Immersion point Number o...

Page 313: ...t positions distinguishes between targets coming from the crane control system and targets coming from the target generator when it is active The following cases are distinguished If the target generator is active _TG is added to the target position If the target generator is not active there is no such identification 8 9 5 Handling the Logger function in SIMOCRANE CeCOMM Below you will find infor...

Page 314: ...a Logger bin or Logger txt file L key Loads a stored file into the buffer Is only active if a Logger bin file is available R key Deletes the current buffer content Restart key RETURN Updates the current display key Calls up the display Description of the control bits see screenshot below SIMOCRANE CeCOMM commissioning and diagnostic program 8 9 Logger SC integrated STS GSU 314 Operating Instructio...

Page 315: ...Figure 8 46 Description of the control bits SIMOCRANE CeCOMM commissioning and diagnostic program 8 9 Logger SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 315 ...

Page 316: ...Figure 8 47 Description of the status bits SIMOCRANE CeCOMM commissioning and diagnostic program 8 9 Logger SC integrated STS GSU 316 Operating Instructions 07 2019 A5E48271265B AA ...

Page 317: ...e displayed as follows in the logger listing FIX Fixed blocked regions PLC Externally learned variable blocked regions PROFILE Internally learned variable blocked regions SIMOCRANE CeCOMM commissioning and diagnostic program 8 9 Logger SC integrated STS GSU Operating Instructions 07 2019 A5E48271265B AA 317 ...

Page 318: ...Display variable blocked regions only displays the variable blocked regions see Chapter Monitor tab Page 271 The designations PLC and PROFILE are also used SIMOCRANE CeCOMM commissioning and diagnostic program 8 9 Logger SC integrated STS GSU 318 Operating Instructions 07 2019 A5E48271265B AA ...

Page 319: ...Page 263 on the commissioning PC Setting of the IP address of the commissioning PC in accordance with the SIMOTION same subnet When a camera is used the camera measuring system must be put into operation For information see the operating instructions for the SIMOCRANE CenSOR camera measuring system Ref 1 If a bay scanner is used it must be put into operation see Chapter Using a bay scanner Page 20...

Page 320: ...tion is not part of the SCOUT project but is contained on the supplied DVD The customer must copy this application to the CF card of the SIMOTION D The continuous communication between the AddOn functions on the SIMOTION and the camera measuring system 1 is not performed directly but using FB blocks see also Ref 1 9 3 Commissioning requirements for AddOn software 9 3 1 General requirements Commiss...

Page 321: ...control system If the error messages are not taken into consideration uncontrolled crane movements are possible which can result in personal injury and material damage The PLC programmer is obliged to evaluate the error messages of the sway control system Ensure that the following requirements for commissioning of sway control are fulfilled 1 All the drives to be controlled and the hoist must be f...

Page 322: ...on ramps The setpoint from the sway control system is read in the drive downstream of the SINAMICS ramp function generator The settings of the SINAMICS ramp function generator ramp and rounding therefore have no influence on sway control CAUTION Danger of injury and possible material damage caused by unexpected crane movements Unexpected jerk movements may occur during operation with sway control ...

Page 323: ...ommissioning personnel Access code 3 Development engineer The message No authorization appears when an attempt is made to change a parameter that does not correspond to the access code Parameter P100 access code should be set to 2 for the commissioning 9 3 5 Setting the language The language of the diagnostic program is set from the menu Options Language and saved under parameter P110 German and E...

Page 324: ...ollowing exception applies If S_SET 0 the target position from the target generator is displayed External and internal targets are displayed in different ways in SIMOCRANE CeCOMM see Chapter Selecting external and internal targets Page 342 The Status of the drives 3 display screen is called with the 3 key see screenshot below The command and status bits are displayed here They should also be check...

Page 325: ...responded 2 Prelimit switch forward and prelimit switch backward responded 0 2 Limit switch forward and limit switch backward responded 2 2 All limit switches responded 9 3 7 Setting up FTP file access With SIMOTION firmware V4 4 and higher a user name and password must be stored on the CF card for the use of FTP web services or access protected pages If this has already been set up you can skip t...

Page 326: ...es 4 and 9 4 Change the user name and the password see text marked in red Save the file and remove the CF card from the card reader when the operation is complete The SIMOTION can then be restarted using the CF card Figure 9 4 UserDataBase xml after initial power up of SIMOTION D4x5 2 DP PN Figure 9 5 UserDataBase xml after modification Setting user name and password in SIMOCRANE CeCOMM 1 Open the...

Page 327: ...ata access after the SIMOTION has been powered up Establish a connection to the SIMOTION via SIMOCRANE CeCOMM and open the File Manager or Explorer tab You should now be able to see the contents of the CF card on the right hand side of the screen Figure 9 7 Login on SIMOTION D4x5 2 DP PN Commissioning AddOn Software 9 3 Commissioning requirements for AddOn software SC integrated STS GSU Operating ...

Page 328: ...the load only overshoots the chosen target position by a very small amount The sway control system calculates output velocity values that are forwarded to the drives using technology objects Dynamic prelimit switches With dynamic prelimit switches the drives are decelerated to the prelimit switch velocity depending on the position and velocity In contrast to fixed prelimit switches the drives are ...

Page 329: ...aterside the lower dynamic prelimit switch does not act in order to allow the immersion in the ship s hold In this case the crane control system must ensure that damage cannot occur to the crane or the ship Note If P115 0 ensure that the correct operation of the prelimit switches is guaranteed The fixed prelimit switches are completely independent of the path measuring system and function even if ...

Page 330: ...ion to the prelimit switch velocity the sway control system is only active with restrictions If the delay to prelimit switch velocity is to be subject to sway control the setpoint must be reduced in the crane control system Note If P24 P27 the trolley always travels at prelimit switch velocity If P64 P68 the hoist always travels at prelimit switch velocity Commissioning AddOn Software 9 4 Sway con...

Page 331: ...nication addresses in step 6 before performing step 1 Some parameters of the active parameter set are set automatically in these steps Note Parameter sets must not be switched over while commissioning is in progress The successful completion of a commissioning step is indicated by a After the commissioning steps have been performed successfully it is no longer necessary to set these parameters man...

