6.16
Sway control only when stopping
In manual mode (MAN), the SC_WHEN_STOP control bit can be set to define whether sway
control is continuously active or only when stopping:
● Sway control is active continuously (control bit SC_WHEN_STOP = 0):
The load sway is corrected during travel and is eliminated when either a constant velocity
is reached or the crane stops moving.
● Sway control is active only when stopping (control bit SC_WHEN_STOP = 1):
The load sway is corrected only during braking (when the setpoint rV_Set_TR is zero) and
is eliminated altogether after the crane stops moving.
Note
Sway control can only be activated if the SC_ON control bit is set.
Activating/deactivating the sway control function
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 one which the crane driver has specified with the master switch.
The following example illustrates this behavior:
Red
rV_SET_TR (set velocity, trolley)
Blue
rV_POS_TR (output velocity, trolley)
Pink
Oscillation model characteristic
Green
Output velocity when P141 = 50% (reference value is P0 = 250 mm/s)
Figure 6-37
Suppressing the opposite direction
Explanation:
Sway Control function description
6.17 Suppressing the opposite direction
SC integrated STS, GSU
Operating Instructions, 07/2019, A5E48271265B AA
217