Siemens SIMOTION D4x5-2, Operating Instructions Manual, Page: 8 / 446

6.5 Drive activation and brake control........................................................................................163
6.6 Controlled stop .....................................................................................................................164
6.7 Terminating a travel operation .............................................................................................164
6.8 Acceleration and deceleration behavior ...............................................................................165
6.9 Immersion point....................................................................................................................166
6.9.1 Internal immersion point.......................................................................................................166
6.9.2 External immersion point......................................................................................................169
6.10 Blocked regions....................................................................................................................170
6.10.1 Definition of terms ................................................................................................................170
6.10.2 Fixed blocked regions ..........................................................................................................174
6.10.3 External variable blocked regions ........................................................................................174
6.10.4 Internally learned variable blocked regions..........................................................................176
6.10.5 Defining the blocked regions................................................................................................177
6.10.6 Locking state of the spreader as a function of the spreader constellation ...........................178
6.10.6.1 Spreader constellations........................................................................................................178
6.10.6.2 Lock bits ...............................................................................................................................179
6.10.6.3 Forming blocked regions during the learning travel .............................................................180
6.10.6.4 Forming the immersion point during a learning travel ..........................................................183
6.11 Collision protection - soft approach......................................................................................185
6.11.1 Soft approach.......................................................................................................................185
6.11.2 Position-dependent monitoring functions 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 Parameterization ..................................................................................................................196
6.13.3 Control..................................................................................................................................196
6.13.3.1 Initialization ..........................................................................................................................196
6.13.3.2 Loading or unloading the ship ..............................................................................................196
6.13.3.3 Specifying starting position and target position....................................................................196
6.13.3.4 End of a loading or unloading operation ..............................................................................199
6.13.4 Diagnostics...........................................................................................................................200
6.13.5 Automatic target specification ..............................................................................................201
6.13.6 Offset for the target position.................................................................................................203
6.14 Bay scanner .........................................................................................................................204
6.14.1 Using a bay scanner ............................................................................................................204
6.14.2 Conversion of the bay scanner values .................................................................................209
6.15 Calculation of 2D trajectory in semi-automatic mode (SAM)................................................213
6.16 Sway control only when stopping.........................................................................................217
6.17 Suppressing the opposite direction ......................................................................................217
Table of contents
SC integrated STS, GSU
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Operating Instructions, 07/2019, A5E48271265B AA