Page 332: ...or positioning hoist The maximum output velocity P0 P40 is the maximum possible velocity It influences the amplitude of the oscillation model Enter the settings precisely The positioning velocity P1 P41 is the maximum possible velocity in the positioning POS and semi automatic SAM modes Depending on control processes the actual velocity can be lower or higher but never greater than the maximum out...

Page 333: ...arameter P120 Ensure that the following requirements are fulfilled before performing this commissioning step Rectify initial oscillation beforehand Reflector must always lie within line of sight The diagnostics sense the main direction of sway and the sign of the initial deflection From this information the assignment of the trolley direction to the camera x or y direction and its sign are determi...

Page 334: ...orm this automatic commissioning step For systems without a camera measuring system perform this step manually with the tool on the Effective pendulum length tab You will find more information in Chapter Effective pendulum length Page 307 Figure 9 12 Calculating the effective pendulum length trolley Commissioning AddOn Software 9 4 Sway control commissioning SC integrated STS GSU 334 Operating Ins...

Page 335: ... the use of different load suspension devices are compensated with the digital effective pendulum length correction Parameter P80 is written 3 Analog hoist correction Note Before performing step 3 the weight of the load suspension device must be determined and stored in parameter P82 This step is optional With the analog effective pendulum length correction shifts in the center of gravity that res...

Page 336: ...once within a network For the communication between the components the IP address of the camera measuring system must be made known to the SIMOTION The camera measuring system is delivered with a predefined IP address In commissioning step 6 Communication addresses depending on the deployed hardware and whether a camera measuring system is in use it is possible to choose between UDP IP address and...

Page 337: ...semi automatically in commissioning step 2 the adaptation to the load conditions is performed with the parameters P80 Digital effective pendulum length correction Shifts in the center of gravity that result from the use of different load suspension devices are compensated P81 Analog effective pendulum length correction Shifts in the center of gravity that result from the load weight are taken into...

Page 338: ...c tool is displayed in green otherwise in black Analog correction eff pendulum length load P82 x P81 if load P82 0 otherwise 0 Effective pendulum length correction digital If digital effective pendulum length correction is to be used the offset must be entered in parameter P80 The command to use this is set in the DIG_HOIST_DIST_CORR control bit Common control word In this case the value for the l...

Page 339: ...eached and sway elimination is terminated immediately It is therefore possible to prevent higher levels of dynamic stress at the end of acceleration with the time optimized control method The residual sway at the end of acceleration may be greater than the residual sway at the end of stopping 9 4 2 5 Settings to monitor the oscillation state Set parameters P156 and P159 as described in Chapter Mon...

Page 340: ...te Settings of between 50 ms and 350 ms have generally proved correct for P153 and P154 Ensuring that these time delays are set to the correct value has a significant influence on the quality of the sway control system so it is important that they are always measured as described in the chapter Measuring the delay times for P153 trolley You can measure the delay times by recording a trace of the t...

Page 341: ...etween the two lines Use the ruler function to do this The delay time in the example see figure above is 83 ms 2 Enter this value in parameter P153 Since V_ACT is a measured value it will not track the output velocity exactly These deviations must be taken into account Second trace for verification A second trace is taken after parameter P153 has been set to the measured value in this example P153...

Page 342: ...ey 9 4 3 Commissioning positioning mode POS 9 4 3 1 Selecting external and internal targets You can use two different methods to specify targets in the POS and SAM modes Externally via the crane control system Requirement The USE_EXTERN_TARGETS control bit is set Internally with the target generator via the sway control system Requirement The USE_EXTERN_TARGETS control bit is reset Displaying exte...

Page 343: ...ystem If automatic positioning is to be commissioned and the coordinate system of the trolley also needs to be changed the position values must be converted In the Calculations window of the SIMOCRANE CeCOMM diagnostic program two position values of the previous coordinate system must be entered in the Measured value column and the two associated position values of the new coordinate system in the...

Page 344: ...es for the trolley Calculate is used to determine the factor and offset for the current position of the trolley Commissioning AddOn Software 9 4 Sway control commissioning SC integrated STS GSU 344 Operating Instructions 07 2019 A5E48271265B AA ...

Page 345: ... must be reduced if enabling the controller causes an oscillating velocity curve and an overshoot at the target position Note An overshoot at the target position is often the result of an incorrectly set maximum velocity and not of an excessively high position controller Kp factor Consequently before reducing the position controller value in controlled operation position controller is zero or manu...

Page 346: ...ffect Positioning range The permissible positioning range can be set with the parameters Minimum position P23 P63 and Maximum position P28 P69 Positioning outside this range is not possible If the trolley enters the range between prelimit switch and limit switch it is braked at least with the ramp with which it would brake without sway control P7 Positioning accuracy P162 P165 The set positioning ...

Page 347: ...prevented The START_AUTO_OK status bit is not set The status bit Starting position is same as target position in INFO_NO_AUTO_START status word is set 9 4 4 Commissioning semi automatic SAM mode Note A prerequisite for commissioning semi automatic mode SAM is successful commissioning of the manual MAN and positioning POS modes The PLC program must be prepared so that external variable obstacles ca...

Page 348: ...ition and setting the LEARN_PARK_POS bit bit 0 in the STW1_PLC_Targets control word for learning the position from a control element The Lashing position is learned by the crane driver traveling to the position and setting the LEARN_LASH_PLATF bit bit 1 in the STW1_PLC_Targets control word for learning the position from a control element The Lane positions are also learned by traveling to the posi...

Page 349: ...ainer is locked on the spreader WARNING Danger to life when using twistlock simulation When twistlock simulation is used you must consider the height of the obstacles that are really present Otherwise collisions are possible during automatic operation Accidents resulting in serious injury or death can occur When using the twistlock simulation make sure that the spreader travels at sufficient heigh...

Page 350: ...gh the following checklist before commissioning Table 9 5 System check list No Items What needs to be checked o k 1 All preparations configuration and commissioning work see Chapter FB_TLSPLCToAddOn Page 68 FB_TLSAddOnToPLC Page 69 TLS control function description Page 237 SIMATIC S7 SIMOTION D for AddOn Page 83 TLS Page 90 SIMOTION D for AddOn SIMATIC S7 Page 97 TLS Page 104 2 Drive system of the...

Page 351: ... by the input value and must be set such that the actual position in millimeters is calculated For cylinder A for example pos_cal_a mm rpos_a P241 The change in the actual positions can be checked on display screen 7 of SIMOCRANE CeCOMM You must ensure that the displayed values match the real position changes of the cylinders The measurement of the actual positions of the cylinders must be suffici...

Page 352: ...ault value is equivalent to 100 for analog input and output modules 4 P265 position controller cylinder The procedure for setting and optimizing the position controller cylinder is similar to that for an electric drive see Chapter Position controller setting P328 Page 364 5 P261 maximum velocity cylinder Commissioning AddOn Software 9 5 Commissioning TLS hydraulic system SC integrated STS GSU 352 ...

Page 353: ...266 to P277 are set to zero this function is deactivated Note For correct setting of the parameters listed above the mechanical data of the cylinder manufacturers and the corresponding parameter descriptions in Chapter TLS Page 420 must be observed Figure 9 19 Example characteristic curve If you do not observe the following rules for parameterization the velocity value will be output without modif...

Page 354: ...45 to P248 2 Set the parameters for the zero positions P250 to P253 initial to the same values as P245 to P248 These parameters will subsequently automatically be assigned by the Save zero positions function 3 Set the parameter P249 such that the interval P245 P249 P245 P249 etc matches the valid travel ranges of the cylinders 4 Set the maximum distance of a cylinder from the zero position via par...

Page 355: ...linders That is the maximum necessary distance of the cylinders from the zero position This distance is indirectly defined by the mechanical data because the maximum travel path of a cylinder from the zero position determines how large the values can be for Trim List and Skew The possible value range for the zero positions is calculated as follows example of cylinder A Largest value P245 P249 P260...

Page 356: ...s to the mid position is shown green in the picture The travel distance is just as large as the travel distance Figure 9 20 Relationship between the mid positions of the cylinders and the zero positions 9 5 6 TLS inching and go to zero positions Set parameters P256 P257 P258 and P259 such that the following applies P256 P257 P258 259 P260 Travel can then be performed by TLS inching Once you have a...

Page 357: ... the skew component of the current cylinder positions s_act_S as skew1 mm This value is to be found in the CeCOMM Trace in the s_act_TLSh signal It should also be approximately zero in the zero position 3 Rotation of the spreader with skew jogging When the skew oscillation has settled Make a note of s_act_S as skew2 mm current camera angle psi_cam as cam2 cgr 4 Calculation of P280 P280 cam2 cam1 s...

Page 358: ...ing height in the top third of the hoisting height range Note The greater the distance is between the hoisting heights for the two oscillation tests the more accurate the test results will be However you should not use the maximum hoisting height because there is a risk that the measurement result will be falsified at this height by other effects such as diagonal pull or restricted field of view o...

Page 359: ...scillation or oscillation frequency f The effective pendulum length Ieff1 applicable to the hoisting height h1 can then be calculated using the equation below OHII J I ຘ ຘ leff Effective pendulum length in mm f Oscillation frequency in 1 s g Acceleration due to gravity in m s2 Repeat this measurement at a higher hoisting height h2 and calculate the effective pendulum length leff2 Calculate the fac...

Page 360: ...ion In the event of a prolonged camera measuring system failure the control system does not operate satisfactorily In this regard the skew damping function is significantly more sensitive than the sway control system for the trolley For this reason an additional monitoring system is provided This responds if the bCamera_Valid status bit from the DCC block DCC_SCCAMERA was equal to 1 for a time per...

Page 361: ...lation has been excited it should be actively damped by the skew drive or the cylinders 9 5 12 Optional adaptations Adapting skew damping With parameter P300 damping factor skew damping the level of skew damping can be set Larger values mean faster elimination of the skew oscillation but also require larger maximum output variables cylinder P261 electric drive P325 P326 to keep the control loop st...

Page 362: ...ds to be checked o k 1 All preparations configuration and commissioning work see Chapters FB_TLSPLCToAddOn Page 68 FB_TLSAddOnToPLC Page 69 TLS control function description Page 237 SIMATIC S7 SIMOTION D for AddOn Page 83 TLS Page 90 SIMOTION D for AddOn SIMATIC S7 Page 97 TLS Page 104 2 Spindle of the skew drive Position sensing Position monitoring Homing 3 Skew drive including coupled mechanical...

Page 363: ...e is available at input RPOS_SKEWAXIS of the DCC block This value is raw without a defined unit It is converted to mm by the following method s_act_SkA P322 RPOS_SKEWAXIS P323 P322 position conversion factor for skew drive P323 position conversion offset for skew drive Please note The factor must be set such that a value in mm is obtained with s_act_SkA The actual values must have a sufficiently h...

Page 364: ...er change because the main task of the skew drive is to damp the skew oscillation It is only the hydraulic system which detects steady state deviations from the zero position see Figure 7 4 Directions of movement Page 240 and Table 7 1 Directions of movement Page 240 9 6 4 Position controller setting P328 Set parameters P325 and P326 to match the characteristics of the electric drive Commissioning...

Page 365: ...cause the maximum velocity is set incorrectly and not because the proportional gain of the position controller is too high Before the position controller is reduced the actual velocity should therefore be checked again in travel at constant velocity to determine whether it approximately matches the output velocity 3 Parameterize motion_terminated_ska Via parameters P329 positioning accuracy skew d...

Page 366: ...A as skew1 mm This value should also be approximately zero in the zero position 3 Rotate the spreader with the skew drive Once the skew oscillation has settled perform the following steps s_act_SkA as skew2 mm current camera angle psi_cam as cam2 cgr 4 Calculate parameter P327 P327 cam2 cam1 skew2 skew1 5 Repeat steps 1 to 4 at the same hoisting height but with other angles of rotation for the pur...

Page 367: ...Page 69 TLS control function description Page 237 SIMATIC S7 SIMOTION D for AddOn Page 83 TLS Page 90 SIMOTION D for AddOn SIMATIC S7 Page 97 TLS Page 104 2 Drive system of the crane Commissioning Functional capability 3 Safety functions on the crane Limit switches Safety interlocks EMERGENCY STOP functions Centrifugal switch Commissioning Functional capability 4 Local control panels or equivalent...

Page 368: ... If these parameters are not correctly set some screens and parameter groups might not be displayed at all or might appear as incomplete displays 9 7 3 Commissioning cylinders and electric drive To commission the cylinders and the electric drive follow the instructions in these chapters 1 See Parameterization of the actual positions Page 351 2 See Conversion of cylinder positions angle of rotation...

Page 369: ...ted For travel to recommence either a switch must be made to manual mode MAN or one of the control bits RELEASE or TRAVEL must be reset This is always necessary for hoist and trolley in SAM mode Current position Hoist rS_Act_HO Trolley rS_Act_TR Delayed output position The delayed position can be traced in SIMOCRANE CeCOMM using the variable recording function Selection 12 Axis delay section This ...

Page 370: ...e 387 Note Limitations of the output velocity e g in the converter can trigger a following error 10 2 Velocity monitoring The velocities of the individual drives are monitored A velocity error occurs when the trolley E50 or the hoist E51 are not moving are moving too fast or in the wrong direction This error is triggered If the output velocity is 10 of the maximum velocity P0 P40 and the crane doe...

Page 371: ...racy settings However in certain situations it is possible that the function of the sway control is only limited or not working at all These situations might be caused for example by external interferences commissioning errors or hardware faults The monitoring of the oscillation state described in the further chapters serves to identify these situations and to initiate suitable reactions Note Moni...

Page 372: ... acceleration rates according to the value set in P5 The Excessive oscillation status bit is operative in all modes even when the SC_ON control bit is reset In the POS and SAM modes error message E62 Start POS or SAM with excessive oscillation is triggered if the Excessive oscillation bit is set at the start of travel 10 4 2 Monitoring of the sway control system Reducing the action of the sway con...

Page 373: ...et at once more than one error may be present WARNING Danger to life due to unexpected machine movement In case of error unexpected movements of the machines can occur that result in injury or death Trigger a suitable response in case of an error in the higher level control The SIMOCRANE CeCOMM program can be used for diagnostics The current errors are displayed by pressing the E key from the main...

Page 374: ...Camera measuring system faulted E5 1 Invalid mode trolley E6 1 Invalid mode hoist E7 9 Invalid mode at the limit switch trolley E8 9 Invalid mode at the limit switch hoist E9 Step change in hoisting height E10 0 Invalid parameter file E11 Invalid parameter value E12 Language file error E13 E19 Reserved 20 Actual position over or undershoots the limits of the set value range Note This error is not ...

Page 375: ... SAM E35 17 Starting point in an invalid region SAM E36 18 Starting point in variable blocked region SAM E37 28 Actual position in blocked region SAM E38 25 Target in fixed blocked region SAM E39 E41 29 Following error trolley E42 30 Following error hoist E43 Crane geometry dynamic response is incorrect E44 20 Actual position outside range limits E45 E49 Reserved Table 10 4 Other errors 1 error do...

Page 376: ...zation of position limits TLS E77 7 39 Impermissible change to mode_comm E78 8 40 Storage of the zero position not possible E79 9 41 Following error cylinder E80 10 42 Additional mode selected in addition to cylinder jogging E81 11 43 Maximum position of cylinder A exceeded E82 12 44 Maximum position of cylinder B exceeded E83 13 45 Maximum position of cylinder C exceeded E84 14 46 Maximum positio...

Page 377: ...ed in the product documentation for the SIMOCRANE CenSOR camera measuring system The camera axes assignment P120 is not correct The connection between the camera measuring system and SIMOTION D has been interrupted The camera measuring system is no longer identifying a reflector For systems without camera measuring system P102 is not zero Error type Error Remedy Check the camera settings communica...

Page 378: ...e in MAN mode E9 Bit Hoisting height has jumped The hoist position has changed abruptly to an impermissible height 10 m Error type Alarm Remedy Reference hoisting height encoder again E10 Bit 0 Invalid parameter file An error has occurred while loading the parameter files Parameter files are missing or are faulty The relevant parameter set will be set to default values The error value 1 4 specifie...

Page 379: ...witch switches incorrectly hoist The prelimit switch in the forward direction became active for negative velocity or inactive for positive velocity Error type Alarm Remedy Exchange upper and lower prelimit switch signals E22 Bit Backward prelimit switch switches incorrectly trolley The prelimit switch in the backward direction became active for positive velocity or inactive for negative velocity E...

Page 380: ...h switches incorrectly hoist The limit switch switches for the wrong direction of motion or is switched simultaneously with the prelimit switch in the opposite direction Error type Alarm Remedy Exchange upper and lower limit switch signals E28 E29 reserved 10 5 3 5 Error in semi automatic mode E30 Bit 31 No path found Semi automatic mode SAM was unable to find a path between the starting position ...

Page 381: ... Evaluate other error messages E35 Bit 17 Starting point in an invalid region The actual position lies outside the limits specified by the parameters P23 and P28 trolley position and P63 and P69 hoist position In positioning mode travel is only prevented for the affected drive In SAM mode travel is prevented for both drives Error type Error Remedy Traverse manually to valid regions Check limits E3...

Page 382: ...rolley following error The difference between the actual and the delayed output position is greater than the set permissible following error P161 Error type Error Remedy Check the current position of the trolley rS_Act_TR Check the current velocity of the trolley rV_Pos_TR Increase the value of P161 Optimize the controllers E42 Bit 30 Hoist following error The difference between the actual and the...

Page 383: ...least one of the criteria named above is fulfilled Likewise the error is not reset again until the target generator is reinitialized after the error causes criteria have been resolved Detailed information about initializing the target generator can be found in Chapter Initialization Page 196 Error type Alarm Remedy Resolve the specified error causes criteria by setting parameters cor rectly The ta...

Page 384: ...or hoist The hoist does not move moves too fast or in the wrong direction The error is triggered when The output velocity is 10 of the maximum velocity P40 and the crane is not moving or moving in the wrong direction The difference between the output velocity and the actual velocity 20 of the maximum velocity P40 e g defective drive The error appears with a delay of approx 3 s The error message is...

Page 385: ...eck the bay scanner 10 5 3 7 Other errors 2 E60 Bit 15 Diagonal pull present Diagonal pull is present This error has no effect on the operating behavior The user is free to choose the error response If you want the response to be braking at maximum acceleration you can program this error bit in the higher level control system to reset the TRAVEL control bit Error type Error Remedy Eliminate the di...

Page 386: ...t maximum acceleration you can program this error bit in the higher level control system to reset the TRAVEL control bit Error type Error Remedy Eliminate sway manually Check parameter P156 E63 Bit 10 Damping factor reduced trolley The damping factor for the trolley has been reduced for stability reasons This is done in the following cases The oscillation is too high and the damping factor is redu...

Page 387: ...he internally calculated effective pendulum length screen 01 in the SIMOCRANE CeCOMM diagnostic program Recalibrate the hoisting height commissioning steps 2 and 3 Check the hoist position P169 permitted residual sway and possibly set a smaller value Sway control system starts swaying mo tions Check acceleration and deceleration ramps of the converter remove any round ings and check the control pa...

Page 388: ...S_ON to zero Error bit Error word 2 bit 0 Error type Error Remedy Eliminate the cause of the impaired camera signal of the SIMOCRANE CenSOR camera measuring system E70 Internal value range overflow Mechanisms are implemented in the software to prevent the variable range overflows and the resultant transition to SIMOTION stop Possible causes for the error message Errors in TLS function parameter se...

Page 389: ...is exceeded Error E72 occurs if the actual position s_act_SkA assumes a value that is outside the range limit P324 P324 Skew drive can only be traversed with mode_comm 1 Error bit Error word 2 bit 3 Error type Error Remedy Check current position s_act_SkA E73 Following error of skew axis This error occurs if move_ska 1 and s_out_SkA s_act_SkA P336 P336 Maximum following error for following error m...

Page 390: ...t signals Control errors e g control bits spreader_bit0 and spreader_bit1 2 Acknowledge the error with control bit reset_mdl 3 Check the skew drive E75 Monitoring of the magnitude of the skew oscillation The error is set if psi_modell P314 or psi_kam P314 applies If the error is set skew damping must be deactivated via AS_ON 0 The error is reset if the absolute values of the two angles stated abov...

Page 391: ...2 bit 8 Error type Error Remedy Move the cylinders nearer the mid positions E79 Following error cylinders The error occurs if move 1 and for at least one cylinder the difference between s_out_ and s_act_ is larger than P278 The internally calculated output position s_out_ is obtained from v_out_ and initialized to s_act_ in response to a positive edge of move Error bit Error word 2 bit 9 Error typ...

Page 392: ...eck the current position of cylinder B E83 Maximum position of cylinder C exceeded Error E83 occurs if the actual position s_act_C assumes a value that is outside the interval P247 P249 P247 P249 If this error occurs for at least one of the cylinders all cylinders can only be operated with mode_comm 1 Error bit Error word 2 bit 13 Error type Error Remedy Check the current position of cylinder C E8...

Page 393: ...character string Selected options are specified with the corresponding digit options that are not selected with a dot Examples of parameter P152 conventional time optimized control trolley None of the four options has been selected 23 Options 2 and 3 of four options have been selected 123 Options 1 2 and 3 of four options have been selected Note Only the default values are specified for the parame...

Page 394: ...Prelimit switch velocity trolley If P115 0 If a prelimit switch responds the output velocity will be limited to this value If P115 1 This value is used for the dynamic prelimit switches P24 P27 The value refers to the maximum output velocity P0 Default 10 min 0 max 100 Access code 0 Display Always P3 Trolley velocity for zero speed signal If the target position of the trolley has been reached and ...

Page 395: ...Display Always P8 Factor for braking deceleration trolley MAN If zero is specified for the target velocity in manual MAN mode the set deceleration resulting from P6 P8 is operative when braking See also P142 Default 1 min 0 5 max 5 Access code 2 Display Always P9 Reduction of set acceleration trolley SAM With this parameter the set acceleration can be reduced in semi automatic mode SAM The paramet...

Page 396: ... position is outside the set limits in positioning mode error E35 is triggered Default 0 mm min 200000 mm max 200000 mm Access code 0 Display Always P24 Position for prelimit switch velocity trolley backward Position at which the trolley must have attained the prelimit switch velocity P2 The position at which the trolley is decelerated depends on the velocity dynamic prelimit switches The paramete...

Page 397: ...ggered Default 200000 mm min 200000 mm max 200000 mm Access code 0 Display Always Note If parameter P28 is changed the internally learned obstacles on the waterside are set to the maximum values A new learning run is required This is also true when a different parameter set is selected and the parameter sets contain different values for P28 P29 Safety clearance trolley MAN This parameter is used t...

Page 398: ...00 mm min 500 mm max 10000 mm Access code 1 Display Always P35 Position offset during unloading During approach to target positions the value for the trolley is changed by this parameter The value is limited internally to a spreader width The position offset is only operative in target positions that arose due to a change in the locked state LOCKED_BIT0 LOCKED_BIT1 Default 0 mm min 0 mm max 100000...

Page 399: ...C_ON control bit Default 0 s min 0 s max 5 s Access code 1 Display Only for GSU P102 selection 0 ON Note Changes to the parameter P38 do not take effect until the TRAVEL control bit has been reset once P39 Grab frequency input shaper The input shaper can be used to minimize relaxation oscillations The parameter causes a deformation of the output velocity dependent on the specified frequency The fu...

Page 400: ...operating modes SAM POS SNL and SND To allow a slight overshoot a value of 90 of the maximum output velocity P40 should be set Default 1300 mm s min 10 mm s max 5000 mm s Access code 0 Display Always P43 Prelimit switch velocity hoist If P115 0 and a prelimit switch responds the output velocity will be limited to this value If P115 1 this value is used for the dynamic prelimit switches P64 P68 The...

Page 401: ... set the output velocity of the hoist is reduced by this factor The reference value is parameter P40 Default 0 1 min 0 max 1 Access code 2 Display Always Note If the value 0 is set the response in the POS and SAM modes is as if the SLACKROPE control bit were not set In other words despite the set SLACKROPE control bit the trolley and the hoist also travel without velocity reduction P49 Velocity re...

Page 402: ... is specified for the target velocity in manual MAN mode the set deceleration resulting from P51 P52 is operative when braking Default 1 min 0 5 max 5 Access code 2 Display Always P53 Acceleration reduction when hoisting Percentage value of the set acceleration of the hoist P51 The set acceleration is reduced to this value a_ref P51 P53 100 when hoisting Default 100 min 1 max 100 Access code 1 Dis...

Page 403: ...for calculating the effective pendulum length Default 50000 mm min 200000 mm max 200000 mm Access code 1 Display Always P63 Minimum position for positioning hoist Smaller target positions are not accepted and error E32 is triggered If the hoist position is outside the set limits in positioning mode error E35 is triggered Default 0 mm min 200000 mm max 200000 mm Access code 0 Display Always P64 Pos...

Page 404: ...ed afterwards When lowering above the minimum hoisting height the hoist and trolley are moved up to this height when travel starts in SAM mode Below this height only the hoist is operated P67 is only operative in SAM mode Default 200000 mm min 200000 mm max 200000 mm Access code 0 Display Only for STS P102 selection 1 ON P68 Position for prelimit switch velocity hoist lifting Position at which the...

Page 405: ... Display Always P72 Safety clearance hoist SAM Safety clearance in the hoist direction The safety clearance is defined using this parameter If the target is located within this area it is not traveled to The crane stops before it Default 500 mm min 500 mm max 10000 mm Access code 1 Display Always Parameter P73 Positioning range below minimum hoisting height LS and WS Only operative for trolley in ...

Page 406: ...wing conditions are fulfilled On the fly unloading was active during the previous travel operation to the hopper The TRAVEL control bit was not reset between the previous and current travel operations Default 1 mm min 0 mm max 100000 mm Access code 1 Display Only GSU P77 Range for closing the brake hoist SAM The direction signals are reset if the absolute value of the difference between the target...

Page 407: ... max 50000 kg Access code 0 Display Always P83 Upper limit for sway control For a smaller effective pendulum length the sway control is disabled E61 Default 1000 mm min 1 mm max 100000 mm Access code 0 Display Always P84 Lower limit for sway control For a larger effective pendulum length the sway control is disabled E61 Default 100000 mm min 1 mm max 100000 mm Access code 0 Display Always P85 Trol...

Page 408: ...mping factor when decelerating in SAM POS SNL SND Damping factor for conventional sway control when decelerating in modes SAM POS SNL SND High values result in non periodic transient responses and low values in overshoots and shorter rise times Default 1 1 min 0 max 2 5 Access code 2 Display Always P89 Trolley damping factor when accelerating in SAM POS SNL SND Damping factor for conventional sway...

Page 409: ...guration Selection 0 Ship unloader without camera measuring system 1 STS with camera measuring system Default 1 Access code 1 Display Always P105 Maximum diagonal pull angle If the diagonal pull is greater than this angle error E60 Diagonal pull present is triggered The evaluation is performed by comparing the oscillation model with the camera measurement The monitoring can be deactivated by setti...

Page 410: ...reased by this parameter value Default 2900 mm min 1 mm max 6000 mm Access code 0 Display Only for STS P102 selection 1 ON Note For P108 1000 mm a switchover is made to the MODEL MODE P109 Target generator mode in SAM Selection 1 ON SAM travel in landside direction only OFF SAM travel in landside and waterside direction 2 ON A lane must be specified on the landside OFF Lanes or positions from the ...

Page 411: ...ion factor for lowering velocity SAM Percentage factor for reducing the set velocity when lowering The parameter is only operative if the trolley and hoist are moved simultaneously and the actual position of the spreader is below the interpolation point straight line The trolley position must also be located in the set operative range P113 Default 20 min 5 max 100 Access code 3 Display Always P113...

Page 412: ...nternally calculated lowering point Default 0 Access code 1 Display Always 11 6 Camera measuring system reflector P120 Assignment of the camera measurement direction Assignment of trolley travel direction to the measurement direction x y of the camera Selection 1 Motion up or down corresponds to the trolley travel 2 Motion to the left corresponds to the forward direction 3 Motion up corresponds to...

Page 413: ...he sway control system remains operative and uses only the mathematical calculation model Default 0 mm min 0 mm max 100000 mm Access code 0 Display Only for STS P102 selection 1 ON P127 Trigger time for camera error If the camera values are no longer valid CAMERA_OK status bit is reset error message E4 is triggered after the time set in P127 Default 14 s min 0 s max 100 s Access code 1 Display Onl...

Page 414: ... trolley when the SC_ON bit is set when the conventional control method has been selected not for time optimized and only for manual mode MAN Default 0 5 min 0 001 max 1 Access code 2 Display Always P144 Deceleration reduction precision travel If the set velocity and the actual velocity are less than 30 of the maximum velocity the set acceleration is multiplied by this factor and used as the set d...

Page 415: ... value of the output velocity must be less than the activation velocity P146 at least for this period so that the sway control is deactivated Default 0 s min 0 s max 300 s Access code 2 Display Always P149 Drive ON delay trolley ON delay of the drive after opening of the brakes A dead time of the drive is specified for the sway control so that it can take it into account in the model If the value ...

Page 416: ...g the control system drive and mechanical components e g processing communication reaction time To take this delay into account when activating the oscillation model and the position control a first order delay element has been provided whose time constant is set with this parameter If the value is less than 1 the delay element is deactivated Default 200 ms min 0 ms max 1000 ms Access code 2 Displ...

Page 417: ...lection 1 ON P158 Upward trajectory to hopper factor GSU Factor for influencing the interpolation points for the upward trajectory to the hopper with on the fly unloading when SAM mode is started With values higher than 1 the interpolation point is shifted downwards on the straight start line of the hoist The trolley then starts moving earlier This factor is operative only if inclined travel is pr...

Page 418: ...lay Always P162 Positioning accuracy trolley Tolerance within which a positioning operation should be completed Default 100 mm min 1 mm max 1000 mm Access code 0 Display Always P163 Position controller hoist P position controller for automatic positioning Negative values activate a target control instead of the position control The absolute value of a negative value determines the steepness of the...

Page 419: ...ways P172 Creep range for trolley direction MAN soft approach Parameter for soft approach in MAN mode The parameter is only operative with fixed blocked regions and in MAN mode Minimum clearance to P173 at which V_SET is reduced to 10 Default 0 mm min 0 mm max 10000 mm Access code 1 Display Always P173 Braking distance reserve for trolley direction MAN soft approach Parameter for soft approach in ...

Page 420: ...rol Activate TLS control Default 0 min 0 max 1 Access code 0 Note TLS parameters P241 P336 are only displayed if TLS control is activated P240 selection 1 ON P241 Position conversion factor cylinder A Position conversion factor POS_CAL_A mm RPOS_A P241 Default 1 min 100000 mm max 100000 mm Access code 0 P242 Position conversion factor cylinder B Position conversion factor POS_CAL_B mm RPOS_B P242 ...

Page 421: ...cylinder A Mid position cylinder A Default 900 mm min 100000 mm max 100000 mm Access code 0 P246 Mid position cylinder B Mid position cylinder B Default 900 mm min 100000 mm max 100000 mm Access code 0 P247 Mid position cylinder C Mid position cylinder C Default 900 mm min 100000 mm max 100000 mm Access code 0 P248 Mid position cylinder D Mid position cylinder D Default 900 mm min 100000 mm max 10...

Page 422: ...Go to zero positions function control bit move_zero Default 900 mm min 100000 mm max 100000 mm Access code 0 P252 Zero position cylinder C Zero position that is stored by the Save zero position function control bit save_zero This cylinder position can be approached by means of the Go to zero positions function control bit move_zero Default 900 mm min 100000 mm max 100000 mm Access code 0 P253 Zero...

Page 423: ...00000 mm Access code 0 P257 Maximum list position Maximum list position for TLS jogging and TLS positioning Default 150 mm min 0 mm max 100000 mm Access code 0 P258 Maximum skew position Maximum skew position for TLS jogging and TLS positioning Default 150 mm min 0 mm max 100000 mm Access code 0 P259 Maximum h component Maximum h component for TLS jogging and TLS positioning The h component repres...

Page 424: ...ue is the maximum velocity P261 v_out_norm_ABCD P262 v_out_ABCD P261 Default 27648 min 0 max 65535 Access code 0 P263 Positioning accuracy cylinder The positioning accuracy should not be set lower than absolutely necessary A difference between the current and target positions that is smaller than the set positioning accuracy is a condition for setting the motion_terminated status bit Default 20 mm...

Page 425: ...fault 0 mm s min 100000 mm s max 0 mm s Access code 0 P269 Break point coordinate OUT2_NEG Second negative OUT break point coordinate Default 0 mm s min 100000 mm s max 0 mm s Access code 0 P270 Break point coordinate IN3_NEG Third negative IN break point coordinate Default 0 mm s min 100000 mm s max 0 mm s Access code 0 P271 Break point coordinate OUT3_NEG Third negative OUT break point coordinat...

Page 426: ...fault 0 mm s min 0 mm s max 100000 mm s Access code 0 P275 Break point coordinate OUT2_POS Second positive OUT break point coordinate Default 0 mm s min 0 mm s max 100000 mm s Access code 0 P276 Break point coordinate IN3_POS Third positive IN break point coordinate Default 0 mm s min 0 mm s max 100000 mm s Access code 0 P277 Break point coordinate OUT3_POS Third positive OUT break point coordinat...

Page 427: ...e 277 Default 4 mm min 100000 mm max 100000 mm Access code 0 P281 Trim angle to cylinder positions transformation factor Conversion factor ipos_act_trim P281 s_act_T see also Chapter TLS monitors Page 277 Default 1 min 0 max 100000 Access code 0 P282 List angle to cylinder positions transformation factor Conversion factor ipos_act_list P282 s_act_L see also Chapter TLS monitors Page 277 Default 1 ...

Page 428: ...o zero Default 0 ms min 0 ms max 50000 ms Access code 0 P303 Dynamic response of status observer This parameter specifies the dynamic response of the status observer i e the speed at which the camera measuring signal is injected into the mathematical calculation model This synchronization takes place more slowly at lower values Default 3 min 0 01 max 20 Access code 0 P304 Factor pendulum length fo...

Page 429: ...reader Default 1 min 100000 max 100000 Access code 0 P309 Offset pendulum length for 40 ft container Offset for calculating the effective pendulum length for a 40 foot long spreader Default 50000 min 300000 max 300000 Access code 0 P310 Factor pendulum length for 45 ft container Factor for calculating the effective pendulum length for a 45 foot long spreader Default 1 min 100000 max 100000 Access ...

Page 430: ... see the description for E75 Default 1500 cgr min 0 cgr max 9000 cgr Access code 0 P317 Oscillation amplitude for error reset E75 If the oscillation amplitude falls below P317 error E75 is set after time period P318 see also the description of E75 Default 300 cgr min 0 cgr max 9000 cgr Access code 0 P318 Time period from which error E75 is reset If the oscillation amplitude falls below P317 error ...

Page 431: ... P323 Position conversion offset for skew drive spindle The actual position of the skew axis is calculated as follows s_act_SkA P322 RPOS_SKEWAXIS P323 Default 0 mm min 100000 mm max 100000 mm Access code 0 P324 Maximum position for skew drive spindle Maximum position for skew drive spindle Default 240 mm min 0 mm max 10000 mm Access code 0 P325 Max velocity of skew drive spindle Maximum velocity ...

Page 432: ...in 0 max 1000 Access code 0 P329 Positioning accuracy skew drive This parameter defines the tolerance within which a positioning operation should be completed It should be set as low as necessary Setting of the motion_terminated_ska status bit is influenced by the positioning accuracy Default 15 mm min 0 mm max 100000 mm Access code 0 P330 ON delay motion_terminated_SkA skew drive ON delay for the...

Page 433: ...creases when the skew damping factor P300 is set to a high value This function reduces the risk that the skew damping closed loop control will become unstable Note Parameters P334 and P335 must be left in their default settings when the anti wind up function is activated Changes can result in unstable closed loop control behavior Default 0 min 0 max 1 Access code 0 P334 Bandwidth of anti wind up f...

Page 434: ...al position during travel When the value is exceeded an error message E73 is output If the value 0 is set this function is not active Default 25 mm min 0 mm max 1000 mm Access code 0 Parameters 11 9 TLS SC integrated STS GSU 434 Operating Instructions 07 2019 A5E48271265B AA ...

Page 435: ...ng instructions for the SIMOCRANE CenSOR camera measuring system Ref 1 Check of the position sensing functions for the hoist after cable changing After carrying out maintenance work at the hoist and changing the cable the position sensing sensor must be checked and should be re referenced where required A 2 References Ref 1 SIMOCRANE CenSOR V2 0 HF3 Camera Measuring System Operating In structions ...

Page 436: ...anel CW Clockwise CCW Counterclockwise DCC Drive Control Chart DN Down DS Tandem spreader FW Forward GSU Grab Ship Unloader HO Hoist IO Input Output variables LAM Load suspension device LS Landside LS Limit switch LH Left hand MAN Manual mode MCC Motion Control Chart OM Operating mode PD Pendulum PCS Prelimit switch POS Positioning mode PZD Process data RH Right hand RMG Rail Mounted Gantry Crane ...

Page 437: ... blocks and ST function blocks The table below shows a comparison of the differences between signal names Table A 1 Assignment of signal names Connection designation at DCC block Signal name in the interface description Meaning BOM_SPEED MAN Operation mode manual BOM_POS POS Operation mode positioning BOM_HOIST_CONTROL SAM Operation mode semi automatic mode BOM_LOAD_POS SNL Operation mode sway neu...

Page 438: ...Reduced sway control 28 PBIn Ziel PBIn Target Target position 29 PBIn Vsoll PBIn Vset Set velocity 30 PBIn OFFS_TARGET PBIn OFFS_TARGET Offset for target position 31 PBOut Vstell PBOut Vout Output velocity 32 PBOut FinalTarget PBOut FinalTarget Target position 100 Kameraabstand Camera distance Camera distance 101 IMPNT akt Eintauchpunkt IMPNT Current immersion point 102 IMPNT_EXT Eintauchpunkt IMP...

Page 439: ...ition 103 PRG_OBST PRG_OBST Program obstacles 104 DEL_OBST DEL_OBST Delete obstacles 106 HOIST_MAN HOIST_MAN Hoist manual mode 107 START_2D_CALC START_2D_CALC Start 2D calculation 108 LOCKED_BIT0 LOCKED_BIT0 Locked bit 0 109 LOCKED_BIT1 LOCKED_BIT1 Locked bit 1 110 SLACKROPE SLACKROPE Slack rope 111 BAYSCANNER_VALID BAYSCANNER_VALID Bay scanner valid 112 LEARN_PROFILE_ON LEARN_PROFILE_ON Profile l...

Page 440: ...sition OK 103 PRG_OBST_OK PRG_OBST_OK Program obstacles OK 104 OBST_DELETED OBST_DELETED Obstacles deleted 105 WATCHDOG WATCHDOG Watchdog 106 CHANGE_TARGET CHANGE_TARGET Change the target 107 POS_IN_BR_MAN POS_IN_BR_MAN Position in blocked region in manual mode 108 OPEN_GRAB OPEN_GRAB Open the grab 109 CAMERA_OK CAMERA_OK Camera OK 110 EXT_EINTAUPKT_KLEINER EXT_IMPNT_SMALLER External immersion poi...

Page 441: ...81 FehBit11_E50 E51 E52 ErrBit11_E50 E51 E52 Error bit 11 E50 E51 E52 182 FehBit12_E4 ErrBit12_E4 Error bit 12 E4 183 FehBit13_E1 ErrBit13_E1 Error bit 13 E1 184 FehBit14_E2 ErrBit14_E2 Error bit 14 E2 185 FehBit15_E60 ErrBit15_E60 Error bit 15 E60 186 FehBit16_E33 ErrBit16_E33 Error bit 16 E33 187 FehBit17_E35 ErrBit17_E35 Error bit 17 E35 188 FehBit18_E36 ErrBit18_E36 Error bit 18 E36 189 FehBit...

Page 442: ...39_E77 Error bit 39 E77 210 FehBit40_E78 ErrBit40_E78 Error bit 40 E78 211 FehBit41_E79 ErrBit41_E79 Error bit 41 E79 212 FehBit42_E80 ErrBit42_E80 Error bit 42 E80 213 FehBit43_E81 ErrBit43_E81 Error bit 43 E81 214 FehBit44_E82 ErrBit44_E82 Error bit 44 E82 215 FehBit45_E83 ErrBit45_E83 Error bit 45 E83 216 FehBit46_E84 ErrBit46_E84 Error bit 46 E84 Appendix A 5 Variable signals SC integrated STS...

Page 443: ...PROFIBUS PROFINET with the crane control system Direction signals Collective term for the status bits TRAVEL_FW TRAVEL_BW TRAVEL_UP TRAVEL_DN Effective pendulum length The effective pendulum length is the pendulum length which corresponds with that of a physical pendulum The oscillation period for the pendulum length is T 2 π l g This effective pendulum length is established through oscillation te...

Page 444: ...er tired gantry crane Ship unloader GSU Grab Ship Unloader GSU cranes are designed to transport bulk goods between a ship and shore SIMOCRANE CeCOMM diagnostic program Diagnostic program for the sway control system for Commissioning Monitoring and changing parameters Displaying input and output variables Creating trace records SIMOCRANE CenSOR Camera measuring system for capturing the sway angle i...

Page 445: ...e of functionality integrated into them For example a TO axis contains the capability for communication with the drive as well as measured value processing position control and positioning functions Technology objects offer the user a technological view of actuators and sensors and provide technological functions for these for example the technology object Axis for drive and encoder Trim Tilting m...

Page 446: ...Glossary SC integrated STS GSU 446 Operating Instructions 07 2019 A5E48271265B AA ...

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